KR101664076B1

KR101664076B1 - System and method for calculating amount of regenerative braking of hybrid electric vehicle

Info

Publication number: KR101664076B1
Application number: KR1020150085413A
Authority: KR
Inventors: 허지욱; 오경철; 조태환
Original assignee: 현대자동차 주식회사; 기아자동차 주식회사
Priority date: 2015-06-16
Filing date: 2015-06-16
Publication date: 2016-10-24

Abstract

A regenerative brake execution amount calculation system and method for a hybrid vehicle are disclosed.
The regenerative braking execution amount calculating system of the hybrid vehicle according to the embodiment of the present invention includes: an occupant information detector for collecting driving information for regenerative braking determination of the hybrid vehicle; A motor controller for controlling driving and torque of the motor in accordance with an applied control signal and storing electricity generated by the motor in regenerative braking; A dual clutch transmission (DCT) for controlling the speed ratio using two clutches; A transmission controller for detecting a hand over ratio considering a torque ratio before the shifting and a torque ratio after the shifting in the torque phase of the dual clutch transmission when shifting during regeneration is performed; And a hybrid controller for calculating a regenerative braking execution amount based on the gear ratio and the motor torque calculated using the share ratio of the torque phase section.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a system and a method for calculating a regenerative brake execution amount of a hybrid vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a regenerative braking execution amount calculating system and method for an environmentally friendly vehicle, and more particularly, to a regenerative braking execution amount calculating method for a hybrid vehicle equipped with a dual clutch transmission.

Generally, a hybrid electric vehicle (HEV / PHEV) is a hybrid electric vehicle (HEV / PHEV), which is operated by a power source and a high-voltage battery to assist the output torque of the engine. And, depending on the driving situation, the two power sources operate in areas where they can exert their respective characteristics to provide high energy efficiency and exhaust gas savings.

Generally, an automatic transmission (AT) in which an optimum gear ratio is automatically determined in consideration of power performance, fuel economy, driving performance, and the like is executed in a hybrid vehicle.

When the hybrid vehicle is braked by the brake pedal during running, the motor that assists the output torque of the engine enters the regenerative braking and regenerates the decelerated energy that is thrown away in accordance with the braking control to charge the battery.

For example, a conventional hybrid vehicle calculates a regenerative braking torque when a driver's braking request is detected by an HCU (Hybrid Control Unit), and controls the operation of the motor through an MCU (Motor Control Unit) to control the regenerative braking torque. Then, the hydraulic pressure supplied to each drive wheel is controlled to the target pressure for braking control in accordance with the regenerative brake execution amount.

At this time, the AT has a characteristic in which the speed ratio is changed stepwise according to the vehicle speed, so the up / down shift occurs due to the deceleration due to the regenerative braking, and the gear ratio is changed.

However, the calculation of the regenerative braking execution amount applied to the conventional hybrid vehicle has been pointed out as a problem that the actual regenerative braking which can not be reliably performed can not be performed because the actual gear ratio rapidly changing according to the deceleration is not accurately reflected.

In particular, the conventional method of calculating the regenerative braking performance does not accurately estimate the torque transmitted to the output shaft in consideration of the characteristics of the AT, and also requires a long time for mapping.

For example, FIG. 1 is a graph showing a regenerative braking method during a shift of a conventional hybrid vehicle to which the automatic transmission is applied.

1, in the related art, in order to minimize the change of the output shaft torque and ensure braking linearity, the gear ratio used in calculating the regenerative braking execution amount in the HCU is gradually raised in the torque phase + inertia phase arbitrarily have.

This is not only because of the large number of variables to be mapped, but also because there is a limitation in outputting the accurate regenerative braking execution amount even if the mapping is performed, and the actual regenerative braking interval is shortened.

Further, when the regenerative braking execution amount is calculated in the conventional manner, the AT is mapped so as to secure the braking linearity through testing. In addition, the time required for the mapping is long, and there is a problem that it can not cope with the specific mode.

An embodiment of the present invention is directed to a regenerative braking performance calculation system for a hybrid vehicle capable of improving fuel economy and driving performance of a vehicle by improving a method of calculating a regenerative braking execution amount of a hybrid vehicle equipped with a dual clutch transmission (DCT) Method.

