Vehicle
A vehicle configured to suppress a variation in a deceleration during braking. When a regeneration braking force is generated by a hybrid ECU to brake a hybrid vehicle, and an abnormality occurs to communication between the ECU and a brake ECU, the ECU gradually decreases a magnitude of a target regeneration braking force as the time elapses. On the other hand, the ECU gradually increases a magnitude of a target friction braking force up to a magnitude of a target total braking force as the time elapses. Further, when the vehicle is braked, and power supply to the ECU is shut off to result in an abnormality in the communication between the ECU and the ECU, the ECU finishes the regeneration operation of an electric motor, and the ECU rapidly increases the magnitude of the target friction braking force to the magnitude of the target total braking force.
1. A vehicle, comprising:
an electric motor;
a first control unit for controlling a regeneration operation of the electric motor to control a regeneration braking force;
a friction-type braking apparatus for generating a friction braking force; and
a second control unit for controlling an operation of the friction-type braking apparatus to control the friction braking force,
the first control unit and the second control unit being configured to:
receive supply of electric power from a power supply; and
communicate and cooperate with each other when the first control unit and the second control unit are each in an operation state so as to match an actual braking force, which is a resultant force of the regeneration braking force and the friction braking force, with a magnitude of a target total braking force;
the first control unit being configured to:
gradually decrease, when the first control unit determines that an abnormality occurs to communication to/from the second control unit, the regeneration braking force as time elapses; and
finish, when the supply of the electric power from the power supply is shut off, the regeneration operation of the electric motor to transition to a non-operation state,
the second control unit being configured to:
gradually increase, when the second control unit makes such a first determination that the supply of the electric power from the power supply to the first control unit is not shut off, and an abnormality occurs to the communication to/from the first control unit, the friction braking force as the time elapses; and
increase, when the second control unit makes such a second determination that the supply of the electric power from the power supply to the first control unit is shut off, the friction braking force at an increase rate more than an increase rate when the first determination is made.
2. A vehicle according to claim 1 , wherein:
the first control unit is configured to receive the supply of the electric power from the power supply via a plurality of current supply paths for connecting the power supply and the first control unit to each other; and
the second control unit is configured to determine, when the second control unit determines that all the plurality of current supply paths are shut off, that the supply of the electric power from the power supply to the first control unit is shut off.
3. A vehicle according to claim 2 , further comprising:
a manual switch to be operated by an occupant; and
relays to be opened or closed in response to an operation on the manual switch, the relays being interposed in the respective plurality of current supply paths,
wherein the second control unit is configured to connect to portions for connecting the respective relays and the first control unit to each other on the respective plurality of current supply paths.