Nikaido, Marmelstein, Murray & Oram LLP
Brake system for an electric vehicle
 In an electric vehicle in which regenerative braking is performed in preference to hydraulic braking, an uncomfortable vibration generated due to a sudden variation in the load of a motor, is prevented at the start of the regenerative braking. At the start of the braking, the regenerative braking force is gradually increased from a previously set regenerative initial value to a demanded braking force rather than being increased quickly to the demanded braking force, thereby preventing the generation of the vibration. A deficiency in the braking force during this time is compensated for with the hydraulic braking force. When the demanded braking force exceeds a regenerative acceptable value, the regenerative braking force does not exceed the acceptable value, and a deficiency of braking force thereafter is compensated for with the hydraulic braking force. 
Honda Giken Kogyo Kabushiki Kaisha
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Shinji Yasushi Hisahiro Tomoyuki
Yoshikawa Aoki Ito Itoh