Optimal Cooperative Brake Distribution Strategy for IWM Vehicle Accounting for Electric and Friction Braking Torques

<div>Front right brake distribution limitations. (a) Scheme of vehicle forces when braking. (b) Normalized front-rear force distribution limitations according to ECE-R13 regulation.</div>

Mathematical Problems in Engineering

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Figure 6

Figure 6: Optimal Cooperative Brake Distribution Strategy for IWM Vehicle Accounting for Electric and Friction Braking Torques 