Braking control device for vehicle and braking control method for vehicle

A braking control device for a vehicle, comprising:

• a first deceleration calculation unit that calculates a first estimated vehicle body deceleration by using a detection signal of a wheel speed sensor arranged on the vehicle;
• a second deceleration calculation unit that calculates a second estimated vehicle body deceleration by using a detection signal of a vehicle body acceleration sensor arranged on the vehicle, the vehicle body acceleration sensor being more distant from a wheel of the vehicle than the wheel speed sensor;
• an assist control unit that initiates an assist control, which assists increasing of a braking force that is applied to the wheel based on operation of a brake pedal of the vehicle so that the braking force is greater than a braking force applied to the wheel just by the driver's operation on the brake pedal, when the first estimated vehicle body deceleration exceeds a first deceleration determination value and the second estimated vehicle body deceleration exceeds a second deceleration determination value during operation of the brake pedal of the vehicle;
• a gradient information acquisition unit that acquires gradient information regarding a gradient of the road surface on which the vehicle is traveling;
• and
• a reference value correction unit that corrects the first deceleration determination value based on the gradient information, wherein
• the gradient information acquisition unit acquires, as the gradient information, the gradient of the road surface on which the vehicle is traveling,
• the reference value correction unit corrects the first deceleration determination value based on the gradient,
• when the gradient of the road surface acquired by the gradient information acquisition unit has a positive value, the reference value correction unit corrects the first deceleration determination value to a greater value, and
• when the gradient of the road surface acquired by the gradient information acquisition unit has a negative value, the reference value correction unit corrects the first deceleration determination value to a smaller value.