The output torque of an in-vehicle engine is controlled based on the larger one of a pedal torque set by a pedal torque setting section in accordance with an operation amount of an accelerator pedal and a cruise torque for cruise control set by a cruise torque setting section. At the time of starting the cruise control, an initial value of the cruise torque is set by an initial value setting section as the smaller one of the torque required for traveling a vehicle at a constant speed of a target vehicle speed and the pedal torque.