Electric vehicle control method, and control device

In an electric vehicle provided with a motor which functions as a travel drive source and which also imparts a regenerative braking force to the vehicle, and a friction braking unit which imparts a friction braking force to the vehicle, the electric vehicle control device according to the present invention detects a speed parameter proportional to the speed of travel of the electric vehicle, estimates a disturbance torque acting on the motor, and performs control in such a way that the motor torque converges to the estimated value of the disturbance torque as the speed parameter decreases. Furthermore, when the speed parameter has substantially reached zero, the amount of friction braking imparted by the friction braking unit is caused electrically to converge to a value determined on the basis of the estimated value of the disturbance torque, and the motor torque is caused to converge substantially to zero.