| 摘要 |
A braking force control apparatus for a vehicle estimates the friction coefficient mu of a road surface as the state of the road surface on which the vehicle travels, and determines an ideal braking force muW by making use of the estimated road surface friction coefficient mu. When mu is equal to or greater than a predetermined friction coefficient mu0, the braking force control apparatus operates an in-wheel motor in a regeneration state to generate a motor braking torque Tmr, and causes a friction brake mechanism to generate a frictional braking force Bf computed by subtracting Tmr from muW. When mu is less than mu0, the braking force control apparatus operates the in-wheel motor in a power running state to generate a motor driving torque Tmc, and causes the friction brake mechanism to generate a Bf computed by adding Tmc to muW.
|
