Control unit for a vehicle

A control unit for a vehicle comprising a regenerative braking device that generates electric power by a wheel rotated by external force, collects the generated electric power in an on-vehicle battery, and gives regenerative braking force to said wheel, and a friction braking device that gives friction braking force to said wheel by brake oil pressure, the control unit comprising:

• an indicator acquisition means to acquire an indicator which represents a height of a possibility that said vehicle collides with an obstruction;
• and
• a collision avoidance assist control means to assist a driver so that the possibility of a collision of said vehicle with said obstruction is reduced by giving friction braking force by said friction braking device to said wheel while reducing regenerative braking force by said regenerative braking device towards zero while decelerating said vehicle, based on said indicator, wherein said collision avoidance assist control means comprises:
• a first deceleration control means to start its operation and to decelerate said vehicle with a collision avoidance preparatory deceleration by said friction braking force, when said indicator exceeds an avoidance preparatory threshold value,
• a second deceleration control means to start its operation and to decelerate said vehicle with a collision avoidance deceleration, which is larger than said collision avoidance preparatory deceleration, by said friction braking force, when said indicator exceeds a collision avoidance threshold value, which is larger than said avoidance preparatory threshold value, and
• a regeneration end control means to start gradually decreasing or continue gradually decreasing the regenerative braking force, which said regenerative braking device is generating, towards zero when said first deceleration control means starts its operation in a situation where said regenerative braking device is generating regenerative braking force such that the regenerative braking force is the only braking force decelerating said vehicle prior to when the first deceleration control means starts its operation, and a value of a total braking force of the regenerative braking force and the friction braking force for decelerating said vehicle once the first deceleration control means starts its operation is not more than a value of the regenerative braking force prior to when the first deceleration control means starts its operation until the regenerative braking force has decreased to zero, and to start decreasing the regenerative braking force at a higher rate as compared with the case where said first deceleration control means starts its operation towards zero when said second deceleration control means starts its operation in a situation where said regenerative braking device is generating regenerative braking force such that the regenerative braking force is the only braking force decelerating said vehicle prior to when the collision avoidance deceleration starts and the friction braking force is the only braking force decelerating said vehicle after the second deceleration control means starts its operation and thereafter the regenerative braking force has been decreased to zero.