Braking control device

A braking control device of a vehicle in which a braking force generator that generates a braking force that acts in a direction to reduce a rotation of a plurality of wheels is connected to a differential mechanism to which the plurality of wheels is connected, and a friction brake that generates a braking force that acts in a direction to stop the rotation of the wheels through friction is provided for each of the wheels, the braking control device comprising

• a controller configured to control the braking force that is generated by the braking force generator and the braking force that is generated by the friction brake, wherein
• the controller is configured to:
• detect the wheel having a tendency of locking in which a slip ratio is larger than a predetermined determination value in a state where the braking force is transmitted to each of the wheels from the braking force generator via the differential mechanism;
• reduce the tendency of locking by changing the braking force of the friction brake that is provided for the other wheel connected to the differential mechanism to which the wheel having the tendency of locking is connected;
• obtain a target wheel rotational speed of the other wheel;
• control the braking force applied to the other wheel by the friction brake that is provided for the other wheel such that a rotational speed of the other wheel matches the target wheel rotational;
• and
• wherein when the vehicle is making a turn, the target wheel rotational speed is a rotational speed including a value that is a half of a right and left wheel speed difference obtained based on a steering angle and a vehicle speed of the vehicle.