To favorably control total braking torque including at least either of regenerative braking torque and frictional braking torque by enabling the same control as that before being made into zero to be continued, even after real regenerative braking torque is made into zero.
It is judged whether regenerative braking cooperative control completion condition is satisfied or not (S1). When the condition is satisfied, the control is continued, and it is judged whether vehicle speed is lower than the set speed or not (S2). When vehicle speed is higher than the set speed, thereafter steps are carried out as it is (S3-S8). Even if real regenerative braking torque supplied from a motor-driven control device is zero, the same steps are continued to be carried out (S1-S8). Further when the vehicle speed becomes lower than the set speed, target regenerative braking torque is made zero (S9), and even when the target regenerative braking torque is made zero, master cylinder liquid pressure is read (S10), and the target braking torque is obtained. Hereby change of the total braking torque can be restrained, and change of deceleration can be restrained.
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