PURPOSE: To actualize compatibility for both braking efficiency and travel stability favorable for a road state and a running state by correcting wheel speed at the low speed side to a weighting factor conformed to that at the high speed side when it fails to be reset to the specified reference speed till the specified time elapses after a wheel speed difference has come to more than the specified one.

CONSTITUTION: In this controller, there are provided with a braking force adjusting means M1 controlling force between a first wheel and a second wheel, both wheel speed detecting means M2, M3, and a running state calculating means M4 calculating a vehicle running state on the basis of the detected wheel speed. Also there are provided with a weighting factor setting means M5 setting a weighting factor on the basis of the calculated running state, and a weighting factor correction means M6 correcting the weighting factor conformed to the wheel speed at the high speed side when the wheel speed at the low speed side fails to be reset to the specified reference one till the specified time elapses after a wheel speed difference based on the running state has come more than the specified one in addition, after the setting means M5 has been set. Then, on the basis of each wheel speed and the weighting factor, weighting mean wheel speed is found by a calculating means M7, and thereby the braking force adjusting means M1 is controlled.