•  The PCM coordinates with the electronically controlled brake unit to control the kinetic energy during braking so that it can be recovered to the maximum extent as electrical energy. The PCM sends the actual regenerative braking value to the electronically controlled brake unit, and the electronically controlled brake unit calculates the required hydraulic braking force and controls the braking force.

•  The regenerative braking force by the electric motor and the hydraulic braking force are coordinated by communication between the PCM and the electronically controlled brake unit to perform regenerative braking control that recovers kinetic energy as electrical energy to the maximum extent.

•  The electronically controlled brake unit calculates the required regenerative braking torque from the amount of brake pedal operation by the driver during braking and sends it to the PCM.

•  The PCM calculates the requested electric motor torque based on the regenerative braking requested torque received from the electronically controlled brake unit, the acceptable amount of high voltage battery power received from the BECM, and the steering shift switch signal received from the instrument cluster.

•  The PCM sends the calculated requested electric motor torque to the drive motor control module.

•  The drive motor control module performs regenerative braking using the electric motor as a generator based on the received requested electric motor torque.

•  The drive motor control module calculates the actual regenerative electric motor torque based on the generated electrical current of the electric motor.

•  The drive motor control module sends the calculated actual regenerative braking electric motor to the electronically controlled brake unit through the PCM.

•  The electronically controlled brake unit calculates the hydraulic braking force from the received actual regenerative electric motor torque and the driver’s brake pedal operation. (See REGENERATIVE BRAKE COOPERATIVE CONTROL.)