| 摘要 |
PROBLEM TO BE SOLVED: To enable satisfactory vehicle motion control in braking of wheels 10.SOLUTION: In a vehicle in which wheels 10 are braked by regenerative braking force of motors 30 and friction braking force of friction brake mechanisms 40, a brake ECU 53 acquires at least one parameter of a steering angle, a steering speed, a lateral acceleration of a vehicle body, a yaw rate of the vehicle body, a sprung vertical acceleration and an unsprung vertical acceleration. When the magnitude of the parameter exceeds a threshold, the brake ECU reduces a ratio of the regenerative braking force in driver-requested braking force and increase a ratio of the friction braking force. With this, relative to braking/driving force for control required for vehicle motion control, insufficiency of braking/driving force for control that can be generated by the motors 30 is hardly caused, and the vehicle motion control can be satisfactorily conducted.SELECTED DRAWING: Figure 1 |
