| 主权项 |
1. A vehicular braking control apparatus comprising:
a rotary machine that functions at least as an electricity generator and that is capable of generating braking torque based on regenerative torque; a brake controller that electrically controls the braking torque of a mechanical brake that is provided in the vehicle; wherein
switching between a braking torque produced by said rotary machine and a braking torque produced by said mechanical brake is performed while maintaining a target braking torque,during switching transition, a feed-forward value of braking toque produced by said rotary machine is computed based on said target braking torque, a feedback correction value is determined based on a deviation between the braking torque of the vehicle and said target braking torque, such that the braking torque and the target braking torque match, and said feedback correction value is added to said feed-forward value to perform feedback control of the braking torque produced by said rotary machine, andthe braking torque produced by said mechanical brake is controlled according to a torque obtained by subtracting said feed-forward value from said target braking torque, regardless of a discrepancy between said braking torque of the vehicle and said target braking torque; wherein the brake controller calculates the feed-forward value by using a present speed of the vehicle, a replacement commencement vehicle speed, a replacement end target vehicle speed, and the target braking torque, and calculates the braking torque provided by the mechanical brake, according to the feed-forward value. |
