A braking force control system for a vehicle

In a braking force control system for a vehicle, a first target braking force 20 is derived not from the actual yaw rate but from the steering wheel angle via a section 16 for calculating an estimated yaw rate for a low friction surface and a section 14 for calculating a target yaw rate 14. A second target braking force is derived at section 22 from the steering angle, a target yaw rate gain, the deviation between actual and target yaw rate, the actual yaw rate, and the vehicle speed. When section 25 judges that the deviation of the actual and target yaw rates is in a control zone, section 26 outputs a signal to a brake drive apparatus 1 so as to apply the final target braking force at section 23 to a wheel selected in section 24, whereby the vehicle can make a smooth and stable turn without causing spins or drift-outs.