To propose a vehicle which is capable of turning stably.

In a vehicle, a lean motor of a lean device 50 is driven and controlled so that a line of action of resultant force of gravity force and centrifugal force acting at the centroid is in the center of a tread, and a gimbal motor and a clutch of a gyroscope device are driven and controlled so that gyroscopic moment acts on an inside of the rotation on the basis of vehicle speed, a steering angle and steering angle speed. Accordingly, the vehicle can turn stably and be prevented from overturning.