When a rotational speed of an engine is higher than a predetermined rotational speed, a low-pressure fuel injection valve is controlled through the use of a fuel injection time based on an estimated fuel pressure in a low pressure supply pipe and a target fuel injection amount. When the rotational speed of the engine is equal to or lower than the predetermined rotational speed, the low-pressure fuel injection valve is controlled through the use of a fuel injection time based on a detected fuel pressure input from the fuel pressure sensor from the issuance of a command to activate energization of a solenoid to the start of energization of the solenoid and a target fuel injection amount.