Patent ID: 8919893

Claim:
A braking device including: a master cylinder that generates brake fluid pressure by operation of a brake pedal by a driver; a wheel cylinder that performs braking on a wheel; a slave cylinder disposed between the master cylinder and the wheel cylinder, the slave cylinder generating brake fluid pressure by an electric motor that operates according to the operation of the brake pedal, a normally open regulator valve provided in a fluid path extending between the slave cylinder and the wheel cylinder, a pump that feeds brake fluid and is disposed between the slave cylinder and the wheel cylinder, and a controller which is programmed to control operations of the braking device based on the operation of the brake pedal by the operator, wherein under a fault condition of the slave cylinder the controller controls the braking device such that the brake fluid pressure generated by the master cylinder is supplied to the wheel cylinder for operating the wheel cylinder, ineffective stroke is set for the brake pedal before the master cylinder starts operating, and, under the fault condition of the slave cylinder, during an initial period of the operation of the brake pedal, before the brake fluid pressure is generated from the master cylinder, the controller closes the regulator valve and operates the pump to feed the brake fluid to the wheel cylinder to compensate for an increase in operation stroke of the brake pedal by the ineffective stroke, and when the brake fluid pressure is generated from the master cylinder, the controller stops operation of the pump, and keeps the regulator valve closed for a predetermined period of time after the pump stops operating.