An inverted pendulum type vehicle comprising: a moving motion unit which is capable of moving on a floor surface; an actuator device that is adapted to drive the moving motion unit; a base that incorporates the moving motion unit and the actuator device; an occupant riding section incorporated into the base so as to be tiltable with respect to the vertical direction; a tilting state detection unit that is adapted to detect the tilting state of the occupant riding section; and a control device configured to control motion of the actuator device according to at least the tilting state of the occupant riding section detected by the tilting state detection unit, characterized in that the control device includes control gain adjusting means that is adapted to change the magnitude of a control gain used for controlling motion of the actuator device according to the detected tilting state of the occupant riding section, in a period in which the state of the inverted pendulum type vehicle shifts from a stop support state to a support release riding state at a time when the occupant steps onto the occupant riding section, or in a period in which the state of the inverted pendulum vehicle shifts from the support release riding state to the stop support state at a time when the occupant steps off from the occupant riding section, the stop support state being a state in which the inverted pendulum type vehicle is supported by a support mechanism and is stopped, and the support release riding state being a state where an occupant rides on the occupant riding section in a reference attitude state and support of the inverted pendulum type vehicle by the support mechanism is released. a moving motion unit which is capable of moving on a floor surface; an actuator device that is adapted to drive the moving motion unit; a base that incorporates the moving motion unit and the actuator device; an occupant riding section incorporated into the base so as to be tiltable with respect to the vertical direction; a tilting state detection unit that is adapted to detect the tilting state of the occupant riding section; and a control device configured to control motion of the actuator device according to at least the tilting state of the occupant riding section detected by the tilting state detection unit, characterized in that the control device includes control gain adjusting means that is adapted to change the magnitude of a control gain used for controlling motion of the actuator device according to the detected tilting state of the occupant riding section, in a period in which the state of the inverted pendulum type vehicle shifts from a stop support state to a support release riding state at a time when the occupant steps onto the occupant riding section, or in a period in which the state of the inverted pendulum vehicle shifts from the support release riding state to the stop support state at a time when the occupant steps off from the occupant riding section, the stop support state being a state in which the inverted pendulum type vehicle is supported by a support mechanism and is stopped, and the support release riding state being a state where an occupant rides on the occupant riding section in a reference attitude state and support of the inverted pendulum type vehicle by the support mechanism is released.