PROBLEM TO BE SOLVED: To generate a brake pre-load only when an engine brake is applied not to give a sense of incompatibility to a driver when the brake pre-load is generated prior to. the brake action of the driver. SOLUTION: A judgment distance L0 is calculated based on the vehicle speed V and inter-vehicle distance L, and the operation state of an accelerator pedal is detected. When the inter-vehicle distance L becomes smaller than the judgment distance LO, and when the accelerator opening θ is shifted from a state above the depression judgment threshold value θSET to a state below the depression judgment threshold value θSET and the return speed of the accelerator pedal until the accelerator pedal is released from this time exceeds an accelerator return speed threshold value dθSET, it is judged that the brake pre-load is required, then a brake pre-load Pst is set, and the brake pre-load corresponding to it is generated. The brake pre-load is applied together with the engine brake, and the sense of incompatibility caused by the generation of the brake pre-load is prevented from being given to the driver.