To prevent deterioration of braking feeling by controlling friction braking torque to high accuracy so as to compensate a response delay part of the regenerative braking force while realizing reduction of the number of parts in regenerative braking and a friction braking device for a vehicle for performing control of the regenerative braking torque and the friction braking torque by mutually cooperating such that a sum of the regenerative braking torque and the friction braking torque becomes total braking torque determined according to the driving state and the traveling state of the vehicle.
A friction braking torque control means 71 controls the friction braking torque by the friction braking means 11 based on an actual value predicted by a prediction means 70 based on an instruction value while taking into consideration to the delay of the actual value relative to the instruction vale of the regenerative braking torque and the total braking torque.
| JP2007210350 | BRAKING DEVICE FOR VEHICLE |
| JP7368560 | brake device |
| JP6690099 | Brake device and brake system |
AOKI YASUSHI
AKAMINE KOHEI
Kazuaki Niki