The present invention provides a controller and a control method capable of ensuring driver comfort during the execution of adaptive cruise control of a saddled vehicle. During the execution of adaptive cruise control for driving a saddled vehicle according to the distance from the saddled vehicle to the vehicle ahead, the movement of the saddled vehicle, and the instruction of the driver, the controller and control method according to the present invention control the braking force generated at the wheels such that, when switching from a state in which braking force is generated at the wheels of the saddled vehicle to a state in which a drive wheel is driven by using driving force output from a driving source of the saddled vehicle, the driving force output from the driving source is transmitted to the driving wheel to initiate the driving of the drive wheel, at which point a standard braking force is generated at the drive wheel.