To smoothly and surely provide braking force until wheels are brought into a stopped state only by electric breaking control without requiring a friction braking device and wasting energy.

The braking force is provided to one of front and rear wheels (FL and FR) of a vehicle by a regeneration control means RGB which applies regeneration brake to a wheel by accumulating on a power storage means BT regenerative power generated in a permanent magnet synchronous motor by the rotation of the wheel (W) through a conversion control means IV. The braking force is applied to the other of front and rear wheels (RL and RR) of the vehicle by a power supply type braking means PSB for directly and electromagnetically suppressing the rotation of the wheels by supplying power. For instance, excitation brake is applied to the wheel by exciting a stator in the same phase as excitation to the stator in a rotary direction of the rotor.