JP4039215B2 - Vehicle regeneration control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention belongs to a regenerative control technical field at the time of traveling in which a driver forgets to release the parking brake or dragging occurs due to a return failure or the like in at least a hybrid vehicle or an electric vehicle having a generator as a drive source.
[0002]
[Prior art]
Conventionally, if you forget to return the side brake, there will be problems such as wear of the brake pads and deterioration of fuel consumption. Therefore, if conditions such as the side brake operating are satisfied, the amount of fuel supplied to the engine will be reduced compared to normal idle control. Torque cut control is executed (see, for example, Patent Document 1).
[0003]
In addition, when it is detected that the parking brake has not been released, there is also a command for not permitting operation of the braking energy regeneration device (see, for example, Patent Document 2).
[0004]
[Patent Document 1]
JP 2001-27140 A (first page)
[Patent Document 2]
JP-A-8-164663 (first page).
[0005]
[Problems to be solved by the invention]
However, in the hybrid vehicle regenerative control device described in Patent Document 2, the parking brake dragging is simply commanded to prohibit the operation of the braking energy regenerative device when the parking brake is not released. The deceleration due to is weak, making it difficult for the driver to notice. As a result, the vehicle travels without forgetting to release the parking brake. If the traveling in this state continues for a long time, the brake pads are worn and the fuel consumption is deteriorated.
[0006]
The present invention has been made paying attention to the above-mentioned problem, and when traveling while the parking brake is operated, it improves the detectability of a parking brake operation failure to the driver while effectively regenerating energy. An object of the present invention is to provide a regenerative control device for a vehicle.
[0007]
[Means for Solving the Problems]
  In order to solve the above problems, in the present invention,
  In a regeneration control device for a vehicle that has a generator as a drive source and performs energy regeneration according to a running state,
  Parking brake operation detecting means for detecting the operation state of the parking brake;
  When the vehicle is running with the parking brake activated, regenerative control means during parking brake operation that applies a regenerative braking force to the drive system so as to increase vehicle deceleration;
Provided,
  The parking brake regenerative control means has a regenerative deceleration target value setting unit that sets a regenerative deceleration target value based on a vehicle deceleration during inertial running while the parking brake is in operation.It was.
[0008]
Here, the “vehicle” is a vehicle having at least a generator as a drive source, and includes, for example, a hybrid vehicle equipped with an engine and a motor generator, an electric vehicle / fuel cell vehicle equipped with a motor and a generator, and the like.
[0009]
“Parking brake” is a brake to stop the vehicle when parking. There are also foot-operated types (foot brakes), but many are hand-drawn types (hand brakes). Also called.
[0010]
【The invention's effect】
  Therefore, in the regenerative control device for a vehicle according to the present invention, when the vehicle is running while the parking brake is operated, the regenerative braking force is applied to the drive system in the regenerative control means when the parking brake is operated so as to increase the vehicle deceleration. If the vehicle is running with the parking brake activated, it will effectively regenerate energy and improve the detectability of the parking brake operation failure for the driver due to the increase in vehicle deceleration. it can.
  Further, it is possible to estimate that the vehicle deceleration occurring in the inertia running state is due to the parking brake braking force caused by the drag caused by the parking brake operation failure, and the regenerative deceleration target value can be set with high accuracy.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment for realizing a vehicle regeneration control device of the present invention will be described with reference to the drawings.
[0012]
(First embodiment)
First, the configuration will be described.
FIG. 1 is an overall system diagram showing a regenerative control device for a hybrid vehicle according to a first embodiment. The configuration of a drive system will be described. In FIG. 1, 1 is an engine, 2 is a motor generator (generator), and 3 is an automatic transmission. 4 is a propeller shaft, 5 and 6 are drive shafts, and 7 and 8 are drive wheels. That is, the drive system has a drive source by the engine 1 and the motor generator 2, and the drive force by at least one of the engine 1 and the motor generator 2 is the automatic transmission 3 → the propeller shaft 4 → the rear differential not shown in the figure → the drive The shaft is transmitted through the shafts 5 and 6 to the left and right drive wheels 7 and 8.
[0013]
The engine 1 has its throttle valve opening controlled by an electronically controlled throttle 10 that operates according to a command from an engine control unit 9 (engine control means). The motor generator 2 is provided on the output shaft portion of the engine 1, and regenerative power generation / power running is controlled by a power control unit 12 having a battery 11.
