A controller 21 of a vehicle 1 is equipped with a first control 24, which is configured to control a first actuator 8 so as to move a traveling motion unit 3 according to tilting of an occupant mounting section 5, and a second control unit 25, which is configured to control, in a case where a turning command is output from a joystick 12, an electric motor 14 such that a steering direction of a wheel 4 viewed from above the vehicle 1 becomes tilted with respect to a direction of a moving velocity vector V of the traveling motion unit 3.