In a mobile vehicle 1 having a vehicle body 2, a front wheel 3f, and a rear wheel 3r, the steered wheel 3f can be steered by a steering actuator 8 about a steering axis Csf which is tilted backward. A control device 15 controls the steering actuator 8, on the basis of a dynamics model of the mobile vehicle 1A configured by a mass point system having an inverted pendulum mass point 123 and a ground surface mass point 124, so as to stabilize a motional state quantity of the inverted pendulum mass point 123 and a motional state quantity of the steering angle of the steered wheel 3f.