Anti-lock brake control device

An anti-lock brake control device which controls a brake device including a brake rotor provided coaxially with a wheel, a friction material to contact with the brake rotor, and a friction material driving mechanism configured to drive the friction material, the anti-lock brake control device comprising:

• a wheel motion estimator configured to estimate one or more of an angle, an angular velocity, and an angular acceleration of the wheel;
• a slip estimator configured to estimate a slip state of the wheel with respect to a ground contact surface, using an estimation result of the wheel motion estimator;
• and
• an anti-lock controller configured to give a command for reducing a braking force to the friction material driving mechanism in accordance with the slip state of the wheel estimated by the slip estimator, wherein
• the slip estimator includes two or more delay compensators having frequency characteristics different from each other configured to perform delay compensation for the estimation result of the wheel motion estimator, and is configured to output a plurality of estimation results different from each other for which delay compensation has been performed, as an estimation result for the slip state of the wheel, and
• the anti-lock controller is configured to give the command for reducing the braking force, on the basis of a result of predetermined determination including comparison of the plurality of estimation results outputted from the slip estimator and perform the comparison of the plurality of estimation results by using a cumulative value of a difference between the estimation results obtained via the different delay compensators.