A control unit for a vehicle, which is applied to a vehicle comprising a regenerative braking device (11, 12, 13, 50) configured to generate electric power by a wheel rotated by an external force, collect the generated electric power in an on-vehicle battery, and configured to give regenerative braking force to said wheel, and a friction braking device (40, 45, 60) gives friction braking force to said wheel by brake oil pressure, the control unit comprising, an indicator acquisition means (70, 71, S11) configured to acquire an indicator which represents a height of a possibility that a vehicle collides with an obstruction, and a collision avoidance assist control means (50, 60, 70) configured to assist a driver so that a collision of said vehicle with said obstruction is avoided by giving friction braking force by said friction braking device to said wheel without using regenerative braking force by said regenerative braking device and decelerating said vehicle, based on said indicator, characterized in that: said collision avoidance assist control means comprises, a first deceleration control means (S19, S20, S31, S32) configured to start its operation and to decelerate said vehicle with a collision avoidance preparatory deceleration by said friction braking force, when said indicator exceeds an avoidance preparatory threshold value (t1, t2), a second deceleration control means (S21, S22, S31, S32) configured to start its operation and configured to decelerate said vehicle with a collision avoidance deceleration, which is larger than said collision avoidance preparatory deceleration, by said friction braking force, when said indicator exceeds a collision avoidance threshold value (tPB), which is larger than said avoidance preparatory threshold value, and a regeneration end control means (S41 to S45) configured to gradually decrease the regenerative braking force which said regenerative braking device is generating when said first deceleration control means starts its operation in a situation where said regenerative braking device is generating regenerative braking force, and to decrease the regenerative braking force which said regenerative braking device is generating at a higher rate, as compared with the case where said first deceleration control means starts its operation, when said second deceleration control means starts its operation in a situation where said regenerative braking device is generating regenerative braking force. said collision avoidance assist control means comprises, a first deceleration control means (S19, S20, S31, S32) configured to start its operation and to decelerate said vehicle with a collision avoidance preparatory deceleration by said friction braking force, when said indicator exceeds an avoidance preparatory threshold value (t1, t2), a second deceleration control means (S21, S22, S31, S32) configured to start its operation and configured to decelerate said vehicle with a collision avoidance deceleration, which is larger than said collision avoidance preparatory deceleration, by said friction braking force, when said indicator exceeds a collision avoidance threshold value (tPB), which is larger than said avoidance preparatory threshold value, and a regeneration end control means (S41 to S45) configured to gradually decrease the regenerative braking force which said regenerative braking device is generating when said first deceleration control means starts its operation in a situation where said regenerative braking device is generating regenerative braking force, and to decrease the regenerative braking force which said regenerative braking device is generating at a higher rate, as compared with the case where said first deceleration control means starts its operation, when said second deceleration control means starts its operation in a situation where said regenerative braking device is generating regenerative braking force.