Patent ID: 7059687

Claim:
A braking force distribution control device comprising: wheel speed detecting means for detecting wheel speeds of respective wheels of a vehicle; road surface μ slope estimating means for, on the basis of the detected wheel speeds, estimating for the respective wheels slopes of a coefficient of friction μ between the wheels and a road surface as road surface μ slopes; control means for, on the basis of the road surface μ slopes estimated for the respective wheels by the road surface μ slope estimating means, distributing braking forces to the respective wheels by controlling the braking force of each wheel; and wherein on the basis of the detected wheel speeds, the road surface μ slope estimating means estimates slopes of braking forces with respect to wheel slip speeds as the road surface μ slopes for the respective wheels, and the control means determines a relationship between the road surface μ slope of a wheel which is an object of control and the road surface μ slope of a reference wheel, and controls a braking torque of the wheel which is the object of control taking into account said relationship.