There may be a variety of causes, some of which may not be obvious . It could be a safety issue. If you cant find an obvious cause I suggest getting it checked by an experienced professional mechanic.
I had a knock going over small potholes on my Toyota Yaris. It seemed to come from the rear right wheel. It turned out to be from the FRONT right suspension. The delay in sound reaching you while the car is travelling forward can make it appear to come from somewhere slightly different. The coil spring had fractured, only a few centimeters at the end ,where it was hidden in the coil seating. You could not see any problem. and the car was still driveable. But it did fail the MOT test (annual technical inspection) . The test inspector admitted he only spotted it because it was a common fault on the Yaris. (Not sure about the Jazz)
Yours is probably the rear because the handbrake stops the noise . And is most likely related to brake parts. But sometimes applying the brakes or handbrake can cause the brakes and suspension moving parts to tense up and go rigid , which might temporarily stop any movement due to worn or loose , wheel bearings ,suspension, shock absorbers ,brakes etc. etc. The same can happen when the car is jacked up and the weight of the wheel hub is left hanging. This may cause free play to be 'taken up' which might only be evident when the car has its full weight on its wheels (using pry bars etc to detect movement in suspension joints etc) But some movement may be normal and acceptable. An experienced mechanic may have knowledge of where to check and what movment is ok.
