A vehicle includes: an electric motor that outputs power to a drive shaft that is coupled to a first wheel, which is a primary drive wheel; an electrical storage device that exchanges electrical power with the electric motor; a braking system that can independently apply a braking force to the first wheel and a second wheel that is a free rolling wheel or a drive wheel other than the first wheel, regardless of a braking request by a driver; and a control unit that controls the braking system and the electric motor such that the braking system applies the braking force only to the second wheel and that output torque of the electric motor becomes equal to or lower than specified torque until rotational speed of the electric motor reach specified revolution when a start-up request is made by the driver while the vehicle is at a halt on a driving road surface whose inclination, which is acquired by an inclination acquisition device, is larger than or equal to specified inclination. The present invention also relates to a control method of the vehicle.