Cooperative brake apparatus and control method thereof

A cooperative brake apparatus comprising:

• a regenerative brake device configured to apply a regenerative braking force to a vehicle;
• a hydraulic brake device configured to apply a hydraulic braking force to at least one wheels using a hydraulic pressure formed by a motor including a first coil and a second coil;
• and
• controller including a power source, a first driving circuit configured to transmit electrical energy of the power source to the first coil, a second driving circuit configured to transmit the electrical energy of the power source to the second coil, a first motor controller configured to control a current applied to the first driving circuit, and a second motor controller configured to adjust a current applied to the second driving circuit,
• wherein each of the first motor controller and the second motor controller controls the current applied to the first driving circuit and the second driving circuit, respectively, based on the regenerative braking force,
• the second motor controller determines whether to apply a current to the second driving circuit based on a sum of the regenerative braking force and a first maximum braking force, a required braking force and a rotational force of a shaft associated with the at least one wheels received from a rotation sensor connected to the second motor controller,
• the first maximum braking force is a hydraulic braking force generated by the hydraulic brake by a maximum allowable current applied to the first coil.