Patent ID: 8165771

Claim:
A vehicle including two drive wheels arranged facing each other, the vehicle comprising: target running state acquiring means for acquiring a target speed V* and a target curvature γ*; running control means for controlling running with the target speed V* and the target curvature γ* that have been acquired; center-of-gravity position acquiring means for acquiring a position of center of gravity of the vehicle including a loaded article; limit lateral acceleration determination means for determining a limit lateral acceleration alim corresponding to the position of center of gravity acquired; and limiting means for limiting at least one of the target speed V* and the target curvature γ* that have been acquired so that a target lateral acceleration a* corresponding to the target speed V* and the target curvature γ* that have been acquired is made equal to or less than the limit lateral acceleration alim, in the case that the target lateral acceleration a* exceeds the limit lateral acceleration alim.