US 12,252,038 B2
Vehicle and vehicle control method
Takami Iwamoto, Toyota (JP); Shun Nagai, Miyoshi (JP); Yuto Yokoyama, Miyoshi (JP); Junichi Katsumata, Susono (JP); Shotaro Arai, Okazaki (JP); Hiroki Maeda, Atugi (JP); Masahiro Hara, Gotenba (JP); and Daigo Tateishi, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and SUBARU CORPORATION, Tokyo (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and SUBARU CORPORATION, Tokyo (JP)
Filed on Oct. 17, 2022, as Appl. No. 17/967,594.
Claims priority of application No. 2021-170489 (JP), filed on Oct. 18, 2021.
Prior Publication US 2023/0120194 A1, Apr. 20, 2023
Int. Cl. B60L 7/10 (2006.01)
CPC B60L 7/10 (2013.01) [B60L 2240/423 (2013.01); B60L 2240/465 (2013.01); B60L 2250/26 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A vehicle, comprising:
an electric motor configured to drive at least one of a front wheel and a rear wheel;
a brake device including a brake actuator configured to control brake hydraulic pressure applied to each of the front wheel and rear wheel, the brake device being configured to control upstream hydraulic pressure supplied to the brake actuator; and
an electronic control unit configured to execute:
a regeneration process to control the electric motor so as to generate regenerative torque for deceleration energy regeneration during deceleration caused by an accelerator pedal being released;
a torque gradual decrease process to decrease the regenerative torque in a wheel slip detection state more gradually at a time when a brake pedal is depressed after a start of the deceleration and anti-lock brake control is not activated than a time when the brake pedal is not depressed after the start of the deceleration; and
a hydraulic pressure increase process to increase the upstream hydraulic pressure such that, when the anti-lock brake control is activated while the brake pedal is depressed after the start of the deceleration, the upstream hydraulic pressure has a value necessary for generating a braking torque having a magnitude according to the regenerative torque generated at a start of the anti-lock brake control.