A control device for a vehicle, wherein the vehicle has a friction brake and is configured to generate a friction braking force on the traveling vehicle to decelerate the vehicle, the control device comprising: - a speed parameter detecting means configured to detect a speed parameter proportionate to a traveling speed of the vehicle; - an accelerator operation amount detecting means configured to detect an accelerator operation amount; - a disturbance torque estimating means configured to estimate a disturbance torque acting on the vehicle due to disturbance factors including a road surface gradient resistance; - a first torque target value calculating means configured to calculate a first torque target value on the basis of vehicle information including an accelerator position; - a second torque target value calculating means configured to calculate a second torque target value, the second torque target value converging to the disturbance torque in conjunction with the reduction in the speed parameter; - a just-before-stop determining means configured to compare a magnitude of the first torque target value with a magnitude of the second torque target value to determine whether the vehicle is just before the stop of the vehicle, - a friction-braking-amount adjusting means configured to electrically adjust a friction braking amount of the friction brake; and - a control means which is configured: - to decide the friction braking amount on the basis of the first torque target value when the vehicle is determined as not being just before the stop of the vehicle, - to decide the friction braking amount on the basis of the second torque target value when the accelerator operation amount is equal to or less than a predetermined value and the vehicle is determined as being just before the stop of the vehicle, and - to converge the friction braking amount to the disturbance torque in conjunction with a reduction in the speed parameter by using the friction-braking-amount adjusting means. - a speed parameter detecting means configured to detect a speed parameter proportionate to a traveling speed of the vehicle; - an accelerator operation amount detecting means configured to detect an accelerator operation amount; - a disturbance torque estimating means configured to estimate a disturbance torque acting on the vehicle due to disturbance factors including a road surface gradient resistance; - a first torque target value calculating means configured to calculate a first torque target value on the basis of vehicle information including an accelerator position; - a second torque target value calculating means configured to calculate a second torque target value, the second torque target value converging to the disturbance torque in conjunction with the reduction in the speed parameter; - a just-before-stop determining means configured to compare a magnitude of the first torque target value with a magnitude of the second torque target value to determine whether the vehicle is just before the stop of the vehicle, - a friction-braking-amount adjusting means configured to electrically adjust a friction braking amount of the friction brake; and - a control means which is configured: - to decide the friction braking amount on the basis of the first torque target value when the vehicle is determined as not being just before the stop of the vehicle, - to decide the friction braking amount on the basis of the second torque target value when the accelerator operation amount is equal to or less than a predetermined value and the vehicle is determined as being just before the stop of the vehicle, and - to converge the friction braking amount to the disturbance torque in conjunction with a reduction in the speed parameter by using the friction-braking-amount adjusting means. - to decide the friction braking amount on the basis of the first torque target value when the vehicle is determined as not being just before the stop of the vehicle, - to decide the friction braking amount on the basis of the second torque target value when the accelerator operation amount is equal to or less than a predetermined value and the vehicle is determined as being just before the stop of the vehicle, and - to converge the friction braking amount to the disturbance torque in conjunction with a reduction in the speed parameter by using the friction-braking-amount adjusting means.