JP4600262B2 - Brake control device for vehicle - Google Patents

Description

  The present invention relates to a braking control device that is mounted on a vehicle and employs an anti-lock braking system.

  In vehicle braking control, an antilock brake system (ABS) is generally used (see Patent Document 1). In anti-lock brake control, if the braking force becomes excessive during braking and the wheel does not grip the road surface, the wheel cylinder pressure is reduced to reduce the braking force so that the wheel grips the road surface again. .

When the wheel cylinder pressure is rapidly reduced in the ABS control, hunting occurs in the pressure in the hydraulic circuit of the braking control device. Conventionally, in order to cope with such hunting, the duty ratio for driving and controlling the pressure control valve of the braking control device is changed stepwise to gradually change the pressure reducing control valve from the fully closed state to the fully opened state. Therefore, the occurrence of hunting was suppressed.
JP-A-11-286267

  However, in a brake system that controls the braking force by feeding back the detected value of the wheel cylinder pressure, such as an electronically controlled brake system (ECB), the above-described method employed in the prior art is not effective. That is, in the control method in which the detected value of the wheel cylinder pressure is fed back to adjust the wheel cylinder pressure, when hunting occurs in the wheel cylinder pressure, the hunting of the wheel cylinder pressure is fed back to the wheel cylinder pressure adjusting process, and this feedback is Furthermore, the wheel cylinder pressure causes hunting. Therefore, the hunting of the wheel cylinder pressure is difficult to converge.

  Therefore, the present invention provides a braking control device capable of suppressing hunting generated in the wheel cylinder pressure in a vehicle braking control device that feeds back a detected value of the wheel cylinder pressure to adjust the wheel cylinder pressure. For the purpose.

  In order to achieve the above-described object, the vehicle braking control apparatus according to the present invention feeds back the detected value of the wheel cylinder pressure detecting means and the wheel cylinder pressure detecting means for detecting the wheel cylinder pressure, and the detected value is reflected. A control means for generating a generated drive command, and a pressure control valve that is driven in accordance with the drive command generated by the control means and adjusts the wheel cylinder pressure. The control means is driven in the ABS control mode. The degree of reflection of the detected value of the wheel cylinder pressure in the command is reduced.

  According to this configuration, in the ABS control mode, by reducing the degree of reflection of the detected value of the wheel cylinder pressure in the drive command, the wheel cylinder pressure hunting is prevented from being fed back and reflected in the drive command. Hunting generated in the wheel cylinder pressure during ABS control can be effectively suppressed. According to this, it is possible to reduce the operation sound of the braking control device or to stabilize the control state of the braking control device.

  The degree of reflection of the detected value of the wheel cylinder pressure is the magnitude of the influence of the detected value of the wheel cylinder pressure on the drive command generated by the control means. When the fluctuation of the detected value of the wheel cylinder pressure is a predetermined magnitude, if the fluctuation of the drive command is large, it means that the degree of reflection of the detected value of the wheel cylinder pressure is large, and if the fluctuation of the drive command is small, the wheel cylinder This means that the degree of reflection of the detected pressure value is small.

  In order to reduce the degree of reflection of the detected value of the wheel cylinder pressure described above, in addition to simply reducing the degree of reflection of the detected value of the wheel cylinder pressure, the degree of reflection of the detected value of the wheel cylinder pressure is reduced to zero. Also included when you want. In addition to detecting the wheel cylinder pressure directly with a pressure sensor, detecting the wheel cylinder pressure described above includes a case of estimating the wheel cylinder pressure by calculation.

  In the braking control device described above, it is preferable that the control unit generates a drive command for maintaining the wheel cylinder pressure as a process of reducing the degree of reflection of the detected value of the wheel cylinder pressure in the drive command. According to this configuration, since the drive command for maintaining the wheel cylinder pressure is generated, the detected value of the wheel cylinder pressure is not reflected in the drive command. Thus, by not reflecting the detected value of the wheel cylinder pressure in the drive command, it is possible to prevent the hunting of the wheel cylinder pressure from being reflected in the drive command. Thereby, the hunting which generate | occur | produces in a wheel cylinder pressure at the time of ABS control can be suppressed effectively. In particular, according to the configuration described above, since the detected value of the wheel cylinder pressure is not reflected at all in the drive current, hunting of the wheel cylinder pressure can be quickly suppressed.

