PROBLEM TO BE SOLVED: To balance between responsiveness and stability related to recovering braking force when the tendency of a wheel being locked is eliminated to recover the braking force.SOLUTION: An ECU 100 performs: starting to increase braking force only with motor regeneration when starting an ABS recovery control routine; subsequently (S11), computing a required increase amount of braking force on the basis of a slip ratio; increasing braking force only with the motor regeneration (S13 through S15) if the required increase amount of braking force is small or if an allowance of the motor-regenerative braking force is higher than a given level; or reducing the motor regeneration braking force while increasing frictional braking force, substituting the motor-regenerative braking force with the frictional braking force (S16), if the allowance of the motor-regenerative braking force is lower than the given level.

    【課題】 車輪のロック傾向が解消されて制動力を復帰させるときの、制動力復帰に係る応答性と安定性とを両立させる【解決手段】 ECU100は、ABS復帰制御ルーチンを起動すると、モータ回生のみによる制動力の増加を開始する(S11)。続いて、スリップ率に基づいて制動力の要求増加量を演算し、要求増加量が少ない場合、あるいは、モータ回生制動力の余裕度が所定レベルより高い場合には、制動力の増加をモータ回生のみにより実施する(S13〜15)。モータ回生制動力の余裕度が所定レベル以下の場合には、摩擦制動力を増加させながらモータ回生制動力を低減させて、モータ回生制動力と摩擦制動力とのすり替えを行う(S16)。【選択図】 図2


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    Title :

    VEHICULAR BRAKING FORCE CONTROL APPARATUS


    Additional title:

    車両の制動力制御装置


    Contributors:

    Publication date :

    2015-11-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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