To increase an energy efficiency of a vehicle in control during constant-speed travel following a preceding vehicle.

When a comparatively increased braking power is demanded for the vehicle by radar cruise control, a vehicle speed Vch is set by replacing a vehicle speed V2 smaller than the speed when a brake pedal is operated by a driver (S230). When the vehicle speed V is equal to or more than the replaced vehicle speed Vch, a motor is regeneratively controlled within the range of a required braking torque Tr* (S150-S170). When the vehicle speed V is less than the replaced vehicle speed Vch, a braking torque (regenerative torque) cause by the motor is replaced smoothly with a braking force by a hydraulic brake (S180, S190). Accordingly, the energy efficiency of the vehicle during radar cruise control can be increased.