| 摘要 |
PROBLEM TO BE SOLVED: To enhance energy recovering efficiency while preventing a slip of a wheel by actuating an energy recovering means when a slip rate of the wheel exceeds a prescribed value at braking time. SOLUTION: A judgment is made on whether or not a slip rate is not less than a prescribed value (S2). When the slip rate is not less than the prescribed value, an ABS control condition is realized. When it is not a split road (NO in S4) and is not a low μ road (NO in S6), a judgment is made on whether or not a storage quantity of a battery is not less than a prescribed value (S8). When the storage quantity is small, brake fluid pressure is reduced so as to become smaller than a target value (S10). ON/OFF control (S12) by a pulse of regenerative braking and feedback control (S14) by pressurization/release of the brake fluid pressure are synchronously performed. That is, braking and electric power recovery are performed by repeating pressurization/release of the brake fluid pressure by ON of the regenerative braking, and the brake fluid pressure is released by OFF of the regenerative braking so that the slip rate is converged in a desired value. |
