Braking force control apparatus for a vehicle

A braking force control apparatus for a vehicle which has an upstream braking actuator that includes a master cylinder device driven by braking operation of a driver and is configured to generate an upstream pressure common to left and right front wheels and left and right rear wheels, a downstream braking actuator that is configured to individually control braking pressures supplied to braking force generators of the left and right front wheels and the left and right rear wheels using the upstream pressure, and a control unit that controls the upstream braking actuator and the downstream braking actuator;

• the control unit is configured to normally control the upstream braking actuator such that the upstream pressure becomes a pressure in the master cylinder device, and control the downstream braking actuator such that braking pressures of the wheels become a target braking pressure equal to the upstream pressure;
• and
• the control unit is configured to, when an anti-skid control start condition is satisfied for any of the wheels perform anti-skid control for controlling the downstream braking actuator such that a braking pressure of the relevant wheel becomes a target braking pressure of the anti-skid control for keeping a degree of braking slip of the relevant wheel within a predetermined range until an anti-skid control end condition is satisfied, wherein
• the control unit is configured to, when a specific abnormality occurs in the downstream braking actuator in which the upstream pressure can be supplied from the upstream braking actuator to the braking force generators of the wheels but a braking pressure of any wheel cannot be reduced, perform backup control in which the control unit selects higher one of the target braking pressures of the left and right front wheels and higher one of the target braking pressures of the left and right rear wheels, determines lower one of the two selected target braking pressures as a backup target upstream pressure, and controls the upstream braking actuator such that the upstream pressure becomes the backup target upstream pressure.