| 摘要 |
PROBLEM TO BE SOLVED: To easily and effectively prevent an increase of a vehiculary raw rate in braking during turning of a vehicle without causing deterioration of vehicular deceleration. SOLUTION: A target braking pressure Pti of each wheel is calculated on the basis of a braking manipulated variable of a driver (S20). A product Gy×V of a vehicular lateral acceleration Gy and a vehicle speed V is calculated (S40). When an absolute value of the product Gy×V is a first reference value Th1 or more and less than a second reference value Th2 (S50 and 60), a boosting amount A' of front wheels is calculated so it is larger in proportion to the absolute value of the product Gy×V (S80-110). When the absolute value of the product Gy×V is the second reference value Th2 or more, the boosting amount A' of the front wheels is calculated so it is larger in proportion to the absolute value of the product Gy×V, and a target braking pressure of a turning inner side rear wheel is set at 0 (S70). By this, braking force is controlled so that a distribution ratio of the front wheels to rear wheels is higher in proportion to a magnitude of the product Gy×V.
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