To realize a driving by maneuverability by which a driving operation is easy to be performed by deciding the state of a road on which a vehicle travels and adjusting braking force of each of left and right wheels so that a turning characteristic based on a steering operation may be changed.

A road state deciding unit 10 decides the state of a road on which a vehicle travels based on detection signals from a yaw rate sensor 11, a brake pedal stroke sensor 12 and a speed sensor 13. A braking control unit 30 controls a braking system based on detecting signals from a steering angle sensor 16, the speed sensor 13 and a brake pedal stroke sensor 13, as decision results in the road state deciding unit 10 and a driver will deciding unit 20. In the braking system, a right front wheel braking actuator 31, a right rear wheel braking actuator 32, a left front wheel braking actuator 33 and a left rear wheel braking actuator 34 are provided. As a result, a steering operation can be changed according to maneuverability of the vehicle, the state of the road, a liking of the driver and necessity.