| 摘要 |
PROBLEM TO BE SOLVED: To improve a driver's feeling in a braking operation in a braking force controlling state. SOLUTION: When a turning state of a vehicle approaches the limit of turning performance ("No" at step S7), a braking force command value D<SP>*</SP>is calculated within a range equal to or larger than target braking force by calculating the target braking force D<SB>cop</SB>required for decelerating the vehicle (step S10), and required driving force D<SB>dr</SB>corresponding to a braking operation of the driver is detected. When the required driving force D<SB>dr</SB>is in an increasing state ("Yes" at step S13), and an increasing rate dD<SB>dr</SB>/dt thereof is larger than an increasing rate dD<SB>cop</SB>/dt of the target driving force D<SB>cop</SB>, the driving force command value D<SP>*</SP>is calculated by using the increasing rate dD<SB>dr</SB>/dt of the required driving force D<SB>dr</SB>for the driving force command value in a previous calculation cycle (step S14 to S16). COPYRIGHT: (C)2006,JPO&NCIPI
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