Vehicle braking force control device

A vehicle braking force control device comprising a controller configured to carry out the operations comprising:

• individually controlling braking forces of a steered wheel and a non-steered wheel at a time of deceleration of a vehicle;
• and
• detecting steering of the vehicle in a first state of the vehicle in advance;
• wherein the controller is configured to:
• execute braking force mitigation control to decrease the braking force of the steered wheel to be lower than the braking force at a time of normal braking when the steering in the first state of the vehicle is detected in advance by the controller
• wherein execution of the braking force mitigation control comprises:
• specifying a higher braking pressure, a first upper limit of the higher braking pressure, and a decrease pressure value associated with the steered wheel;
• and
• specifying a lower braking pressure lower in magnitude from the higher braking pressure, a second upper limit of the lower braking pressure, and an increase pressure value associated with the non-steered wheel;
• wherein the stop braking force control unit does not execute the braking force mitigation control in a case where the state of the vehicle satisfies at least one prescribed predetermined prohibition condition;
• wherein the at least one predetermined prohibition condition includes a case in which the vehicle has slipped;
• and
• wherein whether the vehicle has slipped is determined on the basis of a wheel speed difference between the steered wheel and the non-steered wheel.