Patent ID: 7409280

Claim:
A vehicle braking control system comprising: a pair of laterally spaced first wheels configured and arranged to be steered; a pair of laterally spaced second wheels that are longitudinally separated from the first wheels in a front to aft vehicle direction; an independent braking component configured to independently control braking torques applied to the first and second wheels; and a steering detection component configured to detect a steering degree of the first wheels; and an excess distribution component configured to vary a front and rear braking torque distribution between the first and second wheels while keeping a total required braking torque imparted to all of the wheels substantially constant, the excess distribution component including a left and right wheel distribution adjusting component configured to adjust a left and right braking torque distribution of at least one of the pairs of the first and second wheels so that a left and right braking torque difference is applied to suppress a vehicle behavior that accompanies varying of the front and rear braking torque distribution between the first wheels and the second wheels based on the steering degree in the first wheels upon determining that steering in the first wheels is present.