| 摘要 |
<P>PROBLEM TO BE SOLVED: To eliminate the slippage of a wheel 21 as early as possible while suppressing the occurrence of the sense of an abrupt fall of G when slippage occurs in the wheel 21 to which regenerative braking is applied in a vehicle equipped with a regenerative braking device 10 and a hydraulic braking device 30. <P>SOLUTION: When a slip ratio of at least one wheel 21 to which regenerative braking is applied is a first prescribed value or larger, regenerative braking forces to all wheels to each of which regenerative braking is applied by a regenerative braking device 10 to all wheels 21 for which the regenerative braking is provided are reduced at a first speed, and the hydraulic braking force by a hydraulic braking device 30 is increased. After increasing the hydraulic braking force, anti-lock brake operation by the hydraulic braking device 30 is executed with respect to a wheel 21 in which the slip ratio reaches the first prescribed value or larger. During the decrease in the regenerative braking force by the hydraulic braking device 30 at the first speed, when prescribed conditions are established, the deceleration speed of the regenerative braking force is changed to the second speed lower than the first speed. <P>COPYRIGHT: (C)2013,JPO&INPIT |
