Cooperative Control of Regenerative Braking and Antilock Braking for a Hybrid Electric Vehicle

Table 1

Vehicle parameters.

PMSM	Power M/G	20/13 KW
Battery	Capacity	80 Ah
	Nominal voltage	336 V
Vehicle	Vehicle mass 𝑚	1320 kg
	Tire radius 𝑅	0.272 m
	𝐼𝜔	1.1 kg·m^2
	𝑓	0.015
	𝐵, 𝐶, 𝐷, 𝐸 of tire	8.9, 1.6, 1, 0.5
	𝐿,ℎ𝑔,𝑙𝐹,𝑙𝑅	2.4, 0.5, 0.9, 1.4 (m)
	CVT gear ratio	0.451~2.462