Braking force control apparatus for vehicle

A braking force control apparatus for a vehicle, comprising:

• an electromotive force generation mechanism for generating, independently on a wheel of a vehicle, an electromagnetic driving force or an electromagnetic braking force;
• a braking force generation mechanism for generating a mechanical braking force on the wheel rotated by at least the electromagnetic driving force generated by the electromotive force generation mechanism;
• and
• braking control means for activating, when the wheel tends to be locked, the electromotive force generation mechanism in any one of a power running state and a regeneration state so as to generate the electromagnetic driving force or the electromagnetic braking force, and, simultaneously, controlling the braking force generation mechanism to generate the mechanical braking force, wherein:
• the braking control means controls generation of a braking force on the wheel by controlling the electromotive force generation mechanism and the braking force generation mechanism such that:
• in a first state where the electromotive force generation mechanism is activated in the regeneration state so as to generate the electromagnetic braking force having a predetermined magnitude, and, simultaneously, the braking force generation mechanism is controlled to generate the mechanical braking force having a predetermined magnitude, thereby activating the electromotive force generation mechanism and the braking force generation mechanism in cooperation with each other;
• in a second state where the electromotive force generation mechanism is activated in the power running state so as to generate the electromagnetic driving force having a predetermined magnitude, and, simultaneously, the braking force generation mechanism is controlled to generate the mechanical braking force having a predetermined magnitude, thereby activating the electromotive force generation mechanism and the braking force generation mechanism in cooperation with each other;
• and
• when a state is caused to transition from one of the first state and the second state to another of the first state and the second state, a magnitude of the electromagnetic braking force or a magnitude of the electromagnetic driving force generated by the electromotive force generation mechanism is either increased or decreased, and a magnitude of the mechanical braking force generated by the braking force generation mechanism is either increased or decreased.