# US 2014/0195133 A1 · Vehicle braking force control device and method for controlling vehicle braking force > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195133 A1 - Document ID: US20140195133A1 - Status: Published application - Kind: A1 - Application number: 14/237,797 - Filed: 2012-08-09 - Published: 2014-07-10 - Earliest claimed: 2011-08-10 - Assignees: Advics Co., Ltd.; Toyota Jidosha Kabushiki Kaisha - Inventors: Hidehisa Kato; Takayuki Goto; Atsushi Sone; Akifumi Doura - Web page: https://patentgrep.com/patent/US20140195133A1 ## CPC - B60L 7/26: Controlling the braking effect - B60T 1/10: by utilising wheel movement for accumulating energy, e.g. driving air compressors - B60T 8/176: Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS (B60T8/1755 takes precedence) - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 10/188: hydraulic brakes - B60W 20/00: Control systems specially adapted for hybrid vehicles {(hybrid vehicle design, B60K6/00; electric vehicles B60L)} - B60W 30/18127: {Regenerative braking} - B60T 2270/602: ABS features related thereto - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A vehicle braking force control device includes a controller that controls braking force of a wheel by controlling friction braking force generated by a friction braking device and regenerative braking force generated by regenerative braking devices and that performs anti-skid control based on a requested amount of braking force reduction by controlling the friction braking force and reducing the regenerative braking force by an amount of regenerative braking force reduction. The controller sets a target change amount of the friction braking force based on the requested amount of braking force reduction and the amount of regenerative braking force reduction, and controls the friction braking force based on the target change amount when the controller reduces the regenerative braking force by the amount of regenerative braking force reduction. ## Claims ### Claim 1 A vehicle braking force control device, comprising a controller that controls braking force of a wheel by controlling friction braking force generated by a friction braking device and regenerative braking force generated by regenerative braking devices and that performs anti-skid control based on a requested amount of braking force reduction by controlling the friction braking force and reducing the regenerative braking force by an amount of regenerative braking force-reduction, wherein: the controller sets a target change amount of the friction braking force based on the requested amount of braking force reduction and the amount of regenerative braking force reduction; the controller controls the friction braking force based on the target change amount when the controller reduces the regenerative braking force by the amount of regenerative braking force reduction; the controller sets the target change amount so that a sum of the amount of regenerative braking force reduction and the target change amount is equal to the requested amount of braking force reduction; if the requested amount of braking force reduction is smaller than the amount of regenerative braking force reduction, the controller increases the friction breaking force by the target change amount during the anti-skid control; and if the requested amount of braking force reduction is smaller than the amount of regenerative braking force reduction and a slip amount during braking is equal to or larger than a threshold value, the controller sets the target change amount to zero. ### Claim 2 (depends on 1) The vehicle braking force control device according to claim 1, wherein the controller sets the target change amount according to whether the requested amount of braking force reduction is equal to or larger than the amount of regenerative braking force reduction. ### Claim 3 (depends on 1) The vehicle braking force control device according to claim 1, wherein if the requested amount of braking force reduction is smaller than the amount of regenerative braking force reduction, the controller sets the target change amount to an increasing amount that is equal to or smaller than a difference between the amount of regenerative braking force reduction and the requested amount of braking force reduction and that is equal to or larger than zero and increases the friction braking force by the increasing amount during the anti-skid control. ### Claim 4 (depends on 1) The vehicle braking force control device according to claim 1, wherein if the requested amount of braking force reduction is equal to or larger than the amount of regenerative braking force reduction, the controller sets the target change amount to a lowering amount that is a difference between the requested amount of braking force reduction and the amount of regenerative braking force reduction and reduces the friction braking force by the lowering amount during the anti-skid control. ### Claim 5 (canceled) ### Claim 6 (canceled) ### Claim 7 (depends on 1) The vehicle braking force control device according to claim 1, wherein if the requested amount of braking force reduction is equal to or larger than the amount of regenerative braking force reduction, the controller reduces the friction braking force by the target change amount during the anti-skid control. ### Claim 8 (canceled) ### Claim 9 (depends on 1) The vehicle braking force control device according to claim 1, wherein the controller reduces the regenerative braking force to zero by reducing the regenerative braking force by the amount of regenerative braking force reduction during the anti-skid control. ### Claim 10 A method for controlling vehicle braking force, the method comprising: controlling braking force of a wheel by controlling friction braking force generated by a friction braking device and regenerative braking force generated by regenerative braking devices; setting a requested amount of braking force reduction that is requested in anti-skid control; setting an amount of regenerative braking force reduction by which the regenerative braking force is reduced during the anti skid control; setting a target change amount of the friction braking force based on the requested amount of braking force reduction and the amount of regenerative braking force reduction; and performing the anti-skid control by reducing the regenerative braking force by the amount of regenerative braking force reduction and controlling the friction braking force based on the target change amount, wherein: the target change amount is set so that a sum of the amount of regenerative braking force reduction and the target change amount is equal to the requested amount of braking force reduction; if the requested amount of braking force reduction is smaller than the amount of regenerative braking force reduction, the friction braking force is increased by the target change amount during the anti-skid control; and if the requested amount of braking force reduction is smaller than the amount of regenerative braking force reduction and a slip amount during braking is equal to or larger than a threshold value, the target change amount is set to zero. ### Claim 11 (depends on 10) The method for controlling vehicle braking force according to claim 10, wherein the target change amount is set according to whether the requested amount of braking force reduction is equal to or larger than the amount of regenerative force reduction. ### Claim 12 (depends on 10) The method for controlling vehicle braking force according to claim 10, wherein the target change amount is set so that a sum of the amount of regenerative braking force reduction and the target change amount is equal to the requested amount of braking force reduction.