An inverted vehicle control apparatus comprising: a plurality of driving wheels provided in an inverted vehicle; a plurality of drive means each of which drives a respective one of the plurality of driving wheels, characterized in that said apparatus comprises further: skid detection means for detecting a skid state between the plurality of driving wheels and a road surface; operation information acquisition means for acquiring operation information of a rider; and control means for controlling driving of the drive means and thereby controlling the plurality of driving wheels, wherein the inverted vehicle control apparatus further comprises: pitch angle detection means for detecting a pitch angle of the inverted vehicle; and wheel horizontal speed calculation means for calculating a horizontal speed of the driving wheels of the inverted vehicle, the control means is arranged to control, based on the operation information acquired by the operation formation acquisition means, a driving wheel for which no skid is detected by the skid detection means, and the control means is arranged to control a driving wheel for which a skid is detected by the skid detection means so that a friction force exerted from the road surface to the driving wheel is exerted in such a direction that the inverted vehicle is raised by the friction force, based on the pitch angle of the inverted vehicle detected by the pitch angle detection means and the horizontal speed of the driving wheel calculated by the wheel horizontal speed calculation means. a plurality of driving wheels provided in an inverted vehicle; a plurality of drive means each of which drives a respective one of the plurality of driving wheels, characterized in that said apparatus comprises further: skid detection means for detecting a skid state between the plurality of driving wheels and a road surface; operation information acquisition means for acquiring operation information of a rider; and control means for controlling driving of the drive means and thereby controlling the plurality of driving wheels, wherein the inverted vehicle control apparatus further comprises: pitch angle detection means for detecting a pitch angle of the inverted vehicle; and wheel horizontal speed calculation means for calculating a horizontal speed of the driving wheels of the inverted vehicle, the control means is arranged to control, based on the operation information acquired by the operation formation acquisition means, a driving wheel for which no skid is detected by the skid detection means, and the control means is arranged to control a driving wheel for which a skid is detected by the skid detection means so that a friction force exerted from the road surface to the driving wheel is exerted in such a direction that the inverted vehicle is raised by the friction force, based on the pitch angle of the inverted vehicle detected by the pitch angle detection means and the horizontal speed of the driving wheel calculated by the wheel horizontal speed calculation means. skid detection means for detecting a skid state between the plurality of driving wheels and a road surface; operation information acquisition means for acquiring operation information of a rider; and control means for controlling driving of the drive means and thereby controlling the plurality of driving wheels, wherein the inverted vehicle control apparatus further comprises: pitch angle detection means for detecting a pitch angle of the inverted vehicle; and wheel horizontal speed calculation means for calculating a horizontal speed of the driving wheels of the inverted vehicle, pitch angle detection means for detecting a pitch angle of the inverted vehicle; and wheel horizontal speed calculation means for calculating a horizontal speed of the driving wheels of the inverted vehicle, the control means is arranged to control, based on the operation information acquired by the operation formation acquisition means, a driving wheel for which no skid is detected by the skid detection means, and the control means is arranged to control a driving wheel for which a skid is detected by the skid detection means so that a friction force exerted from the road surface to the driving wheel is exerted in such a direction that the inverted vehicle is raised by the friction force, based on the pitch angle of the inverted vehicle detected by the pitch angle detection means and the horizontal speed of the driving wheel calculated by the wheel horizontal speed calculation means.