US Patent 11634138 Electric vehicle

An electric vehicle according to an example of the present application includes a battery, a regenerative brake, a friction brake, and a controller. The regenerative brake imparts regenerative braking torque to drive wheels. The friction brake imparts frictional braking torque to the drive wheels and non-drive wheels. The controller execute a slip control when the slip of the drive wheels is expected. The controller controls, during the execution of slip control, the regenerative and the friction brakes so that; the total of the frictional and the regenerative braking torque imparted to the drive wheels is less than or equal to upper limit torque set within a range that the drive wheels do not slip; the power of the regenerative power generation is not to exceed an acceptable charging power set according to a state of charge of the battery; and the regenerative braking torque is smaller than the regenerative braking torque before the start of the slip control.