A vehicle includes a drive device applying a driving force to a wheel, a brake device applying a braking force to the vehicle, and a control device controlling the drive device and the brake device. When the traveling direction and the acting direction of the driving force are opposite, the control device causes the drive device to generate a driving force corresponding to a driving force demand in the event of the drive device not entering an operation disallowed region even if the driving force corresponding to the driving force command is generated at the drive device, and causes the brake device to operate according to the drive driving force demand in the event of the drive device entering the operation disallowed region if the driving force corresponding to said driving force demand is generated at said drive device.