| 摘要 |
PROBLEM TO BE SOLVED: To provide a coordination controller that can control fluctuations of the decelerating speed, that is generated when the friction braking of wheels is started during the coordination control of a brake with a combination system. SOLUTION: In achieving target braking torque Tdcom that increases with the rise of master cylinder liquid pressure Pmc, it is achieved only by regeneration torque Tmcom of front wheels initially. During an instantaneous period of time from t1 to t2, when deviation becomes a set point Tm1 between Tmcom and permissible maximum regenerative braking torque Tmmax, a rear wheel friction braking torque Tbcomr is started slowly, by preliminarily increasing the pressure of non-regenerative wheels (rear wheels) whose friction braking should be started. The Tmcom is corrected, only by a portion of the braking torque accompanying this to compensate the target braking torque Tdcom. During an instantaneous period of time from t3 to t4, when deviation becomes a set point between a command value of basic rear wheel liquid pressure braking torque and target rear wheel braking torque, based on the ideal distribution of front and rear braking forces, front wheel friction braking torque is started slowly, by preliminarily increasing the pressure of regenerative wheels (front wheels) whose friction braking should be started. Tbcomr is corrected by only the portion of the braking torque that accompanies this and compensates the target braking toque Tdcom. COPYRIGHT: (C)2006,JPO&NCIPI
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