Control methods suitable for electric vehicles with independently driven front and rear wheel structures

Control methods suitable for electric vehicle (EV) drive systems with independently driven front and rear wheel structure are studied here, especially focussing on electric braking force control in consideration of safety and riding comfort. The proposed EV drive systems have the function to distribute not only driving torque but braking force to the front and rear wheels according to various driving conditions. Thus, for safety, a braking control method to prevent wheel locks and slip phenomenon simultaneously is proposed. Moreover, an electric braking control method to enhance riding comfort when the electric braking operations are used is proposed. Effectiveness of these control methods is verified through the prototype EV.