[0014]
The configuration of the braking system will be described. In FIG. 1, 13 and 14 are disks, 15 and 16 are wheel cylinders, 17 is a brake pedal, 18 is a booster, 19 is a master cylinder, 20 and 21 are drum brakes, and 22 is a parking brake. A lever, 23 is an outer wire, 24 is an equalizer, and 25 and 25 are inner wires. That is, the braking system includes a foot brake device and a parking brake device.
[0015]
The foot brake device boosts the pedaling force applied to the brake pedal 17 by a booster 18 and converts it into a brake fluid pressure by a master cylinder 19. The master cylinder pressure generated by the master cylinder 19 is detected by master cylinder pressure sensors 26 and 27 (brake operation amount detecting means), and a braking force control that is operated by a command from a braking force control unit 28 that inputs this detection signal. Brake hydraulic pressure is supplied from the actuator 29 to both wheel cylinders 15 and 16, and braking force is applied to the drive wheels 7 and 8. A so-called brake-by-wire system is adopted.
[0016]
The parking brake device transmits the operating force applied to the parking brake lever 22 by the outer wire 23 and brakes the left and right drum brakes 20 and 21 via the equalizer 24 and the inner wires 25 and 25 that equally distribute the lever operating force to the left and right. It comes to tell Shue. That is, the parking brake device operates in a system different from the service brake by the foot brake device, and also functions as a support system when the service brake fails.
[0017]
The configuration of the hybrid control system will be described. In FIG. 1, 30 is an HEV control unit, 31 is an engine speed sensor, 32 is an engine cooling water temperature sensor, 33 is a foot brake switch (brake operation detecting means), and 34 is an accelerator opening. A sensor (accelerator operation amount detecting means), 35 is a parking brake switch (parking brake operation detecting means), and 36 is an idle switch (accelerator operation detecting means). That is, the control system of the hybrid vehicle (abbreviation: HEV) receives detection signals from the engine speed sensor 31, the engine coolant temperature sensor 32, the foot brake switch 33, the accelerator opening sensor 34, the parking brake switch 35, and the idle switch 36. The driving force and the braking force are controlled by inputting and exchanging information with the engine control unit 9, the power control unit 12, the braking force control unit 28 and the bidirectional communication line.
[0018]
Next, the operation will be described.
[0019]
[Regeneration control processing when parking brake is activated]
FIG. 2 is a flowchart showing the flow of the regenerative control process when the parking brake is operated, which is executed by the HEV control unit 30, and each step will be described below (corresponding to the regenerative control means when the parking brake is operated).
[0020]
In step S1, it is determined whether the vehicle is running and the parking brake is operating. If YES, the process proceeds to step S2, and if NO, the process proceeds to END. The fact that the vehicle is traveling is detected by the presence of the vehicle speed and the automatic transmission 3 by the traveling range position, brake non-operation, and the like. The presence or absence of the parking brake operation is detected by a parking brake signal from the parking brake switch 35.
[0021]
In step S2, the regeneration deceleration target value is set according to the flowchart shown in FIG. 3, and the process proceeds to step S3.
[0022]
In step S3, it is determined whether or not the accelerator pedal is ON (when the accelerator is depressed). If YES, the process proceeds to step S4. If NO, the process proceeds to step S9. The accelerator pedal ON is detected by a signal from the idle switch 36.
[0023]
In step S4, the engine driving force is calculated by subtracting the regenerative deceleration target conversion braking force based on the regenerative deceleration target value set in step S2 from the driver required engine driving force calculated based on the accelerator depression operation amount. Is calculated, and the process proceeds to step S5.
[0024]
In step S5, the target regenerative braking force is calculated by subtracting the engine driving force lower limit (value when the engine throttle is fully closed) from the regenerative deceleration target conversion braking force, and the process proceeds to step S6.
[0025]
In step S6, it is determined whether or not the target regenerative braking force calculated in step S5 is less than zero. If YES, the process proceeds to step S7. If NO, the process proceeds to step S8.
[0026]
In step S7, since the target regenerative braking force is less than zero, that is, the control for obtaining the engine driving force obtained in step S4 is within a range that can be executed only by engine control, the engine control is executed, and the process proceeds to END.
