| 摘要 |
PROBLEM TO BE SOLVED: To prevent a delay of the generation of brake force at the time of emergency brake by correcting a target driving brake torque value in response to the operating speed of a brake pedal, and operating an actuator on the basis of the corrected driving torque command value so as to operate the brake. SOLUTION: A brake operated variable detecting means detects the brake pedal operated variable Sp and the brake pedal operating speed Vp (S1). A target driving brake torque value Tb is set on the basis of the brake pedal operated variable Sp with a map (S2). In the case where operation speed VP of the brake pedal exceeds the threshold value, a correction valueαis added to the target driving brake torque value Tb for correction (S4). An actuator is operated for braking on the basis of the corrected driving torque command value Tb (S5). Thereafter, the brake pedal is released so as to conclude the program (S6). Consequently, delay of the generation of the brake force at the time of emergency brake can be prevented.
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