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A new type of electric vehicle (EV) system with independently driven front rear wheels is studied. It has many advantages which are needed for city cars such as good steering ability in congested traffic and complete failsafe functions to guarantee the safety at the time of failure. The EV system has a function which can freely control the driving and braking torque generated in the front and rear wheels. A brake control method is proposed using the function that can prevent passengers from any riding unpleasantness by suitably distributing electric brake forces operating between the front and rear wheels before the mechanical brake becomes effective, considering accelerations of the EV. The effectiveness of the proposed method is verified through simulations and experiments.