[0027]
In step S8, the target regenerative braking force is greater than or equal to zero, that is, the control for obtaining the engine driving force obtained in step S4 exceeds the engine control limit, so that the vehicle deceleration shortage when the engine throttle is completely closed is compensated. Regenerative control is executed and the process proceeds to END.
[0028]
In step S9, when it is determined in step S3 that the accelerator pedal is OFF, it is determined whether or not the brake pedal is ON (during brake operation). If YES, the process proceeds to step S10. If NO, the process proceeds to step S11. Transition. This brake pedal ON is detected by a switch signal from the foot brake switch 33.
[0029]
In step S10, the driver requested braking force is calculated from the master cylinder hydraulic pressure value calculated based on the sensor values from the master cylinder pressure sensors 26 and 27, and the process proceeds to step S12.
[0030]
In step S11, based on the brake non-operation determination in step S9, the driver requested braking force is set to zero, and the process proceeds to step S12.
[0031]
In step S12, the regenerative braking force is calculated by adding the regenerative braking force target converted braking force to the driver request braking force, and the process proceeds to step S13.
[0032]
In step S13, regenerative control for applying the regenerative braking force calculated in step S12 is executed, and the process proceeds to END.
[0033]
  In addition, step S1-step S8 are claims.4Step S1 to Step S3 and Step S9 to Step S13 correspond to the brake operation time control unit of claim 5.
[0034]
  [Regenerative deceleration target value set processing]
  FIG. 3 is a flowchart showing the flow of the regeneration deceleration target value setting process performed in step S2 of FIG. 2, and each step will be described below.1Equivalent to the regenerative deceleration target value setting section).
[0035]
In step S20, it is determined whether the parking brake is operating. If YES, the process proceeds to step S21, and if NO, the process proceeds to END.
[0036]
In step S21, it is determined whether the accelerator pedal is OFF and the brake pedal is OFF. If YES, the process proceeds to step S22, and if NO, the process proceeds to step S24.
[0037]
In step S22, vehicle deceleration is detected by calculation based on sensor signals from the longitudinal acceleration sensor, differential calculation of vehicle speed, and the like, and the process proceeds to step S23.
[0038]
In step S23, the regenerative deceleration target value is obtained by subtracting the detected deceleration (the detected value in step S22) from the specified deceleration value (a limit value that is a deceleration limiter value and is not a deceleration that is less than this). And the process proceeds to END.
[0039]
In step S24, it is determined whether or not the regeneration deceleration target value has been set. If YES, the process proceeds to step S25, and if NO, the process proceeds to step S26.
[0040]
In step S25, the previous regeneration deceleration target value that has been set is held, and the flow proceeds to END.
[0041]
In step S26, the regeneration deceleration target initial value (a value obtained by slightly reducing the deceleration from the specified deceleration value) is set, and the flow proceeds to END.
[0042]
Steps S20 to S23 correspond to the regenerative deceleration target value setting unit of claim 3, and steps S20, S21, S24, and S26 correspond to the regenerative deceleration target value setting unit of claim 4. To do.
[0043]
[Regenerative deceleration target value setting action]
When the driver forgets to release the parking brake or starts the vehicle with a return failure, etc., when the accelerator pedal is depressed, the process proceeds to step S20 → step S21 → step S24 → step S26 in the flowchart of FIG. Based on the determination that the regeneration deceleration target value is not set in step S24, processing for setting the regeneration deceleration target initial value in step S26 is performed. If it is determined in step S24 that the regeneration deceleration target value has been set, the previous value of the regeneration deceleration target value is held in step S25.
[0044]
Then, when the vehicle is in a coasting state in which the accelerator pedal or the brake pedal 17 is not depressed during traveling while forgetting to release the parking brake or incomplete return, etc., step S20 → step S21 → step S22 → In step S23, the vehicle deceleration is detected. In step S23, the regeneration deceleration target value is calculated by subtracting the detected deceleration from the specified deceleration value. That is, it can be estimated that the vehicle deceleration that occurs in the inertial running state where the accelerator or the brake pedal 17 is not depressed is a parking brake braking force caused by dragging due to forgetting to release the parking brake or a return failure. In addition, the regeneration deceleration target value is basically obtained by adding the deceleration for increasing the driver's detectability to the detected deceleration, but in order to prevent the occurrence of an excessively large deceleration, A limiter is provided for the magnitude of the target value for regenerative deceleration, and if it exceeds this limit, it is limited to a prescribed deceleration value that is a deceleration limiter value.
