Patent ID: 8277365

Claim:
A vehicular braking apparatus including a first wheel braking force generating unit that applies first wheel braking forces generated by regenerative braking to wheels, and a second wheel braking force generating unit that adjusts the pressure of a working fluid that is generated by the operating pressure applied to a brake pedal by a driver and applies second wheel braking forces to the wheels by transmitting the pressure to the respective wheels, the vehicular braking apparatus applying requested wheel braking forces, which correspond to the driver's operation of the brake pedal, to the wheels by the first and second wheel braking forces, the vehicular braking apparatus comprising: an external third braking force generating unit that applies third braking forces other than the first and second wheel braking forces to the wheels; and a braking control unit that compensates braking forces, which correspond to the decrease of the first wheel braking forces, by the third braking forces of the third braking force generating unit, when the first wheel braking forces is decreased due to the deterioration of the conversion efficiency to electrical energy that occurs during the regenerative braking while the first wheel braking forces are applied to the wheels, when the current vehicle speed (V) is equal to or higher than a predetermined reference vehicle speed (V 0 ), whereas the predetermined reference vehicle speed is the minimal vehicle speed where the conversion efficiency of the regenerative braking for converting kinetic energy into electrical energy is decreased.