| 摘要 |
<p>A method and apparatus for providing regenerative and friction braking on a vehicle having one or more wheels driven by a drive motor includes a master cylinder (28), a hydraulic control unit (30), a brake control unit (38), a drive motor control unit (52) and a drive motor (18). The brake control unit commands build and dump valve pairs (31, 35) such that brake forces generated at the driven left and right wheels (14, 16) are a combination of the regenerative braking and hydraulic braking, the hydraulic braking being generated in response to left and right wheel speed error signals by modulation of the build and dump valve pairs so as to maintain a predetermined front to rear brake proportioning. <IMAGE></p> |
