| 摘要 |
PROBLEM TO BE SOLVED: To ensure braking performance when a regenerative braking force is decreased at the start of ABS control and to maintain the execution state of ABS control, in a braking force control device to have an ABS control function and generate a regenerative braking force. SOLUTION: When ABS control is not executed, front wheel braking force Pf and rear wheel braking force Pr are generated along a regenerative coordination curve 1 through regenerative coordination control. When at a point A, lock tendency occurs to a front wheel and ABS control of front wheels is started, a regenerative braking force is reduced to zero. In this case, through the increase of a machine braking force on the front wheel side and the rear wheel side, total braking force is ensured through movement to a point C on a non-regeneration curve 2. Further, through the increase to the machine braking force on the wheel side, through movement to a point B on a front wheel lock curve 4, the ABS control state of the front wheels is maintained. |
