To make well-balanced a braking force for front and rear wheels when using a regenerative braking force by a motor in a vehicle equipped with the motor for outputting the regenerative braking force to any of the front and rear wheels.
In a hybrid powered automibile 20, a motor 50 and a CPU 40 and an alternator 28 and a brake actuator 102 of an HBS 100 are controlled so that when using a regenerative braking force by the motor 50 according as a brake pedal 85 is stepped on, an engine cause braking force as a braking force based on the revolving speed control of an engine 22 (crank shaft 23) through the CVT 40 and the control of the alternator (S210 or S220) can be output to front wheels 65a and 65b, and that the regenerative braking force by the motor 50 can be output to rear wheels 65a and 65b, and that a request braking force BF* can be obtained.
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TABATA MICHIHIRO
SHIMADA MICHIHITO
KODAMA SHINYA
