METHOD OF CONTROLLING DRIVING OF A VEHICLE USING AN IN-WHEEL SYSTEM

A method of controlling driving of a vehicle using an in-wheel system includes: calculating a time to collision (TTC) by dividing a distance between the vehicle and an obstacle located in front of the vehicle by relative velocity; determining whether the vehicle enters a braking avoidance section, based on the calculated TTC; and generating, by a motor mounted in each wheel, braking force of a brake by an amount of shortage of braking force of the brake compared with a demanded braking force if the vehicle enters the braking avoidance section.