Vehicle braking control method and apparatus

摘要

A method and apparatus control target deceleration of a vehicle in response to a master cylinder pressure and the like. A controlled braking mode in which the pressure in each wheel cylinder is controlled based on the target deceleration, and a driver braking mode in which the pressure in each wheel cylinder is directly controlled by a master cylinder. When an abnormality in the braking control is detected, the ratio of the wheel braking force to the amount of driver's braking operation is gradually adjusted closer to the ratio set for the driver braking mode.