[0045]
That is, as shown in FIG. 4, when the vehicle starts normally after releasing the parking brake, the vehicle travels by inertia deceleration with a small value. However, when starting the vehicle by depressing the accelerator while dragging due to forgetting to release the parking brake or returning failure, first, the regenerative deceleration target initial value that is smaller than the specified deceleration value by the set deceleration α is set. Thereafter, when the accelerator or brake pedal 17 is not depressed, the regeneration deceleration target value is calculated by subtracting the detected deceleration from the specified deceleration value so that the vehicle deceleration is at the specified deceleration value level. The
[0046]
[Regenerative control action when parking brake is activated]
If the driver forgets to release the parking brake or fails to return, and then starts by depressing the accelerator pedal, the process proceeds to step S1, step S2, step S3, step S4, step S5, step S6 in the flowchart of FIG. If the target regenerative braking force <0 in step S6, the process proceeds to step S7 and the engine control is performed. If the target regenerative braking force ≥0 in step S6, the process proceeds to step S8 and the regenerative control is performed. .
That is, it is possible to perform regenerative control even when the accelerator pedal is depressed, but aiming to reduce engine fuel consumption, mainly by adjusting the electronic control throttle 10 of the engine 1 to the closing side. Control. If the deceleration is insufficient even when the engine 1 is fully closed, the motor generator 2 regenerates the vehicle to decelerate the vehicle. Therefore, the tire driving force characteristic when the accelerator is depressed when the parking brake is operated, the driver requested engine driving force characteristic determined by the magnitude of the accelerator operation amount, as shown in the area A of FIG. It corresponds to the engine control that slides to the braking side by the amount and basically closes the electronic control throttle 10 of the engine 1. However, even if the electronic control throttle 10 of the engine 1 is fully closed, only when the driving force reduction amount is insufficient due to friction or the like, regenerative control in which braking force is applied by regeneration by the motor generator 2 by the shortage of the driving force reduction amount. Correspond. Thereby, the tire end effective driving force (= engine driving force−parking brake braking force) is obtained.
[0047]
Then, if the accelerator pedal and the brake pedal 17 are not stepped on while traveling while forgetting to release the parking brake or returning failure, etc., in the flowchart of FIG. 2, step S1, step S2, step S3, step The flow proceeds from S9 to step S11 to step S12 to step S13, and the driver-requested braking force is 0. Therefore, in step S12, the regenerative braking force is set as the regenerative deceleration target conversion braking force, and the flow proceeds to step S13 to regenerate. Take control.
That is, the tire driving force characteristic when the parking brake is operated and the accelerator and the brake are released is, as shown in the area B of FIG. 6, the braking side corresponding to the regenerative deceleration target value from the position of the tire driving force 0. Thus, the tire end effective driving force (= regenerative braking force−parking brake braking force) is obtained by performing the regenerative control that applies the braking force by the regeneration by the motor generator 2.
[0048]
Furthermore, if the accelerator pedal is released and only the brake pedal 17 is stepped on while driving forgetting to release the parking brake or incomplete return, etc., step S1 → step S2 → step S3 → Since the flow proceeds from step S9 to step S10 to step S12 to step S13, and the driver required braking force is calculated from the master cylinder hydraulic pressure value, in step S12, the regenerative braking force is (driver required braking force + regenerative deceleration). Target conversion braking force), the process proceeds to step S13 to perform regenerative control.
That is, the tire driving force characteristics when the parking brake is activated and the accelerator is released but the brake is depressed are shown in FIG. 6C, where the regenerative deceleration is applied to the driver's required braking force according to the brake operation amount. The tire end effective driving force (= regenerative braking force-parking) is achieved by sliding to the braking side by a value to which the braking force corresponding to the target value is added and corresponding to regenerative control in which braking force is applied by regeneration by the motor generator 2. Brake braking force).
[0049]
As mentioned above, while driving while forgetting to release the parking brake or poor return, etc., the driving force is reduced during accelerator operation, and during inertial driving or braking operation where neither the accelerator operation nor the brake operation is performed As a result, the vehicle is decelerated more than usual, so that it is possible to improve the detectability of the parking brake operation failure for the driver. Then, when the driver detects a parking brake operation failure due to a large vehicle deceleration and performs an operation of returning the parking brake lever 22 to the brake release position, the process proceeds from step S1 to END in the flowchart of FIG. 2 accordingly. As a result, the present control for enhancing the detectability of the parking brake operation failure is released.
