Patent ID: 6231134
Filing Date: 2001-05-15
Classification: B60L,B60T,Y02T

Abstract:
A braking system in a motor vehicle having a plurality of wheels which include at least one drive wheel, comprising:a frictional braking device for forcing a friction member onto a rotor rotating with each of said plurality of wheels, to thereby apply a frictional braking torque to each of said plurality of wheels;a regenerative braking device including at least one electric motor which is connected to said at least one drive wheel, to apply a regenerative braking torque to said at least one drive wheel; andtotal braking torque control means for controlling a total braking torque including at least one of said regenerative braking torque and said frictional braking torque which are applied to each of said plurality of wheels, said total braking torque control means operating when the total braking torque applied to each of at least one slipping wheel of said plurality of wheels has exceeded an upper limit corresponding to a friction coefficient of a road surface on which said motor vehicle is running, for zeroing said regenerative braking torque of each of said at least one drive wheel and controlling said frictional braking torque of each of at least one of said plurality of wheels by reducing the amount of decrease of the frictional braking torque as compared with that in an anti-lock braking system which does not include said regenerative braking device or as compared with that in a normal anti-lock control of the frictional braking device when the regenerative braking torques of all the wheels are zero, said controlling of said frictional braking torque reducing an influence of the zeroing of said regenerative braking torque.