According to an aspect of the present invention, a regenerative braking execution amount calculating system for a hybrid vehicle includes: an operating information detector for collecting operating information for regenerative braking determination of the hybrid vehicle; A motor controller for controlling driving and torque of the motor in accordance with an applied control signal and storing electricity generated by the motor in regenerative braking; A dual clutch transmission (DCT) for controlling the speed ratio using two clutches; A transmission controller for detecting a hand over ratio considering a torque ratio before the shifting and a torque ratio after the shifting in the torque phase of the dual clutch transmission when shifting during regeneration is performed; And a hybrid controller for calculating a regenerative braking execution amount based on the gear ratio and the motor torque calculated using the share ratio of the torque phase section.

In addition, an active hydraulic booster (AHB) is applied to control the hydraulic pressure supplied to the brake cylinders of the respective driving wheels from the total amount of control by the brake pedal operation to the hydraulic brake amount obtained by subtracting the regenerative braking execution amount from the total control amount And a brake controller for performing braking control.

In addition, the transmission controller can calculate not only the output shaft torque of the dual clutch transmission before the shifting and after the shifting but also the torque during the shifting.

In addition, the transmission controller may transmit a regenerative braking prohibition request to the hybrid controller when the hybrid vehicle is one of a lift foot-up, a back-up running, and a sports mode.

The hybrid controller calculates the gear ratio in the torque phase section by subtracting the value obtained by multiplying the share ratio of the torque phase section by the shift amount by subtracting the front-end gear ratio from the gear ratio after the shift in the torque phase section, .

In addition, the hybrid controller may perform regenerative braking when it enters an inertia phase period after the torque phase interval.

Further, the hybrid controller can calculate the regenerative braking execution amount from the motor torque and the gear ratio actually applied when the shifting is not performed during the regenerative braking.

According to an aspect of the present invention, there is provided a method of calculating a regenerative braking performance of a hybrid vehicle equipped with a dual clutch transmission (DCT), comprising the steps of: a) determining a regenerative braking when the vehicle speed is decreased due to a brake pedal operation of the vehicle; b) If a shift occurs in the dual clutch transmission due to the decrease in vehicle speed, a motor torque command according to the regenerative braking determination and a hand over ratio of the stage before the shift and the stage after the shift after the torque phase are detected ; c) calculating a gear ratio based on a shift ratio in the torque phase period based on a front-end gear ratio, a gear ratio after shift, and a hand over ratio; And d) calculating a regenerative braking execution amount by referring to the gear ratio and the motor torque command in the torque phase section using the above-mentioned Hand Over Ratio.

The step b) may include calculating a regenerative braking execution amount based on an actual motor torque execution amount and an actual gear ratio of the dual clutch transmission when a shift of the dual clutch transmission does not occur.

In the step c), a value obtained by subtracting the front-end gear ratio from the gear ratio after the shift in the torque phase section and multiplying the contribution ratio of the torque phase section is subtracted from the gear ratio after the shift, And a step of calculating

The method may further include, after the step d), transferring the regenerative braking execution amount to the brake controller, and controlling the hydraulic braking of each driving wheel with the remaining amount excluding the regenerative braking amount in the total control amount according to the brake pedal operation have.

The method may further include performing regenerative braking control by controlling the torque of the motor when the engine enters an inertia phase period after step d).

According to the embodiment of the present invention, the regenerative braking execution amount is calculated by using the pre-shift shift stage in the torque phase period of the hybrid vehicle to which the DTC is applied and the hand over ratio of the shift shift stage, It is possible to calculate the regenerative braking execution amount more accurately and simply.

Further, not only the output shaft torque before and after the DCT shifting but also the torque during shifting is accurately detected to calculate the regenerative braking execution amount, thereby improving the accuracy and shortening the time required for mapping.

In addition, there is an effect of improving the fuel economy in which the regenerative braking operation amount is calculated only in the torque phase section and the regenerative braking operation is performed in the entire region by performing the regenerative braking in the inertia phase .

