| 摘要 |
PROBLEM TO BE SOLVED: To stabilize vehicle behavior when performing regenerative braking in a brake control device which performs collaborative control of regenerative braking and friction braking.SOLUTION: A brake control device: distributes braking force, through a controller C, between a regenerative braking device 110 which performs regenerative braking with respect to either front wheels or rear wheels for braking requests and brake calipers 71 which perform friction braking with respect to each wheel; detects a slip between the front wheels and the rear wheels on the basis of a difference in wheel speeds therebetween and curbs imbalance in the braking force therebetween by limiting the braking force by the regenerative braking device 110; corrects fluctuation of wheel speeds due to a change in dynamic radii of tires with an average wheel speed of all the wheels as a reference; and enables the wheel speeds to be corrected by calculating turning radii of respective wheels on the basis of a steering angle when a vehicle turns. Thus, the brake control device can improve detection accuracy of the wheel speeds and stabilize vehicle behavior by optimizing distribution of the braking force between the front wheels and the rear wheels when performing the regenerative braking. |
