Patent ID: 7503631

Claim:
A vehicle braking system comprising: a regenerative braking device that generates a regenerative braking force to a wheel according to an amount of power generated by a motor; a friction braking device that generates a friction braking force to the wheel according to a frictional force; a detection unit that directly detects a longitudinal force and a brake torque that act on the wheel; a computation unit that computes a current value of the friction braking force based on the brake torque and a current value of the regenerative braking force by subtracting a longitudinal force generated by a friction braking from said longitudinal force; a brake sensor; a calculation unit that calculates a required braking force based on a result of a detection by the brake sensor; a setting unit that sets a target value of the regenerative braking force and a target value of the friction braking force based on the required braking force; and a control unit that controls the regenerative braking device based on the current value of the regenerative braking force so as to approach to the target value for the regenerative braking force, and controls the friction braking device based on the current value of the friction braking force so as to approach to the target value for the friction braking force.