Brake control apparatus for vehicle

1. A brake control apparatus for a vehicle configured to generate an anti-spin yaw moment in a direction opposite to a spin yaw moment generated through a load movement in a right and left direction of the vehicle, the brake control apparatus comprising:

a brake device configured to control braking forces of right and left front wheels, and right and left rear wheels independently of each other;

a slip degree detector configured to detect a slip degree for each of the right and left front wheels, and the right and left rear wheels;

a rear braking force controller configured to control the braking forces of the right and left rear wheels independently of each other through feedback control based on a rear wheel slip deviation so that the slip degree of each of the right and left rear wheels becomes close to a target slip degree, the rear wheel slip deviation including a deviation between the target slip degree and the slip degree of the right rear wheel, and a deviation between the target slip degree and the slip degree of the left rear wheel;

a turning state detector configured to detect a turning state of the vehicle; and

a front braking force controller configured to, when the turning state of the vehicle is detected by the turning state detector, control the braking force of an inner front wheel, which is the front wheel on an inner side with respect to a turning direction of the vehicle from among the right and left front wheels, through feedback control based on a front wheel slip deviation so that the slip degree of the inner front wheel becomes close to the slip degree of an outer front wheel as a reference wheel, which is the front wheel on an outer side with respect to the turning direction of the vehicle from among the right and left front wheels, the front wheel slip deviation being a deviation between the slip degree of the reference wheel and the slip degree of the inner front wheel,

wherein the brake control apparatus further comprises:

a vehicle state estimation module configured to estimate whether or not the vehicle is in an understeer state in a situation in which the front braking force controller is controlling the braking force of the inner front wheel; and

an understeer suppressing module configured to, when the vehicle state estimation module has estimated that the vehicle is in the understeer state, decrease a feedback control amount of the wheel which is to be controlled to increase the anti-spin yaw moment.

2. The brake control apparatus according to claim 1 , wherein the rear braking force controller is further configured to set the target slip degree to the same value as the slip degree of the outer front wheel.

3. The brake control apparatus according to claim 1 , further comprising a correcting module configured to:

perform a first correcting processing so that a feedback control amount of the inner front wheel based on the front wheel slip deviation is corrected to be zero; and

perform a second correcting processing so that a feedback control amount of an inner rear wheel, which is the rear wheel on the inner side with respect to the turning direction of the vehicle from among the right and left rear wheels, is corrected by an amount corresponding to a corrected amount of the feedback control amount of the inner front wheel.

4. The brake control apparatus according to claim 3 , further comprising an inner front wheel braking force guard module configured to:

calculate a relationship between a specific outer front wheel braking force and a target braking force of the inner front wheel, the specific outer front wheel braking force being a value obtained by multiplying an actual braking force of the outer front wheel by a load ratio which is a ratio of a ground contact load of the inner front wheel to a ground contact load of the outer front wheel; and

correct the feedback control amount of the inner front wheel to be zero when the target braking force of the inner front wheel becomes equal to or smaller than the specific outer front wheel braking force.

5. The brake control apparatus according to claim 3 , wherein the correcting module is further configured to correct the feedback control amount of the inner front wheel based on the front wheel slip deviation in such a manner that the front wheel slip deviation is corrected to be zero.

6. The brake control apparatus according to claim 1 , further comprising a yaw rate sensor,

wherein the vehicle state estimation module is configured to:

compare a yaw rate detected by the yaw rate sensor with a reference yaw rate; and

estimate that the vehicle is in the understeer state when a magnitude of the detected yaw rate is smaller than a magnitude of the reference yaw rate.