Patent ID: 7857397

Claim:
A braking system comprising: a wheel brake configured to provide a braking force to a wheel according to a fluid pressure, the fluid pressure comprising a first fluid pressure and a second fluid pressure; a master cylinder operatively connected to a brake operating unit and configured to generate the first fluid pressure in conjunction with a braking operation of the brake operating unit; a first brake fluid channel connecting the master cylinder and the wheel brake; a first electromagnetic opening and closing valve provided to the first brake fluid channel to communicate or block the first fluid pressure from the master cylinder to the wheel brake; a power unit configured to generate the second fluid pressure by an electric actuator; a second brake fluid channel connecting the power unit and the wheel brake; a second electromagnetic opening and closing valve provided to the second brake fluid channel to communicate or block the second fluid pressure from the power unit to the wheel brake; and an ECU configured to control the first electromagnetic opening and closing valve and the second electromagnetic opening and closing valve and comprising; a bleeding mode setting unit configured to set a bleeding mode in which each of the first electromagnetic opening and closing valve and the second electromagnetic opening and closing valve is opened and closed in order to perform an air-bleeding from each of the first brake fluid channel and the second brake fluid channel; and a determining unit configured to determine whether or not the bleeding mode setting unit is allowed to set the bleeding mode, wherein the bleeding mode comprises a control mode in which the second electromagnetic opening and closing valve is closed and the power unit generates the second fluid pressure.