A brake control device is provided to a wheel equipped with a tire, which has a function of applying a brake force to the wheel to put a brake thereon while adjusting the brake force. In the device, an acceleration sensor outputs acceleration data in a radial direction of the rotating tire, a predetermined detection range is set with respect to the acceleration data, a threshold value is set with respect to a corresponding part of the acceleration data falling within the detection range, the corresponding part of the acceleration data falling within the detection range is specified. Values of the specified acceleration data are compared with the threshold value, and a control signal for causing a braking device to adjust the brake force thereof is output in a case where some values of the acceleration data are larger than the threshold value.