| 摘要 |
PROBLEM TO BE SOLVED: To provide a braking controller that does not give uncomfortable feeling to a driver in performing prebraking. SOLUTION: A degree of urgency is estimated based on at least one of a plurality of estimation indicators such as a return speed of an accelerator pedal, a foot rest depressing force, and an approaching state to an obstacle in front of a vehicle, and the higher the degree of urgency is, the larger a prebraking force is set to be. In estimating the degree of urgency, when only one estimation indicator is set, the set estimation indicator is used as an estimated degree of urgency of the degree-of-urgency estimating means, and when a plurality of estimation indicators are set, a complex estimation indicator generated from the plurality of estimation indicators is used as an estimated degree of urgency of the degree-of-urgency estimating means.
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