1 is a graph showing a regenerative braking method in a shift state of a conventional hybrid vehicle to which the automatic transmission is applied.
2 schematically shows a configuration of a system for calculating a regenerative braking displacement of a hybrid vehicle according to an embodiment of the present invention.
3 is a graph for explaining a method of calculating a regenerative braking execution amount considering DTC characteristics according to an embodiment of the present invention.
4 is a flowchart schematically showing a method for calculating a regenerative braking execution amount of a hybrid vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

Now, a regenerative braking execution amount calculation system and method of a hybrid vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings.

2 schematically shows a configuration of a system for calculating a regenerative braking displacement of a hybrid vehicle according to an embodiment of the present invention.

2, a regenerative braking execution amount calculation system 100 for a hybrid vehicle according to an embodiment of the present invention includes an operation information detector 101, a battery 102, a battery manager 103, a dual clutch transmission 104, a transmission controller 105, a motor 106, a motor controller 107, an engine clutch 108, an engine 109, an engine controller 110, a drive wheel 111, a brake controller 112, And a controller (113).

The operation information detector 101 detects the information on the deprecation rate requested by the driver and provides the detected information to the hybrid controller 113. [

The operation information detector 101 includes a brake pedal sensor (BPS) for detecting the operating displacement of the brake pedal, an accelerator pedal sensor (APS) for detecting the operating displacement of the accelerator pedal, a vehicle speed sensor for detecting the speed of the vehicle, A speed range sensor for detecting a currently engaged speed change stage, an RPM (Revolutions Per Minute) sensor for detecting the rotation speed of the engine 109, and a speed sensor 106 for detecting the speed and rotor angle of the motor 106 The driving information according to the driving of the vehicle can be collected from at least one of the resolvers.

The battery 102 is composed of a plurality of unit cells, and a high voltage for providing a driving voltage to the motor 106 is stored. The battery 102 supplies a driving voltage to the motor 106 in an HEV (Hybrid Electric Vehicle) mode or an EV (Electric Vehicle) mode and is charged with a voltage generated by the motor 106 during regenerative braking.

The battery 102 can be charged by the voltage and current supplied through the charging device when the commercial power is plugged in in the plug-in hybrid vehicle.

The battery manager 103 manages the state of charge (SOC) by totally detecting information such as voltage, current, and temperature of each cell within the operating range of the battery 102.

For this management, the battery manager 103 may control the voltage of the battery 102 to prevent the battery 102 from being overcharged below the limit voltage or overcharged beyond the limit voltage.

The dual clutch transmission (DCT) 104 is a transmission having both the efficiency of the manual transmission and the convenience of the automatic transmission using the two clutches, and the transmission ratio is adjusted under the control of the hybrid controller 113.

The DCT 104 distributes the applied output torque through the engine clutch 108 according to the operation mode to a gear ratio, and transmits the output torque to the drive wheel 111 so that the vehicle can be driven.

The transmission control unit (TCU) 105 automatically controls the target shift stage of the DCT 104 determined according to conditions such as vehicle speed, throttle opening, input torque, and the like to maintain a vehicle speed suitable for the current operating conditions.

Since the hybrid vehicle according to the embodiment of the present invention includes the DCT 104 and is capable of simultaneously locking two gear ratios, the transmission controller 105 arbitrarily controls one gear at the time of regenerative braking, The input shaft speed can be variably controlled.

In particular, the transmission controller 105 can calculate the accurate torque during shifting, as well as the output shaft torque at the end of the DCT 104 before shifting and after shifting.

3 is a graph for explaining a method of calculating a regenerative braking execution amount considering DTC characteristics according to an embodiment of the present invention.

Referring to FIG. 3, the transmission controller 105 controls the transmission ratio of the DCT 104 according to the Hand Over Ratio (DCT) ratio considering the torque ratio before the shifting and after the shifting during the torque phase during which the torque changes during the shifting of the DCT 104. [ And transmits it to the hybrid controller 113.

The shift of the DCT 104 is a process in which the gear ratio is changed. In the torque phase, the torque fluctuation occurs from the front end to the end of the shift in the torque phase first. In the inertia phase, (Rpm) after the torque variation of the engine.

