Method for controlling braking of vehicle

A method for controlling braking of a vehicle, the method comprising:

• determining a natural frequency of a vehicle suspension pitch motion according to characteristics of a suspension of the vehicle;
• providing a first transfer function model configured to remove or decrease the natural frequency component of the vehicle suspension pitch motion and a second transfer function model configured to extract or increase the natural frequency component of the vehicle suspension pitch motion, to a controller of the vehicle;
• determining, by the controller, a total requested braking force command based on vehicle driving information collected while the vehicle is driven;
• determining, by the controller, a post-transfer function model application total braking force command through a processing procedure by the first transfer function model including the determined total requested braking force command as input thereof;
• determining, by the controller, a braking force compensation amount through a processing procedure by the second transfer function model including a feedback braking force, which is a feedback value of a braking force of the vehicle, as input thereof;
• and
• compensating, by the controller, for the post-transfer function model application total braking force command using the braking force compensation amount, and controlling a braking force, which is applied to a wheel of the vehicle by a braking device of the vehicle, using the post-compensation total braking force command.