A seatbelt device to be installed in a vehicle, comprising: a webbing; a reel that winds said webbing; a motor that drives said webbing via said reel; a clutch that can change over between a disconnecting position at which a drive force of said motor is not transmitted to said reel and a connecting position at which said drive force is transmitted to said reel; a vehicle condition detecting device (15 to 19) that detects a vehicle condition of said vehicle; a command output device that outputs a command for driving said motor based on said vehicle condition detected by said vehicle condition detecting device (15 to 19); a priority determining device (31, S2) that determines a priority of said command output from said command output device; a seatbelt lock device that locks pull-out of said webbing; a lock state detecting device that detects a lock state of said webbing by said seatbelt lock device; and a lock release determining device that determines whether lock of said webbing has been released, after detection of the lock state of said webbing by said lock state detecting device; wherein the command output device is configured to select a mode for driving the motor based on input signals from the vehicle condition detecting device (15 to 19), the said mode being one of a restraint control mode or a release actuation mode for releasing restraint by the webbing contrary to the restraint control mode; the seatbelt device further comprising a control device that controls said motor, wherein the seatbelt device is configured, when the restraint control mode is finished; the motor is shifting to the release actuation mode and the restraint control mode is requested again, to optimize the control of the motor in the restraint control mode this time according to the previous restraint control mode finished immediately before, the control device therefore being configured so as to apply tension to said webbing, when it is determined that said lock has been released by said lock release determining device, and said command for driving said motor is output while a wind-up operation is being performed by said motor to release the lock of said webbing and the priority of said command is equal to or higher than a predetermined level, wherein the device is further configured so that when said lock release determining device determines that said lock has been released, and when the priority of said command at present is equal to or higher than the predetermined level and a drive current of said motor in the said previous restraint control mode exceeds a predetermined value, said control device does not accept said present command. a webbing; a reel that winds said webbing; a motor that drives said webbing via said reel; a clutch that can change over between a disconnecting position at which a drive force of said motor is not transmitted to said reel and a connecting position at which said drive force is transmitted to said reel; a vehicle condition detecting device (15 to 19) that detects a vehicle condition of said vehicle; a command output device that outputs a command for driving said motor based on said vehicle condition detected by said vehicle condition detecting device (15 to 19); a priority determining device (31, S2) that determines a priority of said command output from said command output device; a seatbelt lock device that locks pull-out of said webbing; a lock state detecting device that detects a lock state of said webbing by said seatbelt lock device; and a lock release determining device that determines whether lock of said webbing has been released, after detection of the lock state of said webbing by said lock state detecting device; wherein the command output device is configured to select a mode for driving the motor based on input signals from the vehicle condition detecting device (15 to 19), the said mode being one of a restraint control mode or a release actuation mode for releasing restraint by the webbing contrary to the restraint control mode; the seatbelt device further comprising a control device that controls said motor, wherein the seatbelt device is configured, when the restraint control mode is finished; the motor is shifting to the release actuation mode and the restraint control mode is requested again, to optimize the control of the motor in the restraint control mode this time according to the previous restraint control mode finished immediately before, the control device therefore being configured so as to apply tension to said webbing, when it is determined that said lock has been released by said lock release determining device, and said command for driving said motor is output while a wind-up operation is being performed by said motor to release the lock of said webbing and the priority of said command is equal to or higher than a predetermined level, wherein the device is further configured so that when said lock release determining device determines that said lock has been released, and when the priority of said command at present is equal to or higher than the predetermined level and a drive current of said motor in the said previous restraint control mode exceeds a predetermined value, said control device does not accept said present command.