BRAKE FORCE CONTROL DEVICE AND METHOD

摘要

A braking force control device includes: a brake control device (brake controller 24) that controls a mechanical brake braking torque by operating electric actuators 23FL, 23FR 23RL, 23RR so as to achieve a requested brake braking torque; a motor control device (motor controller 42) that controls a motor torque by operating motors 41FL, 41FR, 41RL, 41RR so as to achieve the requested motor torque; a requested braking torque calculation device 51 a that calculates; the requested braking torques of wheels 10FL, 10FR, 10RL, 10RR; a battery requested electric power calculation device 51c that finds a battery requested electric power based on the target amounts of electricity charged in batteries 31, 32, 34; and an individual braking torque calculation device 51b that finds the requested motor torque and the requested brake braking torque that cause the requested braking torque to be generated based on the battery requested electric power and the requested braking torque.