Patent ID: 8744713

Claim:
A method for controlling braking of a vehicle, comprising: calculating a driver request braking deceleration and a current frictional coefficient of a road surface when there is a braking request from a driver to obtain a vehicle deceleration corresponding to a calculated current frictional coefficient of the road surface; calculating a maximum deceleration at which a wheel lock does not occur upon braking only by a driving wheel when the driver request braking deceleration is equal to or smaller than the frictional coefficient of the road surface by comparing the driver request braking deceleration and the vehicle deceleration; determining a braking force by distributing a regenerative braking force of the driving wheel and a frictional braking force of a driven wheel wherein the regenerative braking force is determined by changing a first regenerative braking force of the maximum deceleration that is determined according to the frictional coefficient of the road surface when the maximum deceleration is smaller than the driver request braking deceleration by comparing the maximum deceleration and the driver request braking deceleration; controlling a driving motor and a frictional braking device to generate the determined regenerative braking force and frictional braking force; and performing braking of the vehicle only by a regenerative braking force of the driving wheel when the maximum deceleration is equal to or greater than the driver request braking deceleration by comparing the maximum deceleration with the driver request braking deceleration.