  In the above-described braking control device, it is preferable that the control means reduce the feedback gain of the detected value of the wheel cylinder pressure as a process of reducing the degree of reflection of the detected value of the wheel cylinder pressure in the drive command. According to this configuration, since the feedback gain of the detected value of the wheel cylinder pressure is reduced, the degree of reflection of the detected value of the wheel cylinder pressure in the drive command is reduced. Thus, by reducing the degree of reflection of the detected value of the wheel cylinder pressure in the drive command, it is possible to prevent the hunting of the wheel cylinder pressure from being reflected in the drive command. Thereby, the hunting which generate | occur | produces in a wheel cylinder pressure at the time of ABS control can be suppressed effectively. Further, according to the above-described configuration, since the detected value of the wheel cylinder pressure is reflected to some extent in the drive current, hunting of the wheel cylinder pressure can be suppressed while adjusting the wheel cylinder pressure according to the detected value. it can.

  In the braking control apparatus described above, the control means reflects the detected value of the wheel cylinder pressure in the drive command at a timing when the wheel cylinder pressure is increased by a predetermined pressure from the state in which the wheel cylinder pressure is reduced in the ABS control mode. It is preferable to reduce the degree. According to this configuration, since the wheel cylinder pressure is increased by a predetermined pressure from the state in which the wheel cylinder pressure is reduced in the ABS control mode, a braking force necessary for the ABS control can be sufficiently obtained. At this timing, the degree of reflection of the detected value of the wheel cylinder pressure in the drive command is reduced, so that the hunting generated in the wheel cylinder pressure during the ABS control is effectively suppressed while sufficiently obtaining the braking force necessary for the ABS control. can do.

  In the braking control device described above, it is preferable that the control unit generates a drive command for increasing the wheel cylinder pressure after reducing the degree of reflection of the detected value of the wheel cylinder pressure in the drive command. According to this configuration, since the degree of reflection of the detected value of the wheel cylinder pressure in the drive command is reduced, hunting that occurs in the wheel cylinder pressure during the ABS control can be effectively suppressed. Then, since a drive command for increasing the wheel cylinder pressure is generated thereafter, the braking force can be further increased in a stable control state in which hunting is suppressed.

  The braking control device described above further includes hunting determination means for determining that hunting has occurred in the wheel cylinder pressure based on the detection value of the wheel cylinder pressure detection means, and the control means is hunted by the hunting determination means. Is determined, the degree of reflection of the detected value of the wheel cylinder pressure in the drive command is reduced, and when hunting is not determined by the hunting determination means, the degree of reflection of the detected value of the wheel cylinder pressure in the drive command is not decreased. It is preferable. According to this configuration, when wheel cylinder pressure hunting occurs, hunting can be reliably suppressed by reducing the degree of reflection of the detected value of the wheel cylinder pressure in the drive command. On the other hand, when the hunting of the wheel cylinder pressure does not occur, the process in the ABS control mode can be quickly performed by not performing the process of reducing the reflection degree of the detected value of the wheel cylinder pressure in the drive command.

  ADVANTAGE OF THE INVENTION According to this invention, the detected value of wheel cylinder pressure is fed back and the hunting which generate | occur | produced in wheel cylinder pressure can be suppressed in the brake control apparatus which adjusts wheel cylinder pressure.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a vehicle braking control device according to the present invention will be described with reference to the drawings.

  FIG. 1 shows a hydraulic circuit of a braking control device 1 mounted on a vehicle. This hydraulic circuit constitutes a hydraulic circuit that can perform ECB control in which the accumulator pressure is electrically regulated and supplied to the wheel cylinder of each wheel in response to a driver's braking request. Note that although a plurality of wheels are usually attached to the vehicle, only a hydraulic circuit relating to one wheel is shown in FIG. 1 for the sake of simplicity. Among the plurality of components of the hydraulic circuit, the reservoir tank 10, the oil pump 16, the accumulator 20, and the like are components provided in common to the plurality of wheels, and include a pressure increase control valve 22, a pressure reduction control valve 28, and a wheel. The cylinder 26, the pressure sensor 32, and the like are components provided for each wheel.

  The hydraulic pressure control conduit 12, one end of which is connected to the reservoir tank 10, is provided with an oil pump 16 driven by a motor 14 in the middle of the pipeline. The hydraulic fluid flowing from the reservoir tank 10 is pressurized by the oil pump 16. Is done. An accumulator 20 that accumulates high-pressure hydraulic fluid discharged from the oil pump 16 is connected to the hydraulic pressure control conduit 18 on the discharge side of the oil pump 16.

