An electric brake device comprising: a brake rotor; a frictional material (45A, 45B) configured to come into contact with the brake rotor; an electric motor; a motion converter mechanism configured to convert a driving force of the motor into a motion of the frictional material (45A, 45B) in a direction towards or away from the brake rotor; and a brake controller unit, the brake controller unit including: a motor rotational angle estimator configured to estimate a rotational angle (θ) of the motor; a braking force estimator configured to estimate a braking force that is actually being generated; a braking force controller configured to control the braking force by controlling the motor in such a way to follow a given target braking force (Fr); characterised by a clearance estimator configured to use the rotational angle of the motor estimated by the motor rotational angle estimator to estimate a clearance, inclusive of negative values, between the frictional material (45A, 45B) and the brake rotor; and a clearance controller configured to compare the target braking force (F r) with a predetermined switch-determining braking force (F rsw), to generate, if the target braking force (F r) is below the switch-determining braking force (F rsw), a target clearance (C r) defining the clearance between the frictional material (45A, 45B) and the brake rotor which clearance approaches zero or a predetermined negative value (C sw) as the target braking force (F r) increases, and to use the clearance estimated by the clearance estimator to control the motor in such a way to follow the target clearance (C r), in place of control performed by the braking force controller according to the target braking force (F r). a brake rotor; a frictional material (45A, 45B) configured to come into contact with the brake rotor; an electric motor; a motion converter mechanism configured to convert a driving force of the motor into a motion of the frictional material (45A, 45B) in a direction towards or away from the brake rotor; and a brake controller unit, the brake controller unit including: a motor rotational angle estimator configured to estimate a rotational angle (θ) of the motor; a braking force estimator configured to estimate a braking force that is actually being generated; a braking force controller configured to control the braking force by controlling the motor in such a way to follow a given target braking force (Fr); characterised by a clearance estimator configured to use the rotational angle of the motor estimated by the motor rotational angle estimator to estimate a clearance, inclusive of negative values, between the frictional material (45A, 45B) and the brake rotor; and a clearance controller configured to compare the target braking force (F r) with a predetermined switch-determining braking force (F rsw), to generate, if the target braking force (F r) is below the switch-determining braking force (F rsw), a target clearance (C r) defining the clearance between the frictional material (45A, 45B) and the brake rotor which clearance approaches zero or a predetermined negative value (C sw) as the target braking force (F r) increases, and to use the clearance estimated by the clearance estimator to control the motor in such a way to follow the target clearance (C r), in place of control performed by the braking force controller according to the target braking force (F r). a motor rotational angle estimator configured to estimate a rotational angle (θ) of the motor; a braking force estimator configured to estimate a braking force that is actually being generated; a braking force controller configured to control the braking force by controlling the motor in such a way to follow a given target braking force (Fr); characterised by a clearance estimator configured to use the rotational angle of the motor estimated by the motor rotational angle estimator to estimate a clearance, inclusive of negative values, between the frictional material (45A, 45B) and the brake rotor; and a clearance controller configured to compare the target braking force (F r) with a predetermined switch-determining braking force (F rsw), to generate, if the target braking force (F r) is below the switch-determining braking force (F rsw), a target clearance (C r) defining the clearance between the frictional material (45A, 45B) and the brake rotor which clearance approaches zero or a predetermined negative value (C sw) as the target braking force (F r) increases, and to use the clearance estimated by the clearance estimator to control the motor in such a way to follow the target clearance (C r), in place of control performed by the braking force controller according to the target braking force (F r).