To suitably give braking force by considering hysteresis when driving an automatic hydraulic pressure generating device according to a driving signal of an input device.

A change state of a driving signal of an input device IN (for example, a manual brake lever LV) is judged. On the basis of the change state, a pressurizing state wherein brake hydraulic pressure is supplied from an automatic hydraulic pressure generating device (a master cylinder MC, a vacuum booster VB, and a booster driving device BD) to a wheel cylinder WC, and a hydraulic pressure state wherein the brake hydraulic pressure is discharged from the wheel cylinder are judged. Based on the judged result, the automatic hydraulic pressure generating device is controlled.