| 摘要 |
According to the present invention, to reduce the shock that occurs when parking brake force is produced by an EPB in order to switch from brake force of a hydraulic system to parking brake force of the EPB, the timing of completing the EPB operation and the timing of stopping the vehicle are made to coincide. Specifically, these timings are made to coincide by operating the EPB on the basis of a timing at which the vehicle speed (V) reaches a vehicle speed threshold (Vth). Parking brake force can thereby be applied so as to avoid times when the driver easily feels the shock from the EPB being operated, such as during travel and after the vehicle has completely stopped. It is thereby possible to reduce the shock that occurs when parking brake force is produced by the EPB in order to switch from the brake force of the hydraulic system to the parking brake force of the EPB. |
