| 摘要 |
PROBLEM TO BE SOLVED: To stop a vehicle by a feeling equivalent to ordinary brake operation, needless to say, in the case of fluid leakage in a hydraulic line of a brake, system, even in the case that a brake fluid pressure is not increased to a normal pressure by the damaged rod between a brake pedal and a brake master cylinder or by a trouble in the brake master cylinder itself. SOLUTION: A master cylinder oil pressure P0 is set (S3) to be based on a brake stroke amount Bst at a brake operation, a differential pressure (|P0-P1|, |P0-P2|) between the master cylinder oil pressure P0 and actually generated oil pressure P1, P2 is decided (S4) whether it is in an error range PS or not, when the differential pressure is not in the error range, a trouble in a brake system is judged, a regenerative amount of a drive motor B is set (S8) based on the brake stroke amount Bst and a rotational speed NB of the drive motor, and a vehicle is stopped by regenerative brake of the drive motor. |
