| 摘要 |
In the present invention, a motor and generator are provided to the front wheel side and the back wheel side, and regeneration using all four wheels is possible. Deceleration occurring in a vehicle is shown on the horizontal axis, and the braking force of each of the front and back wheels is shown on the vertical axis. A setting value (a2) shows the braking force constituting a limit at which the rear wheels lock. Friction braking force (n2) and regenerative braking force (n1) of the rear wheels are controlled, and the total braking force of the rear wheels is controlled so as not to exceed the setting value (a2). |
