| 摘要 |
A braking device of a vehicle provided with an electrical motor for driving the vehicle using a battery as a power source maximizes the generation of a regenerative braking force of an electrical motor in a range of electricity supply to a battery while satisfying the required braking force in response to a braking operational amount. Providing that the regenerative braking force which can be generated by the electrical motor is taken to be BM, the regenerative braking force of the electricity supply equivalent input to the battery is taken to be BB, the braking force of the driven wheel in response to the brake operational amount is taken to be BFO, the braking force of the driving wheel is taken to be BRO, the minimum required braking force of the driven wheel is taken to be BFM, and the required braking force is taken to be BO+BRO - BFM, the regenerative braking force BM which can be generated by the electrical motor is set as when is BB greater than or equal to BM, and is set as when BB is smaller than BM. The braking mechanism and the electric motor are controlled by the controller so that by comparison of the required brake force BO and the set regenerative brake force BM, only the electrical motor generates the required brake force BO when is BB greater than or equal to BM while the minimum required braking force BFM of the driven wheel is generated. When BB is smaller than BM, regenerative brake force BM is generated by the electrical motor and the deficiency generates the braking force with the braking force of the braking mechanism of the vehicle in a range of the driving-wheel braking force BRO and the driven-wheel braking force BFO. <IMAGE> |
