| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method and a system for braking and controllability for each wheel constituted for unregenerative braking in a vehicle with regenerative braking. SOLUTION: In order to maintain controllability of the vehicle where regenerative braking is initially performed, control is carried out using feedback control algorithm that monitors front and rear braking torque and dynamically adjusts the braking torgue. A controller 46 monitors a wheel speed, lateral acceleration, a yaw rate and a brake position to independently operate unregenerative braking and selectively operate regenerative braking of each wheel 42, 64 at various rates, based on at least one actual vehicle controllability value and at least one predetermined controllability target value. Controllability elements include the comparison of a predetermined longitudinal slip rate, a slip angle and the yaw rate. For rear wheel drive constitution, unregenerative braking is applied only to the wheel of a front axle 66 on the outside of a turn. For front wheel drive constitution, unregenerative braking is applied only to the wheel of a rear axle on the inside of a turn. COPYRIGHT: (C)2004,JPO |
