System and method for controlling a braking force of a vehicle

摘要

An executed time of a backward slipping moderation control is counted by a timer (S112), and after a predetermined period of time is elapsed, the control is terminated. Upon the termination of the control, a control of operation of a brake actuator is executed (S128) so that a wheel cylinder pressure is decreased with a gentle slope in comparison with a normal operation of the brake actuator for terminating the control. Where the backward slipping moderation control is executed by controlling a brake fluid pressure of the brake actuator, an acceleration alpha of a vehicle is estimated. If the acceleration is larger than a predetermined value, a target pressure P is increased (S224), thus generating a relatively large braking force. Selected figure: Fig. 4