An electric vehicle includes a slip ratio estimator (42) that estimates a slip ratio (») based on rotational frequencies (N1, N2) of respective driven and drive wheels. The vehicle also includes a disturbance observer (43) that determines an estimate (^Te) of a torque attributable to external force. The vehicle also includes an estimator (44) that may estimate an entire torque (T) to the drive wheel (2), based on a motor torque command value (Tm) and the estimate (^Te) of torque. The vehicle also includes an estimator (45) that estimates a coefficient (µ) of friction between a road surface and a tire, based on the entire torque and the slip ratio. The vehicle also includes a determiner (46) that determines a maximum acceptable torque Tmax, based on the coefficient (µ) of friction and a vertical load component (^Fz). Torque limitation is performed such that the motor torque command value (Tm) does not exceed the maximum acceptable torque Tmax.