A brake controlling unit detects a brake actuation object based on images captured by a running environment recognizing unit and sets a target brake pre-pressure actuation distance based on a relative speed between the brake actuation object and a subject vehicle. When an actual distance between the subject vehicle and the brake actuation object reaches the target brake pre-pressure actuation distance, the brake controlling unit outputs to a brake driving unit a driving signal that generates a brake pre-pressure to make the brake clearance of a brake minimal.