An engine controller (20) controls regeneration of a diesel particulate filter (11) deployed along an exhaust passage (3) of a vehicle diesel engine (9). Regeneration terminates in response to a terminating request based on running conditions of the diesel engine (1). When the regeneration elapsed time at the time of termination is shorter than a reference duration, the engine controller (20) adds a time corresponding to a deviation of the regeneration elapsed time from the reference duration to the reference duration for the next regeneration of the DPF (11), thereby completely removing particulate matter accumulated in and around an inlet (18) of the filter (11).