PURPOSE: To bring a vehicle close to its stop state matching the stop operation of a driver by controlling the hydraulic pressure in a wheel cylinder to a height different from that in a master cylinder regardless of the rotational speed of wheels when vehicle stopping operation is carried out and the vehicle is running at a low speed.

CONSTITUTION: When a road surface frictional coefficient is small and no large frictional force is generated on front wheels 18, 19, excessive braking slip is generated to front wheels 18, 19 by increasing a stepping force on a brake pedal 38 so as to exceed the driving torque of rear wheels 14, 15 so that the movement of a vehicle may not be prevented nicely. In the case of hydraulic pressure lifting control, a 3-position solenoid vale 22 is controlled and hydraulic pressure of such an extent as making the braking torque larger than the driving torque is supplied to wheel cylinders 12, 13. When the braking torque grows larger than the driving torque, the situation is such that no driving torque is applied to the rear wheels 14, 15 serving as the driving wheels, and thus not only the cause of a creep phenomenon is eliminated but also a braking torque equivalent to the difference between the driving torque and the braking torque is applied.