Patent ID: 9637116
Date: 2017-05-02
CPC Classifications: B60L,B60W,Y02T,Y10S

Claim:
1. A vehicle, comprising: an electric motor; a first control unit for controlling a regeneration operation of the electric motor to control a regeneration braking force; a friction-type braking apparatus for generating a friction braking force; and a second control unit for controlling an operation of the friction-type braking apparatus to control the friction braking force, the first control unit and the second control unit being configured to: receive supply of electric power from a power supply; and communicate and cooperate with each other when the first control unit and the second control unit are each in an operation state so as to match an actual braking force, which is a resultant force of the regeneration braking force and the friction braking force, with a magnitude of a target total braking force; the first control unit being configured to: gradually decrease, when the first control unit determines that an abnormality occurs to communication to/from the second control unit, the regeneration braking force as time elapses; and finish, when the supply of the electric power from the power supply is shut off, the regeneration operation of the electric motor to transition to a non-operation state, the second control unit being configured to: gradually increase, when the second control unit makes such a first determination that the supply of the electric power from the power supply to the first control unit is not shut off, and an abnormality occurs to the communication to/from the first control unit, the friction braking force as the time elapses; and increase, when the second control unit makes such a second determination that the supply of the electric power from the power supply to the first control unit is shut off, the friction braking force at an increase rate more than an increase rate when the first determination is made.