Patent ID: 11472383

Abstract:
The present invention prevents occurrence of abnormal noise and swing of a vehicle in mitigating braking force of a steered wheel while reducing a steering load at the time of stationary steering to reduce a burden of a steering device and reducing stress accumulation due to stationary steering to reduce burdens of a tire, a suspension device and the steering device. The present invention includes a stop braking force control unit 202 that individually controls braking forces of steered wheels 51 and 52 and non-steered wheels 53 and 54 at the time of deceleration of the vehicle, and a pre-detection unit 203 that detects steering in a stopped state of the vehicle in advance, in which the stop braking force control unit executes, when the steering in a stopped state of the vehicle is detected in advance by the pre-detection unit, braking force mitigation control to decrease the braking forces of the steered wheels to be lower than the braking forces at the time of normal braking.