Patent ID: 7627412

Claim:
An automatic braking force control apparatus for an automotive vehicle comprising: a deceleration detector that detects an actual deceleration of the vehicle; a braking force adjustment device that adjusts an actual braking force of a road wheel to a desired braking force; and a brake control unit configured to be electronically connected to the deceleration detector and the braking force adjustment device, for executing deceleration feedback control and anti-skid control, which are mutually exclusive; the brake control unit comprising: (a) a desired deceleration calculation section configured to calculate a desired deceleration based on a driver's braking action; (b) a desired braking force calculation section configured to calculate the desired braking force for the deceleration feedback control, based on a proportional-control signal component proportional to an error signal corresponding to a deviation between the desired deceleration and the actual deceleration, and an integral-control signal component corresponding to an integral of the error signal indicative of the deviation; (c) an anti-skid control section configured to execute, irrespective of the desired braking force for the deceleration feedback control, an anti-skid cycle including at least a braking-force decrease mode and a braking-force increase mode, for preventing a wheel lock-up condition of the road wheel; (d) a desired braking force memorizing section configured to memorize the desired braking force, calculated just before a start time of the anti-skid cycle, as a desired braking force memorized value; and (e) a desired braking force initialization section configured to initialize the desired braking force needed when restarting the deceleration feedback control from a termination time of the anti-skid cycle to a predetermined value calculated based on the desired braking force memorized value.