A control device comprising: an acquisition unit configured to acquire, from a driving assist system, a requested acceleration and ending information indicating an end of a deceleration control; and a control unit configured to control a powertrain and a brake based on the requested acceleration, and perform a prescribed process of stabilizing a driving force and a braking force that are generated in an ending process of the deceleration control based on the requested acceleration when the acquisition unit acquires the ending information; characterized in that the acquisition unit is configured to acquire a lower limit value of a torque that the powertrain is allowed to output; the control unit is configured to turn on a degenerating flag when the acquisition unit acquires the ending information; and the control unit is configured to, as the prescribed process, while the degenerating flag is turned on, compare the requested acceleration acquired by the acquisition unit with an acceleration generated by the lower limit value of the torque that the powertrain is allowed to output, and change the requested acceleration to the acceleration generated by the lower limit value when the requested acceleration acquired by the acquisition unit exceeds the acceleration generated by the lower limit value. an acquisition unit configured to acquire, from a driving assist system, a requested acceleration and ending information indicating an end of a deceleration control; and a control unit configured to control a powertrain and a brake based on the requested acceleration, and perform a prescribed process of stabilizing a driving force and a braking force that are generated in an ending process of the deceleration control based on the requested acceleration when the acquisition unit acquires the ending information; control a powertrain and a brake based on the requested acceleration, and perform a prescribed process of stabilizing a driving force and a braking force that are generated in an ending process of the deceleration control based on the requested acceleration when the acquisition unit acquires the ending information; characterized in that the acquisition unit is configured to acquire a lower limit value of a torque that the powertrain is allowed to output; the control unit is configured to turn on a degenerating flag when the acquisition unit acquires the ending information; and the control unit is configured to, as the prescribed process, while the degenerating flag is turned on, compare the requested acceleration acquired by the acquisition unit with an acceleration generated by the lower limit value of the torque that the powertrain is allowed to output, and change the requested acceleration to the acceleration generated by the lower limit value when the requested acceleration acquired by the acquisition unit exceeds the acceleration generated by the lower limit value. compare the requested acceleration acquired by the acquisition unit with an acceleration generated by the lower limit value of the torque that the powertrain is allowed to output, and change the requested acceleration to the acceleration generated by the lower limit value when the requested acceleration acquired by the acquisition unit exceeds the acceleration generated by the lower limit value. <EOS>