  The hydraulic pressure control conduit 18 is connected to a pressure increase control valve 22 that is a linear control valve. Further, the downstream side of the pressure increase control valve 22 is connected to a hydraulic pressure control conduit 24, the hydraulic pressure control conduit 24 is branched into two, and one branch conduit 24a is connected to the wheel cylinder 26. ing. The other branch conduit 24 b is connected to a reflux conduit 30 having one end connected to the reservoir tank 10 via a pressure reduction control valve 28 that is a linear control valve. Note that the pressure increase control valve 22 and the pressure reduction control valve 28 are configured as control valves (normally closed type) whose valve opening degree can be controlled linearly according to the magnitude of the input control signal.

  The operation of the hydraulic pressure supply system configured as described above will be schematically described. In the pressure increase control mode in which the hydraulic pressure of the wheel cylinder 26 is increased, the pressure reduction control valve 28 is closed and the pressure increase control valve 22 is controlled to be opened. As a result, the high-pressure hydraulic fluid in the accumulator 20 is supplied to the wheel cylinder 26 via the hydraulic pressure control conduit 18, the pressure increase control valve 22, the hydraulic pressure control conduit 24, and the branch conduit 24a in this order. Is increased.

  Further, in the pressure reduction control mode in which the hydraulic pressure of the wheel cylinder 26 is reduced, control is performed so that the pressure increase control valve 22 is closed and the pressure reduction control valve 28 is opened. As a result, the hydraulic fluid in the wheel cylinder 26 flows out to the reservoir tank 10 through the branch conduit 24a, the branch conduit 24b, the decompression control valve 28, and the reflux conduit 30 in this order, so that the wheel cylinder pressure is reduced.

  In addition, by holding both the pressure increase control valve 22 and the pressure reduction control valve 28 in the closed state, it is possible to perform holding control for maintaining the hydraulic pressure of the wheel cylinder 26 constant.

  In order to detect the hydraulic pressure in the wheel cylinder in such a hydraulic circuit, a pressure sensor 32 is provided in the pipe connected to the wheel cylinder 26, and the hydraulic pressure in the pipe is set to the wheel cylinder. Measured as pressure Pi. The pressure sensor may be provided in the vicinity of the wheel cylinder 26 or provided at a position away from the wheel cylinder 26 as long as the pressure sensor is provided so as to measure the pressure of the pipe line connected to the wheel cylinder 26. May be.

  Operation control of the hydraulic circuit configured as described above is performed by the control unit 40. As shown in FIG. 2, the control unit 40 includes, in addition to the pressure sensor 32 described above, a detection result of a stroke sensor 34 that detects a depression stroke Sp of a brake pedal, a detection result of a wheel speed sensor 36 that detects a wheel speed Vw of the wheel, and the like. Is given. Then, the control unit 40 performs a predetermined control flow based on these detection results, and performs control so that the wheel cylinder pressure Pi becomes the target wheel cylinder pressure Pti. The control signal output from the control unit 40 is supplied to the drive circuit 42. The drive circuit 42 generates a drive current Id based on the supplied control signal, and the motor 14, the pressure increase control valve 22, and the pressure reduction. Drive control of an actuator such as the control valve 28 is performed. Thus, the desired braking force F can be obtained by controlling the wheel cylinder pressure.

  Moreover, the control part 40 implements ABS control, when a wheel locks during driving | running | working of a vehicle. The arithmetic logic in ABS control is shown in FIG. When determining that the wheel is locked based on the wheel speed Vw, the control unit 40 starts ABS control and calculates a target wheel cylinder pressure Pti for ABS control. Then, the control unit 40 calculates a difference between the target wheel cylinder pressure Pti and the detected value Pi of the wheel cylinder pressure, amplifies the difference with a gain, and then uses the amplified difference as a drive command to the drive circuit 42. Output.

  Here, when the control unit 40 is in the pressure increase control mode, when the difference obtained by subtracting the detected value Pi of the wheel cylinder pressure from the target wheel cylinder pressure Pti is greater than zero, the control unit 40 calculates the amplified difference to the pressure increase control valve. Is output to the drive circuit 42 as a drive command for driving the motor 22. On the other hand, when in the pressure reduction control mode, the control unit 40 drives the pressure reduction control valve 28 with the amplified difference when the difference obtained by subtracting the detected value Pi of the wheel cylinder pressure from the target wheel cylinder pressure Pti is smaller than zero. Is output to the drive circuit 42 as a drive command for this.

