Abstract: To suppress a sharp variation in the posture of a vehicle in a control apparatus that is configured to control the posture of the vehicle by adjusting a distribution ratio of a braking force between the front and rear during braking of the vehicle. The control apparatus includes a distribution setting unit that is configured to change the braking force distribution ratio from a basic braking force ratio during braking of the vehicle so that a posture of the vehicle follows a posture indicated by the target posture value. If the target posture value is varied when the braking force distribution ratio is different from the basic braking force ratio, the distribution setting unit sets the amount of change, by which the braking force distribution ratio is changed per unit time, equal to or smaller than a restriction amount.

Abstract: A stop control device which is a control device includes a gradient acquisition unit that acquires a road surface gradient; a drive instruction unit that executes a stopping drive instruction process for instructing a drive device to set a driving force of the vehicle to a magnitude corresponding to the road surface gradient when stopping the vehicle on a climbing road; and a braking instruction unit that executes a stopping braking instruction process of stopping the vehicle by instructing a braking device to apply a braking force corresponding to a required acceleration to the vehicle when stopping the vehicle on the climbing road.

Abstract: An orientation control device serving as a control device includes: an orientation control unit configured to, in a case where a vehicle is stopped on a slope road by applying braking force to a front wheel and a rear wheel, instruct a braking device to decrease front wheel braking force and rear wheel braking force and execute orientation control for instructing a drive device to increase drive force of the vehicle in a range in which a stop state of the vehicle is maintained; and a braking increase instruction unit configured to execute braking increase control for instructing the braking device to increase the braking force of at least one of the front wheel and the rear wheel after the increase in the drive force of the vehicle in accordance with the execution of the orientation control is ended.

Abstract: To suppress a sharp variation in the posture of a vehicle in a control apparatus that is configured to control the posture of the vehicle by adjusting a distribution ratio of a braking force between the front and rear during braking of the vehicle. The control apparatus includes a distribution setting unit that is configured to change the braking force distribution ratio from a basic braking force ratio during braking of the vehicle so that a posture of the vehicle follows a posture indicated by the target posture value. If the target posture value is varied when the braking force distribution ratio is different from the basic braking force ratio, the distribution setting unit sets the amount of change, by which the braking force distribution ratio is changed per unit time, equal to or smaller than a restriction amount.

Abstract: Braking torque is automatically applied based on requested deceleration and requested distance from a driving assistance device. Standard deceleration decreases in an “upwardly curved” form and then decreases in a “downwardly curved” form over time in a standard deceleration profile, and a standard speed profile corresponds to the standard deceleration profile. In the present calculation period, target deceleration and target speed profiles are set by adjusting the standard deceleration/standard speed profiles to satisfy the relationship between deceleration and vehicle body speed. The estimated distance from the reference speed to the vehicle stop is calculated based on the target speed profile. In a condition that the estimated distance is equal to/less than the requested distance is denied, braking torque is adjusted based on requested deceleration.