To decelerates a vehicle corresponding to an operation amount of a brake pedal to improve a brake operation feeling when the brake pedal is operated while automatic pressurization control is performed for a wheel to be controlled.

When the brake pedal BP is operated during braking steering control, pulse pressure increase control or pulse pressure reduction control of a hydraulic control valve PC** for a wheel not controlled is performed based on Duty which is a larger one between Duty (ΔG) computed based on the deceleration deviation ΔG of target vehicle deceleration Gt computed based on a brake pedal strokes ST and inferred vehicle body acceleration DVso and Duty (ΔP) computed based on the hydraulic deviation ΔP of target wheel cylinder hydraulic pressure Ptw computed based on the brake pedal stroke ST and actual wheel cylinder hydraulic pressure Pw**.