| 摘要 |
A braking apparatus (1) of a vehicle includes: a hydraulic brake device (4) that brakes the vehicle via friction in response to operation of a brake pedal; a regenerative brake device (5) that performs regenerative braking using, as an electricity generator, a motor (3) for running the vehicle; and a collision avoidance device (20) that performs automatic braking of the vehicle by controlling operation of the hydraulic brake device (4) in accordance with obstacle detection information detected by an obstacle detection device (21), to avoid collision of the vehicle with an obstacle, wherein an electric servo brake controller (10) of the collision avoidance device (20) terminates activation of the regenerative braking, if activated, before the automatic braking is started by the collision avoidance device (20). |
