Vehicle and control method of vehicle

摘要

When vehicle speed V decreases to or below a preset reference vehicle speed Vref during output of regenerative braking force from a motor in response to the driver's depression of a brake pedal, the vehicle of the invention performs a replacement pre-operation (steps S190 to S220 and S160) and a replacement operation (steps S240 to S280 and S160) and controls the motor and an electronically controlled hydraulic braking system to satisfy a braking force demand BF*. The replacement pre-operation actuates and controls pumps included in a brake actuator of the electronically controlled hydraulic braking system to exert their proper pressurization performance. The replacement operation decreases the regenerative braking force output from the motor and enhances a pressure increase by the pumps to replace the regenerative braking force with a pressure increase-based braking force BFpp.