[0050]
Next, the effect will be described.
In the regeneration control device for a vehicle according to the first embodiment, the effects listed below can be obtained.
[0051]
(1) In a vehicle regeneration control device that has a motor generator 2 as a drive source and performs energy regeneration according to a traveling state, the vehicle travels with a parking brake switch that detects an operating state of a parking brake and a parking brake operating state. In this case, since the parking brake activation regenerative control means (flowchart in FIG. 2) for applying a regenerative braking force to the drive system so as to increase the vehicle deceleration is provided, the following effects can be obtained.
(1) Due to the generated vehicle deceleration, it is possible to improve the detectability that a parking brake operation failure has occurred for the driver. The recovered energy is stored in preparation for the next acceleration, unlike when it is released instead of heat by the brake.
(2) The vehicle deceleration due to the regenerative operation slows the increase in vehicle speed and engine rotation, and the engine rotation is kept low, so that the amount of fuel used can be reduced.
(3) As an operation scene of the regenerative control at the time of parking brake operation, it can be easily considered that regenerative braking is performed until the parking brake is released and acceleration is performed after the release. In such an operation scene, the battery 11 is charged by regenerative power generation. It is effective to prepare for the next acceleration.
(4) By improving the detectability of parking brake operation failure, it is possible to prevent wear of brake pads and deterioration of fuel consumption.
[0052]
(2) A regenerative deceleration target value setting unit that sets a regenerative deceleration target value based on the vehicle deceleration during inertial running while the parking brake is in operation (the flowchart in FIG. 3). Therefore, it can be estimated that the vehicle deceleration that occurs in the coasting state is due to parking brake braking force caused by dragging due to poor parking brake operation, and the regenerative deceleration target value can be set with high accuracy. it can.
[0053]
(3) Step S23 of the regenerative deceleration target value setting unit performs regenerative deceleration due to the difference between the prescribed deceleration value that defines the maximum value of vehicle deceleration and the detected deceleration during inertial running while the parking brake is operating. Since the speed target value is set, it is possible to prevent an excessively large deceleration from being generated by the regeneration control during parking brake operation.
[0054]
(4) If the regenerative deceleration target value setting unit is in the parking brake operation state and at least one of the accelerator and the brake is operated and the regenerative deceleration target value is not set, the deceleration regulation is set in step S26. Since the deceleration value that is smaller than the value by the set deceleration α is set as the initial value for the regeneration deceleration target, the braking force is applied by regenerative control when the parking brake is activated from the start when the vehicle is started with the accelerator depressing operation. can do.
[0055]
(5) A hybrid vehicle equipped with the engine 1 and the motor generator 2 as a drive source, an idle switch 36 for detecting an accelerator operation, an accelerator opening sensor 34 for detecting an accelerator operation amount, and an external command An engine control unit 9 for adjusting the engine output, and the regenerative control means at the time of parking brake operation during regeneration of an accelerator operation while the parking brake is activated, the regeneration deceleration from the driver requested engine driving force according to the accelerator operation amount A control unit for accelerator operation that performs engine control to obtain engine driving force with reduced target conversion braking force and performs regenerative control to compensate for insufficient deceleration when vehicle deceleration is insufficient even when the engine throttle is fully closed (steps S1 to S1) Since the vehicle has step S8), the vehicle is reduced in consideration of the regeneration deceleration target value. Engine fuel can be reduced while achieving speed.
[0056]
(6) A foot brake switch 33 for detecting the brake operation and master cylinder pressure sensors 26 and 27 for detecting the brake operation amount are provided, and the regenerative control means when the parking brake is operated performs the brake operation while the parking brake is operated. Since there is a brake operation control unit (steps S9 to S13) that performs regenerative control to obtain a regenerative braking force that includes a driver requested braking force and a regenerative deceleration target conversion braking force according to the amount of brake operation when traveling, the foot When the brake is operated, the deceleration is greater than the deceleration that the vehicle feels during normal brake operation, so it is possible to ensure that the driver can detect that a parking brake operation failure has occurred during the foot brake operation. .
[0057]
The vehicle regeneration control device of the present invention has been described based on the first embodiment. However, the specific configuration is not limited to the first embodiment, and each claim of the claims Design changes and additions are allowed without departing from the gist of the invention.
