Patent ID: 7222923

Claim:
A vehicle wheel speed estimation device provided in a braking force control apparatus which selects at least one vehicle wheel of a vehicle and which applies braking force to a controlled wheel that is the selected vehicle wheel, the vehicle wheel speed estimation device comprising: a vehicle wheel speed detection unit for detecting respective vehicle wheel speeds of each of the vehicle wheels; a vehicle wheel speed correction unit for performing vehicle wheel speed correction such that, if a pair of drive wheels that are positioned opposite to each other in a left-right direction among the vehicle wheels are taken to be left and right drive wheels, one of the drive wheels being the controlled wheel and the other of the drive wheels being a non-controlled wheel to which braking force is not applied, the vehicle wheel speed correction unit corrects the vehicle wheel speed of the non-controlled wheel that is detected by the vehicle wheel speed detection unit such that the vehicle wheel speed is reduced based upon the braking force applied to the controlled wheel; and an estimation unit for estimating the vehicle body speed of the vehicle based on the vehicle wheel speed of the non-controlled wheel, the vehicle wheel speed of the non-controlled wheel being corrected by the vehicle wheel speed estimation device.