A four wheel drive vehicle includes: main driving wheels and auxiliary driving wheels; a first driving motor that provides power to the main driving wheels; a second driving motor that provides power to the auxiliary driving wheels; a battery that stores electrical energy; an inverter that converts and provides the electrical energy stored in the battery to the first driving motor; and a bidirectional power converter that generates charging electric power for charging the battery by converting power supplied from the outside of the vehicle and converts and provides the electrical energy stored in the battery to the second driving motor.