The device that generates the friction braking force to decelerate the vehicle estimates the disturbance torque acting on the vehicle. When the accelerator operation amount is equal to or less than the predetermined value and the vehicle is just before the stop of the vehicle, the control device for vehicle causes the friction braking amount to converge to the friction braking amount to the value decided on the basis of the disturbance torque estimated value Td in conjunction with the reduction in the motor rotation speed (speed parameter) proportionate to the traveling speed of the vehicle.