Braking control apparatus for electric vehicle

A braking control apparatus for an electric vehicle, comprising:

• an electric motor which provides at least an electrical braking torque for road wheels connected thereto via a wheel axle in a form of a drive train on a basis of a calculated motor torque command value;
• a frictional braking device configured to provide a frictional braking torque for the road wheels on a basis of the calculated frictional braking torque command value;
• a target braking torque command value calculation section configured to calculate a target braking torque command value on a basis of a state of the road wheels or a braking request by a vehicle driver;
• and a control unit configured to operate the electric motor and the frictional braking device according to the motor torque command value which is a command value of a frequency component lower than a resonance frequency of the drive train and the frictional torque command value which is a difference between the target braking torque command value and the motor torque command value.

A braking control apparatus for an electric vehicle, comprising:

• a pair of left and right road wheels to which an output shaft of an electric motor is connected via a differential unit and via a wheel axle;
• an electric motor configured to provide an electrical braking torque for the pair of road wheels on a basis of a calculated motor torque command value;
• a frictional braking device configured to provide a frictional braking torque for the pair of left and right road wheels on a basis of the calculated frictional braking torque command value;
• an antilock target braking torque command value calculation section configured to detect a slip state of the pair of left and right road wheels, to calculate the braking torque suppressing a slip of the road wheels, and to calculate the same braking torque command value for each of the pair of road wheels in accordance with a state of the vehicle;
• a motor torque command value calculation section configured to calculate a motor torque command value corresponding to a resonance frequency equal to or below a twist resonance frequency of the wheel axle;
• a braking force control section configured to increase or decrease the braking torque acted upon the pair of left and right road wheels to provide a calculated antilock target braking torque command value, to provide the braking torque on a basis of the motor torque command value when the antilock target braking torque is equal to or below the motor torque command value, and to control the frictional braking device with a driving torque of a difference between the antilock braking torque command value and the motor torque command value in a form of the frictional braking torque, in a case where the antilock braking torque command value is larger than a limited motor torque command value.