To provide a vehicle having high operability and its control method. A vehicle 1 includes a passenger seat 8 on which a passenger rides on, a chassis 13 that support the passenger seat 8, wheels 6 that move the chassis 13, a force sensor 9 that outputs a measurement signal according to a force exerted on a seat surface of the passenger seat 8, a drive unit 5 that drives the passenger seat so as to change an angle of the seat surface 8a of the passenger seat 8, and a control calculation unit 51 that calculates a reference input used to drive the wheels 6 and the drive unit 5 based on a drive amount of the drive unit 5, a balanced position posture of the passenger seat 8, and the measurement signal from the force sensor 9.
