Motor-generators are arranged both at front and rear wheels so as to be capable of using all of four wheels for regeneration. The horizontal axis indicates deceleration of a vehicle, and the vertical axis indicates braking forces for the front and rear wheels, respectively above and below the horizontal axis. A setting value indicates a limit braking force for the rear wheels to be locked. A frictional braking force and a regenerative braking force at the rear wheels are controlled so that the total braking force for the rear wheels does not exceed the setting value.