Electric vehicle

An electric vehicle comprising:

• a regenerative brake for imparting a regenerative braking torque to drive wheels by a regenerative power generation of a motor generator,
• a battery capable of storing power generated by the regenerative power generation by the motor generator,
• a friction brake for imparting a frictional braking torque by contact friction to the drive wheels and non-drive wheels, and
• a controller configured:
• to control the regenerative brake and the friction brake so that a total braking torque, which is a sum of the regenerative braking torque imparted to the drive wheels and the frictional braking torque imparted to the drive wheels and the non-drive wheels, becomes a target braking torque during braking,
• to perform a slip control when a ratio of wheel speed of the drive wheels to a speed of the electric vehicle is smaller than a reference value,
• to control the regenerative brake and the friction brake, during performing the slip control, such that
• a sum of the frictional braking torque and the regenerative braking torque imparted to the drive wheels is equal to or less than an upper limit torque set to prevent slipping of the drive wheels, and
• the total braking torque becomes the target braking torque, and wherein
• the regenerative braking torque in the slip control is set such that a distribution of the regenerative braking torque in the total braking torque when an acceptable charging power of the battery is respectively small is smaller than that when the acceptable charging power of the battery is respectively large, wherein the controller is configured to set a target wheel speed of the drive wheels such that
• the ratio of wheel speed of the drive wheels to speed of the electric vehicle is within a first range when the acceptable charging power of the battery is larger than a first threshold value,
• the ratio of wheel speed of the drive wheels to speed of the electric vehicle is within a second range, which is larger than the first range, when the acceptable charging power of the battery is in the range between the first threshold value and a second threshold value which is smaller than the first threshold value, and
• the ratio of wheel speed of the drive wheels to speed of the electric vehicle is within a third range, which is larger than the second range, when the acceptable charging power of the battery is in the range smaller than the second threshold value.