Vehicular brake force control apparatus and method

摘要

In a vehicular brake force control apparatus, an engine brake force Feb is calculated (S30); a road surface friction coefficient mu and a rear wheel degree of grip epsilon r is calculated (S40); and a threshold value Ke is calculated such that the threshold value Ke increases as the road surface friction coefficient mu becomes smaller (S70). When the rear wheel degree of grip epsilon r is smaller than the threshold value Ke, it is determined that vehicle behavior of a vehicle is liable to become unstable when the engine brake force Feb acts (S80). In this case, a sum of the engine brake force Feb and a target friction brake force Fbv based upon a steering operation amount of a driver is distributed to each wheel in accordance with a distribution that stabilizes the vehicle behavior of the vehicle. Based on this distribution result, a friction brake force and an output torque of the engine are controlled (S90 to S120).