A leaning vehicle, comprising: a vehicle body frame having a head pipe; a left wheel arranged leftward relative to the head pipe; a right wheel arranged rightward relative to the head pipe; a link mechanism that links together the vehicle body frame, the left wheel and the right wheel; a tilt sensor mounted on the vehicle body frame that is configured to detect a bank angle (θ) of the vehicle body frame; a lean actuator that is configured to apply a torque around a rotation axis extending in a vehicle front-rear direction on the vehicle body frame; a control device that is configured to receive a signal from the tilt sensor to control the lean actuator; and a torque detection device that is configure to detect an output torque of the lean actuator, wherein the control device includes: a self-stand control section that is configured to execute a self-stand control of controlling the lean actuator so that a detected bank angle (θ), which is the bank angle (θ) of the vehicle body frame detected by the tilt sensor, becomes zero; and a determination section that is configured to determine the presence/absence of an origin shift of the tilt sensor based on whether or not the detected bank angle (θ) is constant and an absolute value of the output torque of the lean actuator is equal to or greater than a predetermined threshold value while the self-stand control is executed. a vehicle body frame having a head pipe; a left wheel arranged leftward relative to the head pipe; a right wheel arranged rightward relative to the head pipe; a link mechanism that links together the vehicle body frame, the left wheel and the right wheel; a tilt sensor mounted on the vehicle body frame that is configured to detect a bank angle (θ) of the vehicle body frame; a lean actuator that is configured to apply a torque around a rotation axis extending in a vehicle front-rear direction on the vehicle body frame; a control device that is configured to receive a signal from the tilt sensor to control the lean actuator; and a torque detection device that is configure to detect an output torque of the lean actuator, wherein the control device includes: a self-stand control section that is configured to execute a self-stand control of controlling the lean actuator so that a detected bank angle (θ), which is the bank angle (θ) of the vehicle body frame detected by the tilt sensor, becomes zero; and a determination section that is configured to determine the presence/absence of an origin shift of the tilt sensor based on whether or not the detected bank angle (θ) is constant and an absolute value of the output torque of the lean actuator is equal to or greater than a predetermined threshold value while the self-stand control is executed. a self-stand control section that is configured to execute a self-stand control of controlling the lean actuator so that a detected bank angle (θ), which is the bank angle (θ) of the vehicle body frame detected by the tilt sensor, becomes zero; and a determination section that is configured to determine the presence/absence of an origin shift of the tilt sensor based on whether or not the detected bank angle (θ) is constant and an absolute value of the output torque of the lean actuator is equal to or greater than a predetermined threshold value while the self-stand control is executed.