At this time, the torque varies due to the gear ratio in which the shifting in the torque phase section shifts from the preceding stage to the shifting to the following stage. This is because the torque fluctuates uniformly by the shift ratio of the stage before the shifting to the stage after the shifting And the transmission controller 105 according to the embodiment of the present invention can detect the accurate torque according to the inter-speed shift.

In the conventional method of calculating the regenerative braking execution amount used in a hybrid vehicle equipped with an AT, the problem that the actual regenerative braking can not be reliably performed due to the fact that the actual gear ratio rapidly changing according to the deceleration is not accurately reflected . In addition, conventionally, in order to ensure braking linearity, the gear ratio used in the calculation of the regenerative braking execution amount is gradually increased in the entire torque range (torque phase + inertia phase).

On the other hand, the transmission controller 105 according to the embodiment of the present invention detects the hand over ratio of the stage before the shift and the shift stage after the shift in the torque phase period and controls the hybrid controller (113).

Therefore, according to the embodiment of the present invention, there is an advantage in that the regenerative braking execution amount of the transmission input shaft can be more accurately and simply calculated, and the regenerative braking execution amount is computed only in the torque phase section, The fuel consumption is improved.

The transmission controller 105 may also transmit a regenerative braking prohibition request to the hybrid controller 113 during a shift such as a lift foot-up, a back-running, and a sports mode.

The motor 106 is operated by the three-phase AC voltage applied from the motor controller 111 to generate torque. The motor 106 is operated as a generator during the other running or regenerative braking to supply a voltage to the battery 102.

The motor controller 111 controls driving and torque of the motor 106 under the control of the hybrid controller 113 and stores electricity generated by the motor 106 in the battery 102 during the regenerative braking.

The engine clutch 108 is disposed between the engine 109 and the motor 106 and is operated under the control of the hybrid controller 113 to intercept power transmission between the engine 109 and the motor 106. That is, the engine clutch 108 connects or disconnects the power between the engine 109 and the motor 106 in accordance with the switching between the EV mode and the HEV mode.

The output of the engine 109 is controlled under the control of the engine controller 110, and the drive is controlled to the optimum operating point under the control of the engine controller 110.

The engine controller 110 is connected to the hybrid controller 113 through a network and operates in conjunction with the hybrid controller 113 to control the overall operation of the engine 109 in accordance with the operation of the engine 109 such as the required torque signal, And controls the operation. The engine controller 110 provides the operating state of the engine 109 to the hybrid controller 113. [

The brake controller 112 determines braking control for controlling the hydraulic pressure supplied to the brake cylinders of the driving wheels 111 by determining the total amount of the braking force required from the pedal stroke and the hydraulic pressure of the master cylinder when the braking demand of the driver is detected.

At this time, the brake controller 112 can be applied to a regenerative braking system (Active Hydraulic Booster) (AHB) that maximizes the electric regenerative rate. In the total control amount determined by the operation of the brake pedal, The braking control is performed by controlling the hydraulic pressure supplied to the brake cylinder of each driving wheel 111 with the hydraulic braking amount minus the braking execution amount.

The hybrid controller 113 is a top-level controller that controls the overall operation of the environmentally friendly vehicle.

The hybrid controller 113 controls the output torque of the engine 109 and the motor 106 by integrally controlling each controller through the network according to the driver's driving request and the vehicle condition.

The hybrid controller 113 calculates the regenerative braking execution amount corresponding to the braking demand detected from the brake controller 112 and controls the torque of the motor 106 through the MCU 107 and also controls the torque of the motor 106 via the brake controller 112 And controls the braking oil pressure supplied to the drive wheels 111 to perform regenerative braking torque and deceleration control.

The hybrid controller 113 uses a handover ratio that takes into account the torque ratio before the shifting and after the shifting provided by the transmission controller 105 when the shift according to the deceleration is performed during the execution of the regenerative braking Calculates a regenerative braking execution amount from the gear ratio and the motor torque in the calculated torque phase section and controls the torque of the motor 106 through the motor controller 107 to execute the regenerative braking control.

