BRAKE TORQUE CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To stably travel a vehicle in braking irrelevant to the traveling state of the vehicle. SOLUTION: A road surface gradient estimation circuit 12 estimates the road surfaceμgradient of each wheel based on the wheel speed of each wheel from a wheel speed sensor 11. A deviation operation circuit 13 calculates the deviation between the road surfaceμgradient of a reference wheel and the road surfaceμgradient of a control target wheel. A braking force control circuit 14 adjusts the pressure of brake fluid of the control target wheel in a liquid pressure circuit 15 based on the deviation calculated in the deviation operation circuit 13.