Abstract: A braking apparatus 1 of a vehicle includes: a hydraulic brake device 4 that brakes the vehicle via friction in response to operation of a brake pedal; a regenerative brake device 5 that performs regenerative braking using, as an electricity generator, a motor 3 for running the vehicle; and a collision avoidance device 20 that performs automatic braking of the vehicle by controlling operation of the hydraulic brake device 4 in accordance with obstacle detection information detected by an obstacle detection device 21, to avoid collision of the vehicle with an obstacle, wherein an electric servo brake controller 10 of the collision avoidance device 20 terminates activation of the regenerative braking, if activated, before the automatic braking is started by the collision avoidance device 20.

Abstract: An indirect longitudinal acceleration calculation section indirectly calculates longitudinal acceleration by calculating the longitudinal acceleration, which is an acceleration in a longitudinal direction of the vehicle, from change in the speed of the vehicle detected by a vehicle speed detection section. When an uphill travel detection section detects an uphill traveling state in which the vehicle is traveling on an uphill and a drive state determination section detects a no-driving-force state in which a vehicle driving force is not generated, a vehicle drawn down state detection section detects that the longitudinal acceleration indirectly calculated by the indirect longitudinal acceleration calculation section is oriented in an accelerating direction, and determines that the vehicle is in a drawn down state.

Abstract: A braking apparatus 1 of a vehicle includes: a hydraulic brake device 4 that brakes the vehicle via friction in response to operation of a brake pedal; a regenerative brake device 5 that performs regenerative braking using, as an electricity generator, a motor 3 for running the vehicle; and a collision avoidance device 20 that performs automatic braking of the vehicle by controlling operation of the hydraulic brake device 4 in accordance with obstacle detection information detected by an obstacle detection device 21, to avoid collision of the vehicle with an obstacle, wherein an electric servo brake controller 10 of the collision avoidance device 20 terminates activation of the regenerative braking, if activated, before the automatic braking is started by the collision avoidance device 20.

Abstract: An indirect longitudinal acceleration calculation section indirectly calculates longitudinal acceleration by calculating the longitudinal acceleration, which is an acceleration in a longitudinal direction of the vehicle, from change in the speed of the vehicle detected by a vehicle speed detection section. When an uphill travel detection section detects an uphill traveling state in which the vehicle is traveling on an uphill and a drive state determination section detects a no-driving-force state in which a vehicle driving force is not generated, a vehicle drawn down state detection section detects that the longitudinal acceleration indirectly calculated by the indirect longitudinal acceleration calculation section is oriented in an accelerating direction, and determines that the vehicle is in a drawn down state.