Even when a rigidity table stored in a RAM at the time of a start of a brake operation does not coincide with a actual rigidity characteristic (pressing force characteristic in relation to positions) of an electric caliper which changes according to brake conditions including how often and how long a brake operation is applied, it is possible to reduce a deviation between a pressing force instruction value and a generated pressing force by updating the characteristic of the relation between a pressing force instruction value and rotational position (rigidity table) each time an estimated thrust force value is calculated during one brake operation. In other words, it is possible to steadily keep followability to a pressing force instruction according to an actual state of the rigidity characteristic of the electric caliper, thereby ensuring generation of an appropriate brake force.