A moving body control device comprising: an attitude angle detection section configured to detect an attitude angle of an inverted moving body; a command value generation section configured to generate an attitude angular speed command value of the inverted moving body according to the attitude angle that is detected by the attitude angle detection section, the attitude angular speed command value comprising a control signal to change the moving speed of a drive wheel of the inverted body; a control section configured to control the moving speed of a drive wheel of the inverted moving body according to the attitude angular speed command value that is generated by the command value generation section; a determination section configured to make a determination whether or not the inverted moving body travels in a constant direction for a prescribed time or longer; an acceleration-deceleration command section configured to increase or decrease the attitude angular speed command value that is generated by the command value generation section when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer; the control device being characterised in that the control device further comprises: an adder section, wherein the acceleration-deceleration command section is configured to generate a sinusoidal acceleration-deceleration command value; and the adder section is configured to add the sinusoidal acceleration-deceleration command value that is generated by the acceleration-deceleration command section to the attitude angular speed command value that is generated by the command value generation section. an attitude angle detection section configured to detect an attitude angle of an inverted moving body; a command value generation section configured to generate an attitude angular speed command value of the inverted moving body according to the attitude angle that is detected by the attitude angle detection section, the attitude angular speed command value comprising a control signal to change the moving speed of a drive wheel of the inverted body; a control section configured to control the moving speed of a drive wheel of the inverted moving body according to the attitude angular speed command value that is generated by the command value generation section; a determination section configured to make a determination whether or not the inverted moving body travels in a constant direction for a prescribed time or longer; an acceleration-deceleration command section configured to increase or decrease the attitude angular speed command value that is generated by the command value generation section when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer; the control device being characterised in that the control device further comprises: an adder section, wherein the acceleration-deceleration command section is configured to generate a sinusoidal acceleration-deceleration command value; and the adder section is configured to add the sinusoidal acceleration-deceleration command value that is generated by the acceleration-deceleration command section to the attitude angular speed command value that is generated by the command value generation section. an adder section, wherein the acceleration-deceleration command section is configured to generate a sinusoidal acceleration-deceleration command value; and the adder section is configured to add the sinusoidal acceleration-deceleration command value that is generated by the acceleration-deceleration command section to the attitude angular speed command value that is generated by the command value generation section.