To prevent the generation of a creep groan by connecting a braking device and a reservoir while brake pressure reaches from first prescribed brake pressure to second prescribed brake pressure.

Vehicle speed is taken from a wheel speed sensor 10 and whether vehicle speed is reference speed or below is judged. When vehicle speed is the reference speed or below, brake hydraulic pressure is detected by a hydraulic pressure sensor 7 and whether hydraulic pressure is creep groan generation starting hydraulic pressure within an electronic control device or below 13 is judged. When hydraulic pressure is creep groan generation starting hydraulic pressure or below, a hold valve 4 is closed, a decay valve 5 is opened, brake fluid within a wheel cylinder 6 is refluxed to a reservoir 8 and pressure reduction is performed. Next, whether brake hydraulic pressure is creep groan extinguishing hydraulic pressure within the electronic control device 13 or below is judged. When brake hydraulic pressure becomes extinguishing hydraulic pressure or below, the hold valve 4 is opened, the decay valve 5 is closed and a brake state is returned to a normal brake state. As a result, generation of creep groan can be prevented.