Patent ID: 8040084

Claim:
A vehicle, comprising: a braking force application unit that applies a braking force by hydraulic actuation; at least one motor that can output a regenerative torque; an electric storage unit that can transfer electric power to and from said motor; a rotation speed detection unit that detects a rotation speed of said motor; an input limit setting unit that sets an input limit as maximum permissible electric power in charging said electric storage unit based on a state of said electric storage unit; a braking request detection unit that detects a braking request requested by the vehicle; a lower limit regenerative torque setting unit that sets a lower limit regenerative torque as a lower limit value of a regenerative torque output from said motor so that the absolute value thereof becomes smaller as an absolute value of said detected braking request becomes larger and an absolute value thereof becomes smaller as an absolute value of said set input limit becomes smaller; and a braking control unit that controls said motor and said braking force application unit so that the regenerative torque is output from said motor within a range of a rated torque of said motor based on said detected rotation speed of the motor, an input limit torque based on said set input limit, said input limit torque is a torque whose absolute value becomes larger as said detected rotation speed of the motor becomes smaller and changes more significantly with the change of the rotation speed of the motor as said detected rotation speed of the motor becomes smaller and said set lower limit regenerative torque, and a braking force according to said detected braking request is applied to the vehicle, wherein the braking control unit is configured to control said motor and said braking force application unit so that when the rotation speed detected by said rotation speed detection unit is lower than a predetermined rotation speed, no regenerative torque is output from said motor, and the braking force according to said detected braking request is applied to the vehicle.