1) Distribution of the Braking Force: In RBS of EVs, the braking force is mainly the wheel braking force Ffront and rear-wheel braking force Frear. For the front-wheel drive EVs, the front-wheel braking force is composed of two parts: frontwheel frictional braking force and regenerative braking force. Therefore, brake force distribution refers to total braking force
ΣF in the allocation of front and rear wheels, rear-wheel friction, and regenerative braking force distribution and coordination issues. A braking force distribution of the front and rear wheels of the EVs in the ideal case is given by [3], [11]