A control unit (56) for a vehicle (10) with an electric drive (12) and an electromechanically actuated brake unit (14) includes a high-voltage DC link (20) disconnectably connected to a first energy store (24) of the electric drive (12), a converter (18) connected to the high-voltage DC link (20) and operable bidirectionally, and an electric motor (16) connected to the converter (18) for driving a wheel (50) of the vehicle (10). A brake drive circuit (36) is connected to the high-voltage DC link (20), and another electric motor (34), is connected to the brake drive circuit (36). A function block (55) has an input (69) for receiving a voltage signal (68) indicative of the voltage of the high-voltage DC link (20), a first output (63) for outputting a converter drive signal (60), and a first closed-loop controller unit (66) for generating the converter drive signal (60).

A control unit (56) for a vehicle (10) with an electric drive (12) and an electromechanically actuated brake unit (14) includes a high-voltage DC link (20) disconnectably connected to a first energy store (24) of the electric drive (12), a converter (18) connected to the high-voltage DC link (20) and operable bidirectionally, and an electric motor (16) connected to the converter (18) for driving a wheel (50) of the vehicle (10). A brake drive circuit (36) is connected to the high-voltage DC link (20), and another electric motor (34), is connected to the brake drive circuit (36). A function block (55) has an input (69) for receiving a voltage signal (68) indicative of the voltage of the high-voltage DC link (20), a first output (63) for outputting a converter drive signal (60), and a first closed-loop controller unit (66) for generating the converter drive signal (60).

A hub structure having an anti-lock braking system contains: a hub assembly and an anti-locking assembly. The hub assembly is located on a center of a wheel and includes a holder and a connection shaft. The anti-locking assembly is received in the holder and is fitted on the connection shaft, and the anti-locking assembly includes an anti-lock seat received in the holder and fitted on the connection shaft to rotate with the holder simultaneously, multiple eddy current elements arranged on two sides of the anti-lock seat and two ends of the connection shaft. A predetermined distance is defined between any two adjacent eddy current elements, and a respective eddy current element has at least one electromagnetic induction portion, when two corresponding electromagnetic induction portions are electrically conducted, a current magnetic field produces so that the anti-lock seat produces reverse currents to stop rotation.

A regenerative torque control unit is configured to reduce a regenerative torque and increase a rising gradient of the regenerative torque at a start of regeneration when a road surface friction coefficient acquired by a road surface friction coefficient acquisition unit is low as compared to when the road surface friction coefficient is high. Thus, it is possible to suppress occurrence of a slip on a low μ road, and it is less likely to provide a feeling of strangeness from a change between a low μ road and a high μ road.

A regenerative torque control unit is configured to reduce a regenerative torque and increase a rising gradient of the regenerative torque at a start of regeneration when a road surface friction coefficient acquired by a road surface friction coefficient acquisition unit is low as compared to when the road surface friction coefficient is high. Thus, it is possible to suppress occurrence of a slip on a low μ road, and it is less likely to provide a feeling of strangeness from a change between a low μ road and a high μ road.

Provided is a friction modifier giving excellent formability in producing a friction material and capable of reducing rust formation on a rotor even when the moisture-absorbed friction material is left pressed against the rotor for a long. The friction modifier is made of a titanate compound having a tunnel crystal structure, wherein the titanate compound has a rate of chlorine ion dissolution of 0.5 ppm to 400 ppm.

An apparatus configured to perform electrical braking with a fail-safe function includes a main brake pedal sensor configured to generate a first output signal, a main brake controller configured to brake a vehicle by controlling a brake according to a first braking signal based on the first output signal, a redundancy brake pedal sensor configured to generate a second output signal proportional to the stroke of the brake pedal, the second output signal having a magnitude within a preset error range from the first output signal, and a redundancy brake controller configured to brake the vehicle by controlling the brake according to the second braking signal based on the second output signal, in which the redundancy brake controller may be configured to brake the vehicle when the main brake controller fails, and the main brake controller may be configured to brake the vehicle when the redundancy brake controller fails.

An apparatus configured to perform electrical braking with a fail-safe function includes a main brake pedal sensor configured to generate a first output signal, a main brake controller configured to brake a vehicle by controlling a brake according to a first braking signal based on the first output signal, a redundancy brake pedal sensor configured to generate a second output signal proportional to the stroke of the brake pedal, the second output signal having a magnitude within a preset error range from the first output signal, and a redundancy brake controller configured to brake the vehicle by controlling the brake according to the second braking signal based on the second output signal, in which the redundancy brake controller may be configured to brake the vehicle when the main brake controller fails, and the main brake controller may be configured to brake the vehicle when the redundancy brake controller fails.

A vehicle includes a powertrain having an electric machine configured to power driven wheels, an accelerator pedal, and a brake pedal. A controller is programmed to, in response to driver-demanded torque corresponding to a position of the accelerator pedal, selectively brake the vehicle via operation of the electric machine, in further response to a speed of the vehicle being greater than a threshold, limit a rate of change of the driver-demanded torque commanded to the powertrain based on a first rate limit, and, in further response to the speed being less than another threshold, limit a rate of change of the driver-demanded torque commanded to the powertrain based on a second rate limit that is higher than the first rate limit such that, for a given driver-demanded torque, acceleration and deceleration of the vehicle is more responsive than when the first rate limit is applied.

The present invention provides a motor-driven traveling device including: a vehicle body; a motor for travel driving that is capable of braking the vehicle body as a short brake or a dynamic brake; an electromagnetic brake that brakes the vehicle body, separately from the motor; an operation switching circuit that switches between causing the motor to perform travel driving and causing the motor to perform braking; a brake release switch that receives an operation pertaining to brake releasing of the motor and the electromagnetic brake; and a brake control circuit that, while the brake release switch is operated, controls the motor and the electromagnetic brake in response to the operation on the brake release switch.