A VEHICLE HAVING IN-WHEEL MOTOR AND CONTROLING METHOD OF THE SAME

摘要

The present invention relates to a vehicle and a control method thereof. The present invention comprises a plurality of in-wheel motors installed on each of a plurality of wheels, a plurality of calipers which are installed on each of the plurality of wheels and provide mechanical caliper braking force to each wheel, and a control unit which calculates total braking force for braking the plurality of wheels, calculates braking force required for each wheel from the total braking force based on status information on each wheel by monitoring the status information on each wheel, calculates regenerative braking force caused by a difference between wheel braking force and caliper braking force of each wheel, and applies the regenerative braking force to each wheel.