VEHICLE BRAKING DEVICE

A vehicle braking device has electric brakes for generating a braking force at corresponding wheels. The vehicle braking device includes a braking force controller for controlling the braking force. A relationship between an electric current and the braking force in each of the electric brakes has a hysteresis characteristic. The hysteresis characteristic indicates that the braking force increases along a positive efficiency line when the electric current increases, the braking force is held constant when the electric current decreases from a turning value to a holding threshold, and the braking force decreases along an inverse efficiency line when the electric current decreases from the holding threshold. The braking force controller alternately switches between a positive efficiency braking wheel and the braking force holding wheel while a required braking force of the vehicle increases or is held.