[0058]
For example, in the first embodiment, an example of application to a hybrid vehicle is shown, but it can also be applied to an electric vehicle, a fuel cell vehicle, and the like.
[Brief description of the drawings]
FIG. 1 is an overall system diagram showing a regeneration control device for a hybrid vehicle according to a first embodiment;
FIG. 2 is a flowchart showing a flow of regenerative control processing when the parking brake is operated, which is executed by the HEV control unit of the first embodiment device.
FIG. 3 is a flowchart showing a flow of a regeneration deceleration target value setting process executed by the HEV control unit of the first embodiment apparatus.
FIG. 4 is a time chart illustrating an operation for setting a regeneration deceleration target value in the first embodiment apparatus.
FIG. 5 is a time chart for explaining the regeneration control action when the accelerator is operated in the first embodiment device;
FIG. 6 is a time chart for explaining the regeneration control action during inertial running and brake operation in the first embodiment device;
[Explanation of symbols]
1 engine
2 Motor generator (generator)
3 Automatic transmission
4 Propeller shaft
5,6 Drive shaft
7,8 Drive wheels
9 Engine control unit (engine control means)
10 Electronically controlled throttle
11 battery
12 Power control unit
13,14 disc
15,16 Wheel cylinder
17 Brake pedal
18 Booster
19 Master cylinder
20, 21 Drum brake
22 Parking brake lever
23 Outer wire
24 Equalizer
25, 25 Inner wire
26, 27 Master cylinder pressure sensor (brake operation amount detection means)
28 Braking force control unit
29 Braking force control actuator
30 HEV control unit
31 Engine speed sensor
32 Engine coolant temperature sensor
33 Foot brake switch (brake operation detection means)
34 Accelerator opening sensor (accelerator operation amount detection means)
35 Parking brake switch (Parking brake operation detection means)
36 idle switch (accelerator operation detection means)

Claims (5)

In a regeneration control device for a vehicle that has a generator as a drive source and performs energy regeneration according to a running state,
Parking brake operation detecting means for detecting the operation state of the parking brake;
When the vehicle is running with the parking brake activated, regenerative control means during parking brake operation that applies a regenerative braking force to the drive system so as to increase vehicle deceleration;
Provided,
The regenerative deceleration target value setting unit that sets a regenerative deceleration target value based on a vehicle deceleration during inertial running while the parking brake is in an operating state while the parking brake is in operation. Regenerative control device. In the vehicle regeneration control device according to claim 1,
The regenerative deceleration target value setting unit sets the regenerative deceleration target value based on the difference between the specified deceleration value that defines the maximum vehicle deceleration value and the detected deceleration during coasting while the parking brake is operating. A vehicle regenerative control device. In the vehicle regeneration control device according to claim 2,
The regenerative deceleration target value setting unit is smaller by the set deceleration than the specified deceleration value when at least one of the accelerator and the brake is operated and the regenerative deceleration target value is not set in the parking brake operating state. A vehicle regeneration control apparatus, wherein a deceleration value is set as a regeneration deceleration target initial value. In the vehicle regeneration control device according to any one of claims 1 to 3 ,
A hybrid vehicle equipped with an engine and a motor generator as a drive source, an accelerator operation detecting means for detecting an accelerator operation, an accelerator operation amount detecting means for detecting an accelerator operation amount, and adjusting an engine output by an external command And engine control means for
The regenerative control means when the parking brake is operated is a target braking force that is converted according to the regenerative deceleration target value from the driver-requested engine driving force according to the amount of accelerator operation when the accelerator is operated while the parking brake is operating. A control unit for accelerator operation that performs engine control to obtain engine driving force with reduced regenerative deceleration target conversion braking force and performs regenerative control to compensate for insufficient deceleration when the vehicle deceleration is insufficient even if the engine throttle is fully closed A vehicle regeneration control device comprising: The regenerative control device for a vehicle according to any one of claims 1 to 4 ,
Brake operation detection means for detecting the brake operation and brake operation amount detection means for detecting the brake operation amount are provided,
The regenerative control means at the time of parking brake operation is a regenerative power that is a driver requested braking force according to the amount of brake operation and a target braking force converted according to the regenerative deceleration target value during braking operation while the parking brake is operating. A regenerative control device for a vehicle, comprising: a brake operation time control unit that performs regenerative control to obtain a regenerative braking force to which a deceleration target equivalent braking force is applied.

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