A hybrid vehicle control system is configured to use automatic braking to compensate for an excess or deficiency of a braking force available from the power train of a hybrid vehicle that occurs when the hybrid vehicle switches from an electric drive (EV) mode to a hybrid drive (HEV) mode when the accelerator pedal depressing amount is detected as being substantially zero. In particular, hybrid vehicle control system determines whether a power train braking force from the power train is sufficient to achieve a target braking force. If the power train braking force is sufficient to achieve the target braking force when an accelerator pedal depressing amount is detected as being substantially zero, then a wheel brake is activated to apply a wheel braking force against a wheel of the vehicle to maintain the target braking force.