Patent ID: 6739677
Filing Date: 2004-05-25
Classification: B60L,B60T,B60W,Y02T,Y10S

Abstract:
A brake control apparatus comprising:a hydraulic braking system configured to impart a hydraulic braking force to a wheel using brake fluid pressure with a hydraulic braking response characteristic; a regenerative braking system configured to impart a regenerative braking force to the wheel using regenerative braking with a regenerative braking response characteristic; a target deceleration setting device configured to set a target deceleration based on a signal indicative of a braking operation amount; a deceleration detecting device configured to detect a deceleration experienced by the wheel; a braking force command value calculating device configured to calculate a braking force command value that is needed to cause the deceleration detected by the deceleration detecting device to substantially match the target deceleration set by the target deceleration setting device based on an ideal reference model response characteristic; a braking force apportioning device configured to apportion the braking force command value calculated by the braking force command value calculating device into a hydraulic braking force command value to be applied by the hydraulic braking system and a regenerative braking force command value to be applied by the regenerative braking system; a phase compensating device configured to apply a phase compensation to at least one of the hydraulic braking force command value and the regenerative braking force command value obtained by the braking force apportioning device such that the hydraulic braking response characteristic of the hydraulic braking force command value and the regenerative braking response characteristic of the regenerative braking force command value substantially match a vehicle model response characteristic; a hydraulic braking control device configured to control the hydraulic braking force applied to the wheel by the hydraulic braking system based on the hydraulic braking force command value that has been phase compensated by the phase compensating device; and a regenerative braking control device configured to control the regenerative braking force applied to the wheel by the regenerative braking system based on a regenerative braking force command value that has been phase compensated by the phase compensating device.