Control apparatus and method of vehicle braking and driving force

A braking and driving force control apparatus for a vehicle having a frictional braking device for applying a braking force individually to each wheel, a regenerative braking device for generating a common braking force to a plurality of the wheels, and a drive device for generating a common driving force to the plurality of wheels, comprising a controller that:

• calculates a target braking force of each wheel in response to a running state of the vehicle;
• calculates a target driving force of each wheel in response to the running state of the vehicle;
• and
• controls the frictional braking device, the regenerative braking device, and the drive device so that a braking and driving force of each wheel becomes the target braking and driving force on the basis of the target braking force and the target driving force,
• wherein the controller calculates an entire target driving force of the plurality of wheels on the basis of the target driving force of each wheel, calculates an entire target braking and driving force of the plurality of wheels on the basis of the entire target driving force of the plurality of wheels and a smallest target braking force of the target braking forces of the plurality of wheels,
• when the entire target braking and driving force of the plurality of wheels is a driving force, the controller controls the drive device so as to achieve the entire target braking and driving force of the plurality of wheels, and controls the frictional braking device so as to achieve the target braking force of another wheel, different from the wheel having the smallest target braking force, and
• when the entire target braking and driving force of the plurality of wheels is a braking force, the controller controls the regenerative braking device so as to achieve the entire target braking and driving force of the plurality of wheels, and controls the frictional braking device so as to achieve the target braking force of the another wheel, different from the wheel having the smallest target braking force in cooperation with the regenerative braking device.

A method for controlling a braking and driving force for a vehicle having a frictional braking device for applying a braking force individually to each wheel and a regenerative braking device for generating a common braking force to a plurality of the wheels, comprising the steps of:

• calculating a target braking force of each wheel in response to a running state of the vehicle;
• controlling the regenerative braking device so as to achieve a smallest target braking force of the target braking forces of the plurality of wheels;
• and
• controlling the frictional braking device so as to achieve the target braking force of another wheel, different from the wheel having the smallest target braking force, in cooperation with the regenerative braking device.

A method for controlling a braking and driving force for a vehicle using a frictional braking device for applying a braking force individually to each wheel and a regenerative braking device for generating a common braking force to a plurality of the wheels, comprising the steps of:

• calculating a target braking force and a target driving force of each wheel in response to a running state of the vehicle;
• calculating an entire target braking and driving force of the plurality of wheels on the basis of the entire target driving force of the plurality of wheels and a smallest target braking force of the target braking forces of the plurality of wheels;
• when the entire target braking and driving force of the plurality of wheels is a driving force, controlling a drive device so as to achieve the entire target braking and driving force of the plurality of wheels, and controlling the frictional braking device so as to achieve the target braking force of another wheel, different from a wheel having the smallest target braking force, and
• when the entire target braking and driving force of the plurality of wheels is a braking force, controlling the regenerative braking device so as to achieve the entire target braking and driving force of the plurality of wheels, and controlling the frictional braking device so as to achieve the target braking force of the another wheel, different from the wheel having the smallest target braking force, in cooperation with the regenerative braking device.