Brake control device and brake control method

A brake control device comprising:

• an acquisition section that acquires a steering angle and a first steering angular velocity passed through a first low-pass filter;
• a braking processing section that decides to apply braking force to a wheel by a brake device when an absolute value of the steering angle is greater than or equal to a predetermined angle and an absolute value of the first steering angular velocity is greater than or equal to a predetermined velocity;
• and
• a control section that drives the brake device according to the decision of the braking processing section, wherein,
• the acquisition section acquires a second steering angular velocity including higher frequency components than the first steering angular velocity,
• the braking processing section decides to execute a predetermined preload control when an absolute value of the second steering angular velocity is greater than or equal to a predetermined velocity, and
• the control section executes the preload control on the brake device to improve responsiveness of the brake device.