Braking force control system, device, and method

A method to be executed by a computer of a control device mounted on a vehicle, the method comprising steps of:

• acquiring a plurality of longitudinal accelerations from a driving assistance system;
• calculating a driving/braking request when the vehicle is in a coasting state in which an accelerator pedal operation and a brake pedal operation are not performed during running of the vehicle;
• acquiring a driving force lower limit set for a powertrain actuator having a set gear ratio;
• distributing the driving/braking request to (i) a powertrain system including the powertrain actuator and (ii) a brake system including a brake actuator;
• and
• controlling distribution of the driving/braking request to the powertrain system and the brake system based on the acquired driving force lower limit,
• wherein a distribution braking force allocated to each actuator is determined such that the distribution braking force is less than or equal to a braking force generable by the respective actuator, a sum of the respective distribution braking forces is equal to a target braking force, and a lower limit of braking force of each actuator is less than or equal to the distribution braking force of the respective actuator.

A non-transitory computer readable storage medium storing a program to be executed by a computer of a control device mounted on a vehicle, the program including computer-executable instructions causing the computer to execute steps of:

• acquiring a plurality of longitudinal accelerations from a driving assistance system;
• calculating a driving/braking request when the vehicle is in a coasting state in which an accelerator pedal operation and a brake pedal operation are not performed during running of the vehicle;
• acquiring a driving force lower limit set for a powertrain actuator having a set gear ratio;
• distributing the driving/braking request to (i) a powertrain system including the powertrain actuator and (ii) a brake system including a brake actuator;
• and
• controlling the distribution of the driving/braking request to the powertrain system and the brake system based on the acquired driving force lower limit,
• wherein a distribution braking force allocated to each actuator is determined such that the distribution braking force is less than or equal to a braking force generable by the respective actuator, a sum of the respective distribution braking forces is equal to a target braking force, and a lower limit of braking force of each actuator is less than or equal to the distribution braking force of the respective actuator.