A vehicle brake hydraulic pressure control apparatus including: an inlet valve interposed on a hydraulic line extending from a hydraulic pressure source to a wheel brake (FL, RR, RL, FR); an outlet valve interposed on a hydraulic line extending from the wheel brake (FL, RR, RL, FR) to a reservoir; a pump interposed on a hydraulic line extending from the reservoir to the hydraulic pressure source; a motor configured to drive the pump; and a control unit configured to execute an antilock brake control, and to execute a control to return a brake fluid accumulated in the reservoir due to a pressure decreasing control in the antilock brake control to the hydraulic pressure source by driving the motor, wherein the control unit includes: a target delivery amount calculator configured to calculate a target delivery amount (Vt) which corresponds to an amount of brake fluid discharged from the wheel brake to the reservoir per a predetermined time; a drive signal determinator configured to determine a drive signal (Vm) of the motor based on the target delivery amount (Vt); a reservoir usage amount estimator configured to estimate a reservoir usage amount (Vrn) which corresponds to an increase amount from an initial state of the brake fluid in the reservoir; wherein the target delivery amount calculator is configured to calculate the target delivery amount (Vt) based on the reservoir usage amount (Vrn) characterized in that the control unit further includes: a temperature information fetcher configured to acquire a temperature (Tb) of the brake fluid; and a target discharge time setter configured to set a target discharge time (Td) corresponding to a driving time of the motor which is necessary to return the brake fluid accumulated in the reservoir to the hydraulic pressure source based on a road surface friction coefficient (μ), wherein the drive signal determinator is further configured to determine the drive signal (Vm) of the motor based on the temperature (Tb) of the brake fluid; wherein the target delivery amount calculator further calculates the target delivery amount (Vt) based on the target discharge time (Td), wherein the operations of the control unit are performed repeatedly every predetermined control cycle, and wherein the control unit is configured to stop the motor when the target discharge time (Td) has elapsed since the pressure decreasing control. an inlet valve interposed on a hydraulic line extending from a hydraulic pressure source to a wheel brake (FL, RR, RL, FR); an outlet valve interposed on a hydraulic line extending from the wheel brake (FL, RR, RL, FR) to a reservoir; a pump interposed on a hydraulic line extending from the reservoir to the hydraulic pressure source; a motor configured to drive the pump; and a control unit configured to execute an antilock brake control, and to execute a control to return a brake fluid accumulated in the reservoir due to a pressure decreasing control in the antilock brake control to the hydraulic pressure source by driving the motor, wherein the control unit includes: a target delivery amount calculator configured to calculate a target delivery amount (Vt) which corresponds to an amount of brake fluid discharged from the wheel brake to the reservoir per a predetermined time; a drive signal determinator configured to determine a drive signal (Vm) of the motor based on the target delivery amount (Vt); a reservoir usage amount estimator configured to estimate a reservoir usage amount (Vrn) which corresponds to an increase amount from an initial state of the brake fluid in the reservoir; a target delivery amount calculator configured to calculate a target delivery amount (Vt) which corresponds to an amount of brake fluid discharged from the wheel brake to the reservoir per a predetermined time; a drive signal determinator configured to determine a drive signal (Vm) of the motor based on the target delivery amount (Vt); a reservoir usage amount estimator configured to estimate a reservoir usage amount (Vrn) which corresponds to an increase amount from an initial state of the brake fluid in the reservoir; wherein the target delivery amount calculator is configured to calculate the target delivery amount (Vt) based on the reservoir usage amount (Vrn) characterized in that the control unit further includes: a temperature information fetcher configured to acquire a temperature (Tb) of the brake fluid; and a target discharge time setter configured to set a target discharge time (Td) corresponding to a driving time of the motor which is necessary to return the brake fluid accumulated in the reservoir to the hydraulic pressure source based on a road surface friction coefficient (μ), a temperature information fetcher configured to acquire a temperature (Tb) of the brake fluid; and a target discharge time setter configured to set a target discharge time (Td) corresponding to a driving time of the motor which is necessary to return the brake fluid accumulated in the reservoir to the hydraulic pressure source based on a road surface friction coefficient (μ), wherein the drive signal determinator is further configured to determine the drive signal (Vm) of the motor based on the temperature (Tb) of the brake fluid; wherein the target delivery amount calculator further calculates the target delivery amount (Vt) based on the target discharge time (Td), wherein the operations of the control unit are performed repeatedly every predetermined control cycle, and wherein the control unit is configured to stop the motor when the target discharge time (Td) has elapsed since the pressure decreasing control.