At this time, the hybrid controller 113 can calculate the gear ratio in the torque phase section using the above-described Hand Over Ratio through Equation (1) below.

(Where R _TP is the gear ratio in the torque phase section, R _B is the gear ratio after the shift, R _A is the shift stage in the shift range and R _HO is the shift stage in the torque phase section, (Hand Over Ratio), respectively.

The hybrid controller 113 subtracts the value obtained by multiplying the torque phase share ratio R _HO by subtracting the front stage gear ratio R _A from the speed ratio R _B from the speed ratio R _B after the speed change to the speed ratio R _B after the speed change, The gear ratio R _TP in the section can be calculated.

The hybrid controller 113 calculates the regenerative braking execution amount by referring to the gear ratio and the motor torque in the torque phase section using the above hand ratio, and based on this, the hybrid controller 113 controls the motor 106 via the motor controller 107, Is controlled.

Then, the hybrid controller 113 transmits the calculated regenerative braking execution amount to the brake controller 112, and performs the hydraulic braking of each driving wheel 111 with the remainder excluding the regenerative braking amount from the total braking amount.

On the other hand, a method for calculating the regenerative braking execution amount of the hybrid vehicle based on the above-described configuration of the regenerative braking execution amount calculation system 100 of the hybrid vehicle will be described.

The controllers of the system 100 for calculating the execution amount of regenerative braking according to the embodiment of the present invention described above with reference to FIG. 2 may be integrated or subdivided, and may be configured to perform the above- Element can be a configuration of the regenerative braking execution amount calculation system 100 according to an embodiment of the present invention.

Therefore, in describing the method for calculating the regenerative braking execution amount according to the embodiment of the present invention, the subject of each step will be described mainly with the regenerative braking execution amount calculation system 100, not the controllers.

4 is a flowchart schematically showing a method for calculating a regenerative braking execution amount of a hybrid vehicle according to an embodiment of the present invention.

Referring to FIG. 4, the regenerative braking execution amount calculation system 100 according to the embodiment of the present invention detects the general operation information in a state in which the vehicle is running (S101).

The regenerative braking execution amount calculation system 100 determines the regenerative braking of the vehicle when the vehicle speed decreases according to the brake pedal operation (S102; Yes), and otherwise maintains the current running condition (S102;

The regenerative braking execution amount calculation system 100 detects that up / down shift of the DCT 104 due to the deceleration occurs in the process of regenerative braking, and if no shift occurs (S103: No) (S104), and calculates a regenerative braking execution amount based on the actual motor torque execution amount and the actual gear ratio of the DCT 104 (S105).

At this time, the calculation of the regenerative braking execution amount is calculated from the actually applied motor torque and the gear ratio in a state in which the shifting is not performed.

On the other hand, when the up / down shift of the DCT 104 due to the deceleration occurs (S103; Yes), the regenerative braking execution amount calculation system 100 in the step S103 determines whether or not the motor torque command and the torque phase Torque Phase) and a handover ratio of a stage after the shift to the shift stage (S105).

The regenerative braking execution amount calculation system 100 calculates the gear ratio using the front-end gear ratio, the gear ratio after the shift, and the hand over ratio in the torque phase period (S106) (Step S107) by referring to the gear ratio and the motor torque command in the torque phase section using the hand over ratio.

Although not shown in the figure, the regenerative braking execution amount calculation system 100 controls the torque of the motor 106 via the motor controller 107 to perform regenerative braking control when it enters the inertia phase period, The regenerative braking execution amount is transmitted to the brake controller 112, and the hydraulic braking control of each driving wheel 111 can be performed with the remainder excluding the regenerative braking amount from the total braking amount.

As described above, according to the embodiment of the present invention, the regenerative braking execution amount is calculated by using the pre-shift stage in the torque phase period of the hybrid vehicle to which the DTC is applied and the hand over ratio of the stage after the shift stage, It is possible to more accurately and simply calculate the braking performance of the input shaft regenerative braking.

This can be expected to improve fuel efficiency by more than 1% based on FTP, which is an urban fuel efficiency authentication mode, and improve fuel efficiency by more than 0.8% based on HWY, which is a highway fuel efficiency certification mode.

