Brake control apparatus for vehicle

A brake control apparatus for a brake apparatus of a vehicle which includes, as a power source, a motor for driving a specific wheel, the brake apparatus including frictional-braking-force control means for individually controlling frictional braking force acting on each wheel of the vehicle, independently of operation of a brake operation member by a driver, and regenerative-braking-force control means for controlling regenerative braking force which is generated by the motor and acts on the specific wheel, the brake control apparatus comprising:

• regeneration-coordinative brake control means for adjusting a ratio between the frictional braking force and the regenerative braking force in accordance with operation of the brake operation member by means of controlling the frictional-braking-force control means and the regenerative-braking-force control means such that the characteristic of the total braking force, which is the sum of the frictional braking force and the regenerative braking force, with respect to the operation of the brake operation member coincides with a preset target characteristic;
• antiskid control means for performing antiskid control for each wheel, when the wheel tends to lock during operation of the brake operation member by the driver, so as to cause the frictional-braking-force control means to further adjust the frictional braking force adjusted by means of the regeneration-coordinative brake control means and acting on the wheel, to thereby suppress occurrence of locking of the wheel;
• limit-regenerative-braking-force obtaining means for obtaining, as limit regenerative braking force, a force which is greater than zero and under which locking of the specific wheel does not occur under the assumption that the force acts solely on the specific wheel;
• and
• regenerative-braking-force adjustment means for causing the regeneration-coordinative brake control means to adjust the regenerative braking force such that the regenerative braking force does not exceed the limit regenerative braking force, when the antiskid control is performed for the specific wheel.

A brake apparatus for a vehicle which includes, as a power source, a motor for driving a specific wheel, comprising:

• frictional-braking-force control means for individually controlling frictional braking force acting on each wheel of the vehicle, independently of operation of a brake operation member by a driver;
• regenerative-braking-force control means for controlling regenerative braking force which is generated by the motor and acts on the specific wheel;
• regeneration-coordinative brake control means for adjusting a ratio between the frictional braking force and the regenerative braking force in accordance with operation of the brake operation member by means of controlling the frictional-braking-force control means and the regenerative-braking-force control means such that the characteristic of the total braking force, which is the sum of the frictional braking force and the regenerative braking force, with respect to the operation of the brake operation member coincides with a preset target characteristic;
• antiskid control means for performing antiskid control for each wheel, when the wheel tends to lock, so as to cause the frictional-braking-force control means to further adjust the frictional braking force adjusted by means of the regeneration-coordinative brake control means and acting on the wheel, to thereby suppress occurrence of locking of the wheel;
• limit-regenerative-braking-force obtaining means for obtaining, as limit regenerative braking force, a force under which locking of the specific wheel does not occur in a case in which the force acts on the specific wheel;
• and
• regenerative-braking-force adjustment means for causing the regeneration-coordinative brake control means to adjust the regenerative braking force such that the regenerative braking force does not exceed the limit regenerative braking force, when the antiskid control is performed for the specific wheel.

A brake apparatus for a vehicle which includes, as a power source, a motor for driving a specific wheel, comprising:

• frictional-braking-force control means for individually controlling frictional braking force acting on each wheel of the vehicle, independently of operation of a brake operation member by a driver;
• regenerative-braking-force control means for controlling regenerative braking force which is generated by the motor and acts on the specific wheel;
• regeneration-coordinative brake control means for adjusting a ratio between the frictional braking force and the regenerative braking force in accordance with operation of the brake operation member by means of controlling the frictional-braking-force control means and the regenerative-braking-force control means such that the characteristic of the total braking force, which is the sum of the frictional braking force and the regenerative braking force, with respect to the operation of the brake operation member coincides with a preset target characteristic;
• antiskid control means for performing antiskid control for each wheel, when the wheel tends to lock, so as to cause the frictional-braking-force control means to further adjust the frictional braking force adjusted by means of the regeneration-coordinative brake control means and acting on the wheel, to thereby suppress occurrence of locking of the wheel;
• limit-regenerative-braking-force obtaining means for obtaining, as limit regenerative braking force, a force under which locking of the specific wheel does not occur under the assumption that the force acts solely on the specific wheel;
• and
• regenerative-braking-force adjustment means for causing the regeneration-coordinative brake control means to adjust the regenerative braking force such that the regenerative braking force does not exceed the limit regenerative braking force, when the antiskid control is performed for the specific wheel.

A medium for recording a brake control program applied to a brake apparatus for a vehicle which includes, as a power source, a motor for driving a specific wheel, the brake apparatus including frictional-braking-force control means for individually controlling frictional braking force acting on each wheel of the vehicle, independently of operation of a brake operation member by a driver, and regenerative-braking-force control means for controlling regenerative braking force which is generated by the motor and acts on the specific wheel, the brake control program comprising:

• regeneration-coordinative brake control step of adjusting a ration between the frictional braking force and the regenerative braking force in accordance with operation of the brake operation member by means of controlling the frictional-braking-force control means and the regenerative-braking-force control means such that the characteristic of the total braking force, which is the sum of the frictional braking force and the regenerative braking force, with respect to the operation of the brake operation member coincides with a preset target characteristic;
• antiskid control step of performing antiskid control for each wheel, when the wheel tends to lock, so as to cause the frictional-braking-force control means to further adjust the frictional braking force adjusted by the regeneration-coordinative brake control step and acting on the wheel, to thereby suppress occurrence of locking of the wheel;
• limit-regenerative-braking-force obtaining step of obtaining, as limit regenerative braking force, a force under which locking of the specific wheel does not occur in a case in which the force acts on the specific wheel;
• and
• regenerative-braking-force adjustment step of adjusting the regenerative braking force such that the regenerative braking force does not exceed the limit regenerative braking force, when the antiskid control is performed for the specific wheel

A medium for recording a brake control program applied to a brake apparatus for a vehicle which includes, as a power source, a motor for driving a specific wheel, the brake apparatus including frictional-braking-force control means for individually controlling frictional braking force acting on each wheel of the vehicle, independently of operation of a brake operation member by a driver, and regenerative-braking-force control means for controlling regenerative braking force which is generated by the motor and acts on the specific wheel, the brake control program comprising:

• regeneration-coordinative brake control step of adjusting a ration between the frictional braking force and the regenerative braking force in accordance with operation of the brake operation member by means of controlling the frictional-braking-force control means and the regenerative-braking-force control means such that the characteristic of the total braking force, which is the sum of the frictional braking force and the regenerative braking force, with respect to the operation of the brake operation member coincides with a preset target characteristic;
• antiskid control step of performing antiskid control for each wheel, when the wheel tends to lock, so as to cause the frictional-braking-force control means to further adjust the frictional braking force adjusted by the regeneration-coordinative brake control step and acting on the wheel, to thereby suppress occurrence of locking of the wheel;
• limit-regenerative-braking-force obtaining step of obtaining, as limit regenerative braking force, a force under which locking of the specific wheel does not occur under the assumption that the force acts solely on the specific wheel;
• and
• regenerative-braking-force adjustment step of adjusting the regenerative braking force such that the regenerative braking force does not exceed the limit regenerative braking force, when the antiskid control is performed for the specific wheel.