Brake controller and method for controlling brake

A brake controller includes a control circuit that calculates target braking force every predetermined period, in accordance with feedback control on at least acceleration or speed of a vehicle steered for parking; and a filter circuit that outputs, to a brake device, output braking force obtained by applying a low-pass filter having a predetermined time constant to the target braking force when the amount of change in the target braking force over time is within a predetermined tolerable range. When the amount of change is outside the tolerable range, the filter circuit outputs, to the brake device, the target braking force as output braking force or outputs thereto output braking force calculated by correcting smoothed target braking force, which is obtained by applying the low-pass filter to the target braking force, so that a difference between the smoothed target braking force and the target braking force is within the tolerable range.