A vehicle includes a generator, an engine, a main battery, an auxiliary battery, and a controller. The engine is configured to perform a load operation and a self-supported operation. The controller is configured to control charging and discharging of the auxiliary battery. When an upper limit of an allowable charging power of the main battery decreased and a command power is in a state in which the load operation and the self-supported operation are alternately switched, the controller is configured to operate a continuous charging. The continuous charging is to charge the auxiliary battery continuously for a predetermined time with a charging power. The charging power is a power which increases the command power to be equal to or larger than the threshold.