| 摘要 |
PROBLEM TO BE SOLVED: To enable suppression of increase in braking force of a brake assist even if a drastic change in a detection value of a brake pedal stroke sensor occurs independently of the operation of a brake pedal by a driver.SOLUTION: A braking force control part 121 controls braking force generated by a slave cylinder 16 on the basis of a detection value of a brake pedal stroke sensor 111. In a case where a stroke amount (a stroke speed) of a brake pedal per unit time, the amount detected by the brake pedal stroke sensor 111 reaches or exceeds a first value, a braking force addition part 141 performs a brake assist to add a given amount of braking-force to the braking force determined by the braking force control part 121. In a case where the stroke speed reaches or exceeds the first value, with a continuation period of time of the aforementioned state being equal to or less than a first period of time, a braking force limit part 151 sets a limit continuously for a second period of time, the limit against an increase of braking-force per the addition by the braking force addition part 141. |
