To solve the problem that a target speed for follow-up is automatically switched to a target speed for curve passage when a preceding vehicle is lost.

A vehicle controller 10 calculates a first target speed on the basis of a relative positional relation between the preceding vehicle and the own vehicle, and preliminarily calculates a second target speed when the own vehicle travels on a curve path. Also, when the preceding vehicle is detected by an inter-vehicle distance detection device 1, the speed of the own vehicle is controlled at the first target speed given priority over the second target speed, and when any preceding vehicle is not detected on the curved path, the speed of the own vehicle is controlled on the basis of the position of the preceding vehicle on the curve path just before the preceding vehicle is not detected and the second target speed.