A brake control device includes a braking device provided to a wheel, the braking device having a function of applying a brake force to the wheel while adjusting the brake force. The brake control device includes: an acceleration sensor for outputting acceleration data of acceleration acting on the rotating tire in a radial direction of the tire; a contact length calculating unit for calculating contact lengths of the tire based on the acceleration data; a brake sensor for detecting that a brake force is applied and for outputting a detection signal; a judging unit for outputting, to the braking device, a brake information signal for adjusting the brake force according to comparative judgment information which is obtained by comparing the calculated contact lengths; and a brake control unit for outputting a control signal for causing the braking device to adjust a brake force thereof according to the brake information signal.