Vehicle wheel brake arrangement with integrated control device and method for controlling the wheel braking force

The invention relates to a device for detecting the instantaneous rotational state, specifically the speed of a vehicle wheel, as well as to a wheel brake arrangement and a method for controlling the wheel brake torque. Furthermore, the invention also relates to a vehicle equipped therewith, in particular a motor vehicle. According to the invention, a sensor device is proposed which has at least one sensor element (14) that interacts with a material section of the brake disc. Furthermore, it is proposed to integrate the sensor element (14) into a brake device, in particular a brake caliper arrangement, and to control the brake torques of each wheel of a corresponding vehicle in conjunction with decentralized control units (31). The decentralized control units can also work together with a central control unit, which for example specifies setpoint values for the rotational state of the individual wheels. By means of the proposed measures, in addition to higher functional reliability, a reduction in free wiring and the required assembly work is also achieved.