Patent ID: 8104845

Claim:
A vehicle braking apparatus comprising: a brake operating element configured and arranged to be operated by a driver of a vehicle; an actuator configured to generate a braking force in accordance with a braking operation of the brake operating element; and a controller operatively arranged to determine a reference pressure based on a relationship between a first stroke amount of the braking operating element and a first pressure generated in response to the first stroke amount, determine an actual pressure based on a relationship between a second stroke amount and a second pressure generated in response to the second stroke amount, the second pressure being greater than the first pressure, determine a difference between the actual pressure and the reference pressure, determine a coefficient based on the difference, modify a difference between the braking force and a target braking force based on the coefficient to produce a modified braking force difference, and control the actuator based on the modified braking force difference to suppress an increase in a rate of change of a braking force with respect to the braking operation by the driver as a depression speed of a brake pedal by the driver becomes faster upon determining that vehicle cabin background noise is equal to or below a prescribed threshold value and that the vehicle is traveling at a low vehicle traveling speed equal to or below a prescribed speed threshold value.