  The drive circuit 42 generates a drive current Id having a magnitude corresponding to the drive command. By this drive current, actuators such as the motor 14, the pressure increase control valve 22, and the pressure reduction control valve 28 are driven and controlled so that the wheel cylinder pressure Pi becomes the target wheel cylinder pressure Pti. The wheel cylinder pressure Pi is detected by the pressure sensor 32 and fed back to the control unit 40. In this way, the wheel cylinder pressure Pi is reflected in the control of the actuator.

  Further, the control unit 40 determines whether or not hunting has occurred in the wheel cylinder pressure based on the detected value Pi of the wheel cylinder pressure, and when the wheel cylinder pressure is hunting, during the ABS control. A process of temporarily holding the wheel cylinder pressure is performed. This process will be described in detail later. On the other hand, when the wheel cylinder pressure is not hunting, the control unit 40 performs normal ABS control without holding the wheel cylinder pressure. Here, the hunting determination of the wheel cylinder pressure is performed based on the waveform of the wheel cylinder pressure. For example, if the difference between the target wheel cylinder pressure Pti and the wheel cylinder pressure Pi is greater than a preset threshold value, or based on the magnitude and rate of change from the maximum value to the minimum value of the wheel cylinder pressure Pi, the wheel cylinder pressure Hunting is determined.

  Next, the process executed by the control unit 40 in the ABS control will be described in more detail. FIG. 4 shows a flowchart of the ABS control. This process is a process repeatedly executed by the control unit 40 during the ABS control.

  As shown in FIG. 4, the control unit 40 determines whether or not the wheel is gripping the road surface based on the wheel speed Vw (S401). Here, if the control unit 40 determines that the wheel is not gripping the road surface, the control unit 40 proceeds to step 402 and starts ABS control. On the other hand, when it is determined that the wheel is gripping the road surface, the control unit 40 repeats the grip state determination process in step 401.

  In step 402, the control unit 40 sets the control state to the pressure reduction mode and sets a sufficiently small value for the target wheel cylinder pressure. Thereby, the pressure reduction control valve 28 is driven, and the wheel cylinder pressure is rapidly reduced. Then, the control unit 40 determines whether or not the grip state of the wheels has been recovered (S403). Here, if the control unit 40 determines that the grip state of the wheel has been recovered, the control unit 40 proceeds to step 404. On the other hand, when it is determined that the wheel grip state has not recovered, the control unit 40 repeats the decompression process in step 402.

  In step 404, the control unit 40 sets the control state to the pressure increasing mode, and rapidly increases the target wheel cylinder pressure. As a result, the pressure increase control valve 22 is driven, and the wheel cylinder pressure is suddenly increased to, for example, a pressure of about 50% to 60% with respect to the wheel cylinder pressure when the pressure reduction process in Step 402 is started. The Subsequently, in step 405, the control unit 40 determines whether hunting has occurred in the wheel cylinder pressure based on the detection value Pi of the pressure sensor 32. If the control unit 40 determines that hunting has occurred, the control unit 40 proceeds to step 406. On the other hand, if the control unit 40 determines that hunting has not occurred, the control unit 40 proceeds to step 409.

  In step 406, the control unit 40 maintains the control state in the pressure increasing mode, sets the drive current to be applied to each of the pressure increasing control valve 22 and the pressure reducing control valve 28 to zero, and the pressure increasing control valve 22 and the pressure reducing control valve 28. Is closed. Thereby, the wheel cylinder pressure is kept constant. In the wheel cylinder pressure holding process, a command for holding the wheel cylinder pressure is output from the control unit 40 to the drive circuit 42 (see FIG. 2).

  Subsequently, at step 407, the control unit 40 determines whether or not a preset time limit TH of about 20 to 30 msec has elapsed since the start of holding the wheel cylinder pressure. If the control unit 40 determines that the time limit TH has elapsed, the control unit 40 proceeds to step 409. On the other hand, when it is determined that the time limit TH has not elapsed, the control unit 40 proceeds to step 408. Thereby, it is avoided that holding | maintenance of wheel cylinder pressure continues excessively.

