A vehicle includes a support member and at least one wheel attached to the support member. The support member is capable of oscillating in a front-back direction of the vehicle. The vehicle further includes a torque control unit applying torque to the wheel, and a control loop controlling the torque control unit to adjust the torque applied to the wheel to allow the vehicle to travel while keeping an inverted state of the support member. The control loop controls the torque control unit to apply normal torque and additional torque to the wheel, the normal torque determined according to a deviation between a target value and a controlled variable including at least one of an inclination angular velocity and an inclination angle of the support member in the front-back direction, the additional torque determined according to a power of a velocity parameter of the vehicle.