To enhance the operability of a brake operation element at extremely low speed traveling such as at retreating and traffic jam of a vehicle.

An electronic control unit 19 for controlling operation of a brake actuator 18 and a reaction force giving motor 12 based on a braking signal outputted by an encoder 13 increases a ratio of the reaction force relative to a stroke of the brake pedal at retreating or traffic jam of the vehicle and increases a ratio of braking force relative to the stroke of the brake pedal 11. Therefore, at retreating when operation burden of a driver is increased because the brake pedal 11 is hardly operated and at the traffic jam when operation burden of the driver is increased because operation frequency of the brake pedal 11 is high, the operation burden of the driver can be reduced by generating required braking force only by operating the brake pedal 11 by a small stroke.