| 摘要 |
A vehicle brake force generation device (11) is provided with an electric motor (13) for applying drive force and regenerative brake force to the wheels (17) of an electric vehicle (V), a brake hydraulic pressure generation device (26) for generating the brake hydraulic pressure to be applied to the calipers (27) of the electric vehicle (V), a slip information computation unit (63) for computing the slip information of the wheels (17), a VSA device (18) for controlling the friction braking of at least the brake hydraulic pressure generation device (26) such that the slipping of the wheels (17) is inhibited, a first diagnosis unit (67) for diagnosing the VSA device (18), and a brake control unit (65) for controlling the cooperative braking which includes controlling the regenerative braking of the electric motor (13) and/or controlling the friction braking of the brake hydraulic pressure generation device (26). The brake control unit (65) continues to control the regenerative braking of the electric motor (13) when a behavior stabilization assistance device (18) goes into an abnormal state while the regenerative braking of the electric motor (13) is being controlled. |
