A walking aid vehicle (1) includes: an operation part (3) provided on an upper portion of a vehicle body for grasping by a user in a walking posture; a detector (30) for detecting an operation force applied to the operation part; and an inclination detector (20) for detecting inclination of the vehicle body. When an advance direction inclination detected by the detector is less than threshold, a normal control (100) generates a normal direction torque in the drive motor (40L, 40R) responsive to pushing the operation part (3) forward and generates a reverse direction torque in the drive motor responsive to pulling the operation part rearward, and when the advance direction inclination is equal to or greater than threshold and pushing operation force is detected, a shift to a pull control (110) is made which generates normal direction torque in the drive motor responsive to a pulling operation force.