BRAKING FORCE CONTROL DEVICE FOR VEHICLE

摘要

A braking force control apparatus for a vehicle estimates the friction coefficient µ of a road surface as the state of the road surface on which the vehicle travels, and determines (computes) an ideal braking force µW (target braking force) by making use of the estimated road surface friction coefficient µ. When the estimated road surface friction coefficient µ is equal to or greater than a predetermined friction coefficient µ0, the braking force control apparatus operates an in-wheel motor (electrical force generation mechanism) in a regeneration state to thereby generate a motor braking torque Tmr, and causes a friction brake mechanism (braking force generation mechanism) to generate a frictional braking force Bf computed by subtracting the motor braking torque Tmr from the ideal braking force µW. Meanwhile, when the estimated road surface friction coefficient µ is less than the predetermined friction coefficient µ0, the braking force control apparatus operates the in-wheel motor (electrical force generation mechanism) in a power running state to thereby generate a motor driving torque Tmc, and causes the friction brake mechanism (braking force generation mechanism) to generate a frictional braking force Bf computed by adding the motor driving torque Tmc to the ideal braking force µW.