Patent ID: 7249807

Claim:
A device for controlling braking force for a vehicle having at least a pair of left and right wheels, a braking system including apparatuses generating braking force on the respective wheels, at least one sensor monitoring an operational condition of the vehicle and wheel sensors monitoring, and generating values corresponding to actual braking force on the respective wheels so as to render actual braking force in conformity with target braking force on the respective wheels; the device comprising: a target value determining portion that determines target values corresponding to target braking force on the respective wheels in response to the operational condition of the vehicle; a target value modifying portion that modifies at least one of the target values based upon a difference between the actual values of the left and right wheels; and a braking force generating apparatus operating portion that operates the braking force generating apparatuses based upon the modified target values, wherein the target value modifying portion modifies at least one of the target values for braking force on the respective wheels based upon the difference between the actual values of braking force on the left and right wheels and a difference between the target values of braking force for the left and right wheels.