Vehicle braking force control device and method for controlling vehicle braking force

A vehicle braking force control device, comprising

• a controller that controls braking force of a wheel by controlling friction braking force generated by a friction braking device and regenerative braking force generated by regenerative braking devices and that performs anti-skid control based on a requested amount of braking force reduction by controlling the friction braking force and reducing the regenerative braking force by an amount of regenerative braking force-reduction, wherein:
• the controller sets a target change amount of the friction braking force based on the requested amount of braking force reduction and the amount of regenerative braking force reduction;
• the controller controls the friction braking force based on the target change amount when the controller reduces the regenerative braking force by the amount of regenerative braking force reduction;
• the controller sets the target change amount so that a sum of the amount of regenerative braking force reduction and the target change amount is equal to the requested amount of braking force reduction;
• if the requested amount of braking force reduction is smaller than the amount of regenerative braking force reduction, the controller increases the friction breaking force by the target change amount during the anti-skid control;
• and
• if the requested amount of braking force reduction is smaller than the amount of regenerative braking force reduction and a slip amount during braking is equal to or larger than a threshold value, the controller sets the target change amount to zero.