| 摘要 |
PROBLEM TO BE SOLVED: To suppress braking distance extension and reduce the incidence of wheel slides.SOLUTION: An arithmetic operation portion 6 calculates a braking force command value for brake devices 8a and 8b on the basis of a deceleration included in the brake command acquired by a command acquisition portion 2, a weight of a vehicle detected by a load detection portion 3 and a speed of the vehicle detected by a speed detection portion 4. An adjustment portion 7 subtracts an adjustment amount varying depending on time from the braking force command value for the brake device 8a and adds the adjustment amount to the braking force command value for the brake device 8b so as to adjust the braking force command value for the brake devices 8a and 8b. |
