An inverted pendulum type vehicle comprising: a moving motion unit which is capable of moving in all directions 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 devices (8a, 8b); an occupant riding section incorporated into the base so as to be table with respect to the vertical direction; a tilting state detection unit that to adapted to detect the tilting state of the occupant riding section; and a control device configured to control the motion of the actuator devices (8a, 8b) so as to balance the position of the overall centre of gravity of an occupant riding on the occupant riding section and the inverted pendulum type vehicle according to the tilting state of the occupant riding section as detected at least by the tilting state detection unit, wherein: the inverted pendulum type vehicle further includes vehicle state detection units (23, 35b, 34c1) that are adapted to detect a predetermined kind of state of the inverted pandulum type vehicle for recognizing a request movement of the centre of gravity of the occupant riding on the occupant riding section; characterized in that the control device is configured to control the actuator devices (8a, 8b) so that the position of the overall centre of gravity of the occupant riding on the occupant riding section any the inverted pendulum type vehicle is shifted from the position of a balance state of the overall centre of gravity in the direction of the request movement of the centre of gravity of the occupant recognized from a state detected by the vehicle state detection units (23, 35b, 34c1). a moving motion unit which is capable of moving in all directions 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 devices (8a, 8b); an occupant riding section incorporated into the base so as to be table with respect to the vertical direction; a tilting state detection unit that to adapted to detect the tilting state of the occupant riding section; and a control device configured to control the motion of the actuator devices (8a, 8b) so as to balance the position of the overall centre of gravity of an occupant riding on the occupant riding section and the inverted pendulum type vehicle according to the tilting state of the occupant riding section as detected at least by the tilting state detection unit, wherein: the inverted pendulum type vehicle further includes vehicle state detection units (23, 35b, 34c1) that are adapted to detect a predetermined kind of state of the inverted pandulum type vehicle for recognizing a request movement of the centre of gravity of the occupant riding on the occupant riding section; characterized in that the control device is configured to control the actuator devices (8a, 8b) so that the position of the overall centre of gravity of the occupant riding on the occupant riding section any the inverted pendulum type vehicle is shifted from the position of a balance state of the overall centre of gravity in the direction of the request movement of the centre of gravity of the occupant recognized from a state detected by the vehicle state detection units (23, 35b, 34c1).