| 摘要 |
PROBLEM TO BE SOLVED: To prevent the influence of periodic braking torque fluctuation of the friction brake from being transmitted to a vehicle body. SOLUTION: When a braking request is given and the hydraulic brake of a certain wheel is not a specified friction brake having large braking torque fluctuation, the hydraulic brake is operated based on (redistributed) individual wheel braking force (S33, S34). If the individual wheel braking force can be generated by an electric braking device (S35) in the case of the specified friction brake, the hydraulic brake is not operated, and regenerative braking (S37, S38) or reverse braking (S39, S40) is performed. If the individual wheel braking force can not be generated by the electric braking device and the braking force can be redistributed to the hydraulic brake except the hydraulic brake (S41), the hydraulic brake is not operated and the braking force is shared by the other hydraulic brake (S42, S43). If the redistribution is impossible, the hydraulic brake is operated, and the regenerative braking or the reverse braking is performed to cancel the braking torque fluctuation of the hydraulic brake (S44). COPYRIGHT: (C)2006,JPO&NCIPI
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