  In step 408, the control unit 40 determines whether or not the hunting has converged based on the detection value Pi of the pressure sensor 32. Here, if the control unit 40 determines that the hunting has converged, the control unit 40 proceeds to step 409. On the other hand, when it is determined that the hunting has not converged, the control unit 40 repeats the hydraulic pressure holding process in step 406. As a result, the wheel cylinder pressure is held until the hunting converges, and when the hunting converges, the next processing can be immediately performed.

  In step 409, the control unit 40 gradually increases the target wheel cylinder pressure to increase the braking force of the wheels. And the control part 40 determines whether the wheel is gripping the road surface (S410). Here, when it is determined that the wheel is gripping the road surface, the control unit 40 returns to step 409 and repeats the process of gradually increasing the target wheel cylinder pressure until the wheel does not grip the road surface. . On the other hand, when it is determined that the wheel does not grip the road surface, the control unit 40 returns to step 402 to reduce the wheel cylinder pressure.

  Next, the behavior of the wheel cylinder pressure controlled by the braking control device 1 according to the above-described embodiment will be described with reference to FIGS. 5 and 6 and compared with the prior art.

  In the braking control apparatus according to the prior art, as shown in FIG. 5, during the ABS control, (1) a first step of rapidly reducing the wheel cylinder pressure and then holding the wheel cylinder pressure in a reduced state, 2) The second step of abruptly increasing the wheel cylinder pressure and (3) the third step of gradually increasing the wheel cylinder pressure are repeated. In the first step, since the target wheel cylinder pressure is rapidly reduced, wheel cylinder pressure hunting occurs. Here, since the detected value Pi of the hunted wheel cylinder pressure is fed back, the hunting generated in the first step does not converge in the second step and the third step, and the stable ABS control is hindered, and the braking control device. Increases the operating noise.

  On the other hand, in the braking control apparatus 1 according to the present embodiment, as shown in FIG. 6, during the ABS control, in addition to the first to third steps described above, it is between the second step and the third step. Thus, the fourth step of temporarily maintaining the wheel cylinder pressure is performed. In the fourth step, since the pressure increase control valve 22 and the pressure reduction control valve 28 are controlled to be closed so that the wheel cylinder pressure is maintained, the detected value Pi of the hunted wheel cylinder pressure is not fed back. In other words, in the control of the wheel cylinder pressure, the reflection degree of the detected value Pi of the wheel cylinder pressure is reduced to zero. In this way, by setting the reflection degree of the detected value Pi of the wheel cylinder pressure to zero, the hunting generated in the first step can be converged and the operation noise of the braking control device 1 can be reduced.

  In the present embodiment, as described above, the fourth step of temporarily maintaining the wheel cylinder pressure is performed after the second step of rapidly increasing the wheel cylinder pressure. Thereby, since the wheel cylinder pressure is increased by a predetermined pressure from the state in which the wheel cylinder pressure is reduced in the ABS control mode, a braking force necessary for the ABS control can be sufficiently obtained. At this timing, the degree of reflection of the detected value of the wheel cylinder pressure in the drive command is reduced, so that the braking force necessary for the ABS control is sufficiently obtained and the hunting generated in the wheel cylinder pressure during the ABS control is effectively suppressed. can do.

  In the present embodiment, as described above, after performing the fourth step of temporarily maintaining the wheel cylinder pressure, the third step of gradually increasing the wheel cylinder pressure is performed. As a result, in the third step in which the wheel cylinder pressure is gradually increased, hunting is suppressed and a stable hydraulic pressure state is obtained. For this reason, it is possible to suitably obtain a control state in which the braking force is increased in the third step.

  Next, a modified example of the braking control device 1 according to the present embodiment will be described. FIG. 7 shows a flowchart of the ABS control executed by the braking control device 1 according to the modification. Compared with the embodiment described above, the processing in step 706 is different in the ABS control according to the modification.

  In step 706, the control unit 40 performs a process of changing the feedback gain of the detected value Pi of the wheel cylinder pressure. Specifically, when determining that hunting has occurred in the wheel cylinder pressure, the control unit 40 decreases the gain for amplifying the difference between the detected value Pi of the wheel cylinder pressure and the target wheel cylinder pressure Pti.

  Referring to FIG. 3, when the control unit 40 reduces the gain for amplifying the difference between the wheel cylinder pressure detection value Pi and the target wheel cylinder pressure Pti, the control unit 40 drives the drive circuit 42. Therefore, the drive command supplied to the pressure increase control valve 22 and the pressure reduction control valve 28 is reduced. In other words, the degree of reflection of the detected value Pi of the wheel cylinder pressure becomes small in the drive current.

