Abstract: the control device for electric vehicle in the first embodiment, in the electric vehicle including the motor that functions as the traveling driving source and provides a regenerative braking force to the vehicle, and the friction brakes that provide the friction braking force to the vehicle, detects the motor rotation speed proportionate to a running speed of this electric vehicle, estimates the disturbance torque that acts on the motor, and performs the control such that the motor torque command value converges to the disturbance torque estimated value as the motor rotation speed decreases. Then, when the motor rotation speed becomes almost 0, the control device performs the control such that the friction-braking-amount command value with respect to the friction brakes converges to a value determined on the basis of the disturbance torque estimated value, and causes the motor torque command value to converge to almost 0.

Abstract: the control device for electric vehicle in the first embodiment, in the electric vehicle including the motor that functions as the traveling driving source and provides a regenerative braking force to the vehicle, and the friction brakes that provide the friction braking force to the vehicle, detects the motor rotation speed proportionate to a running speed of this electric vehicle, estimates the disturbance torque that acts on the motor, and performs the control such that the motor torque command value converges to the disturbance torque estimated value as the motor rotation speed decreases. Then, when the motor rotation speed becomes almost 0, the control device performs the control such that the friction-braking-amount command value with respect to the friction brakes converges to a value determined on the basis of the disturbance torque estimated value, and causes the motor torque command value to converge to almost 0.