A controller that controls travel of a straddle-type vehicle , the controller comprising: a control section capable of executing adaptive cruise control in which the straddle-type vehicle is made to travel according to a distance from said straddle-type vehicle to a preceding vehicle, motion of said straddle-type vehicle , and a driver's instruction, wherein during the adaptive cruise control: when a state where a brake system of the straddle-type vehicle generates a braking force on at least one of wheels of the straddle-type vehicle is switched to a state where a drive wheel is driven using drive power output from a drive source of the straddle-type vehicle , the control section controls the braking force generated on the at least one of the wheels such that a reference braking force is generated on the drive wheel at a time point at which the drive wheel starts being driven due to transmission of the drive power output from the drive source to the drive wheel , the reference braking force is set to a braking force of such extent that can maintain acceleration performance of the straddle-type vehicle to desired performance while alleviating a shock generated at the time point at which the drive wheel starts being driven. a control section capable of executing adaptive cruise control in which the straddle-type vehicle is made to travel according to a distance from said straddle-type vehicle to a preceding vehicle, motion of said straddle-type vehicle , and a driver's instruction, wherein during the adaptive cruise control: when a state where a brake system of the straddle-type vehicle generates a braking force on at least one of wheels of the straddle-type vehicle is switched to a state where a drive wheel is driven using drive power output from a drive source of the straddle-type vehicle , the control section controls the braking force generated on the at least one of the wheels such that a reference braking force is generated on the drive wheel at a time point at which the drive wheel starts being driven due to transmission of the drive power output from the drive source to the drive wheel , the reference braking force is set to a braking force of such extent that can maintain acceleration performance of the straddle-type vehicle to desired performance while alleviating a shock generated at the time point at which the drive wheel starts being driven. when a state where a brake system of the straddle-type vehicle generates a braking force on at least one of wheels of the straddle-type vehicle is switched to a state where a drive wheel is driven using drive power output from a drive source of the straddle-type vehicle , the control section controls the braking force generated on the at least one of the wheels such that a reference braking force is generated on the drive wheel at a time point at which the drive wheel starts being driven due to transmission of the drive power output from the drive source to the drive wheel , the reference braking force is set to a braking force of such extent that can maintain acceleration performance of the straddle-type vehicle to desired performance while alleviating a shock generated at the time point at which the drive wheel starts being driven. <EOS>