  According to this modification, the change in the wheel cylinder pressure is suppressed by reducing the feedback gain of the detected value Pi of the wheel cylinder pressure and reducing the drive current supplied to the pressure control valve 22 and the pressure reduction control valve 28. Therefore, it is possible to suppress the hunting generated in the wheel cylinder pressure and reduce the operation noise of the braking control device. Further, since the detected value of the wheel cylinder pressure is reflected to some extent in the drive command, hunting of the wheel cylinder pressure can be suppressed while adjusting the wheel cylinder pressure according to the detected value.

  In the above-described embodiment, the wheel cylinder pressure is directly measured by the pressure sensor 32. In other embodiments, the wheel cylinder pressure is calculated by calculating based on the amount of hydraulic fluid entering and exiting the wheel cylinder 26. May be estimated. The control unit 40 can perform the above-described processes by using the estimated value of the wheel cylinder pressure as the detected value of the wheel cylinder pressure instead of the measured value of the wheel cylinder pressure.

  Further, in the above-described embodiment, the control unit 40 determines the hunting of the wheel cylinder pressure and holds the wheel cylinder pressure only when the hunting is generated in the wheel cylinder pressure. However, in the other embodiments, Regardless of whether or not wheel cylinder pressure hunting has occurred, the wheel cylinder pressure may always be maintained.

1 is a hydraulic circuit diagram of a vehicle braking control device. It is a functional block diagram of a braking control device for vehicles. It is a figure which shows the arithmetic logic in ABS control mode. It is a flowchart which shows the control flow in ABS control mode. It is a time chart which shows the control result by the brake control apparatus concerning a prior art. It is a time chart which shows the control result by the braking control apparatus concerning this embodiment. It is a flowchart which shows the modification of the control flow in ABS control mode.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Braking control apparatus, 10 ... Reservoir tank, 12 ... Fluid pressure control conduit, 14 ... Motor, 16 ... Oil pump, 18 ... Fluid pressure control conduit, 20 ... Accumulator, 22 ... Pressure increase control valve (pressure control valve), 24 ... Hydraulic pressure control conduit, 24a ... Branch conduit, 24b ... Branch conduit, 26 ... Wheel cylinder, 28 ... Pressure reduction control valve (pressure control valve), 30 ... Reflux conduit, 32 ... Pressure sensor, 34 ... Stroke sensor, 36 ... Wheel speed sensor, 40 ... control unit, 42 ... drive circuit.

Claims (5)

Wheel cylinder pressure detecting means for detecting wheel cylinder pressure;
Control means for feeding back a detected value of the wheel cylinder pressure detecting means and generating a drive command reflecting the detected value;
A pressure control valve that is driven according to the drive command generated by the control means and adjusts the wheel cylinder pressure;
The control means reflects the detected value of the wheel cylinder pressure in the drive command at a timing when the wheel cylinder pressure is increased by a predetermined pressure to obtain a braking force from a state in which the wheel cylinder pressure is reduced in the ABS control mode. A braking control device for a vehicle, characterized in that the degree is reduced.   2. The vehicle according to claim 1, wherein the control unit generates a drive command for maintaining the wheel cylinder pressure as a process of reducing a reflection degree of the detected value of the wheel cylinder pressure in the drive command. Braking control device.   2. The vehicle according to claim 1, wherein the control unit reduces a feedback gain of the detected value of the wheel cylinder pressure as a process of reducing a reflection degree of the detected value of the wheel cylinder pressure in the drive command. Braking control device. Wherein, according to after reducing the reflection degree of the detected value of the wheel cylinder pressure in the drive command, to claim 1, characterized in that to generate a drive command for increase the wheel cylinder pressure Vehicle braking control device. Hunting determination means for determining that hunting has occurred in the wheel cylinder pressure based on the detection value of the wheel cylinder pressure detection means;
When the hunting is determined by the hunting determination unit, the control unit reduces the degree of reflection of the detected value of the wheel cylinder pressure in the drive command, and when the hunting determination unit does not determine hunting, The vehicle braking force control device according to any one of claims 1 to 4 , wherein the degree of reflection of the detected value of the wheel cylinder pressure in the drive command is not reduced.

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