Braking apparatus for electric vehicle

A braking apparatus for controlling the braking of an electric vehicle, comprising

• a traveling electric motor for driving wheels of the electric vehicle,
• brake operating means associated with at least the driving wheels,
• accelerator operating means,
• mechanical anti-lock braking means for braking the associated wheels in accordance with operation of said brake operating means,
• means for determining a slip ratio between the associated wheels and a road surface and controlling said mechanical anti-lock braking means to maintain said slip ratio at a predetermined value, and
• electric braking means operatively associated with said determining-and-controlling means and comprising first mode means for obtaining a first regeneration mode to produce braking torque by the electric motor, second mode means for obtaining a second regeneration mode to produce a smaller braking torque than in the first regeneration mode, third mode means for obtaining a coasting mode, and fourth mode means for obtaining a power propulsion mode absent regenerative braking torque produced by the electric motor, and logic selecting means operatively associated with the first mode means, the second mode means, the third mode means and the fourth mode means for selecting one of the first regeneration mode, the second regeneration mode, the coasting mode and the power propulsion mode, in response to data comprising wheel rotations, brake tread amount, slip and on-off regeneration and selectively regeneratively braking said traveling electric motor at least when the slip ratio is smaller than said predetermined value in accordance with the magnitude of a signal corresponding to the determined slip ratio, such that the mechanical anti-lock braking means and the electric braking means are operatively associated for approximating the predetermined range of the slip ratio under a variety of driving conditions to obtain braking while preventing skidding.