The disclosed vehicle has posture control of an inverted pendulum which provides good riding comfort.A balancer target position λ* (calculated value) is determined according to target acceleration α* indicated by an occupant. Driving thrust SB of a balancer 134 is determined by state feedback control so that a current balance position λ (measured value) becomes closer to the determined balancer target position λ*, and the balancer 134 is driven. An output τW of a driving wheel actuator 52 is determined from the current balancer position λ (measured value) resulting from driving of the balancer 134. Since a driving torque is determined from an actual position of the balancer 134, stable upright posture control can be implemented even in a transient state which lasts until the balancer 134 reaches the target position.