The embodiments of the present invention are not limited to the above-described apparatuses and / or methods, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

100: Regenerative braking execution amount calculation system 101: Operation information detector
102: battery 103: battery manager
104: dual clutch transmission (DCT) 105: transmission controller
106: motor 107: motor controller
108: engine clutch 109: engine
110: engine controller 111: drive wheel
112: Brake controller 113: Hybrid controller

Claims

An operation information detector for collecting operation information for determining a regenerative braking of the hybrid vehicle;
A motor controller for controlling driving and torque of the motor in accordance with an applied control signal and storing electricity generated by the motor in regenerative braking;
A dual clutch transmission (DCT) for controlling the speed ratio using two clutches;
A transmission controller for detecting a hand over ratio considering a torque ratio before the shifting and a torque ratio after the shifting in the torque phase of the dual clutch transmission when shifting during regeneration is performed; And
A hybrid controller for calculating a regenerative braking execution amount based on the gear ratio and the motor torque calculated using the share ratio of the torque phase section
And calculates a regenerative braking execution amount of the hybrid vehicle.

The method according to claim 1,
An active hydraulic booster (AHB) is applied to control the hydraulic pressure supplied to the brake cylinders of each drive wheel by the hydraulic braking amount obtained by subtracting the regenerative braking execution amount from the total control amount determined by the brake pedal operation, And a braking controller that controls the braking operation of the hybrid vehicle.

The method according to claim 1,
The transmission controller comprising:
Calculates a torque during shifting as well as an output shaft torque at a stage before the shifting of the dual clutch transmission and after the shifting.

The method according to claim 1,
The transmission controller comprising:
And transmits a regenerative braking prohibition request to the hybrid controller when the hybrid vehicle is one of a lift foot-up, a back-running, and a sports mode.

The method of claim 1, wherein
The hybrid controller includes:
A gear ratio of the torque phase section is subtracted from the gear ratio after the shifting by subtracting the front-end gear ratio from the gear ratio after the shift in the torque phase section to calculate the gear ratio in the torque phase section, Quantity calculation system.

The method according to claim 1,
The hybrid controller includes:
Wherein the regenerative braking is executed when the engine enters an inertia phase period after the torque phase interval.

The method according to claim 1,
The hybrid controller includes:
Wherein the regenerative braking execution amount is calculated from the motor torque and gear ratio actually applied when the shift is not made during the regenerative braking control.

A method for calculating a regenerative brake execution amount of a hybrid vehicle equipped with a dual clutch transmission (DCT)
a) determining a regenerative braking if the vehicle speed due to the operation of the brake pedal of the vehicle decreases;
b) If a shift occurs in the dual clutch transmission due to the decrease in vehicle speed, a motor torque command according to the regenerative braking determination and a hand over ratio of the stage before the shift and the stage after the shift after the torque phase are detected ;
c) calculating a gear ratio based on a shift ratio in the torque phase period based on a front-end gear ratio, a gear ratio after shift, and a hand over ratio; And
d) calculating a regenerative braking execution amount by referring to the gear ratio and the motor torque command in the torque phase section using the hand over ratio
And calculating a regenerative braking execution amount of the hybrid vehicle.

9. The method of claim 8,
The step b)
Calculating a regenerative braking execution amount based on an actual motor torque execution amount and an actual gear ratio of the dual clutch transmission when a shift of the dual clutch transmission does not occur.

9. The method of claim 8,
The step c)
Calculating a gear ratio in a torque phase section by subtracting a value obtained by multiplying a share ratio of the torque phase section by a shift speed by subtracting a front-stage gear ratio from a gear ratio after the shift in the torque phase section, A method for calculating a regenerative brake execution amount of a vehicle.

9. The method of claim 8,
After the step d)
Further comprising the step of transmitting the regenerative braking execution amount to the brake controller to control the hydraulic braking of each driving wheel to a remaining amount excluding the regenerative braking amount in the total amount of the braking operation in accordance with the operation of the brake pedal.

9. The method of claim 8,
After the step d)
And performing regenerative braking control by controlling the torque of the motor when the engine enters an inertia phase period.