To propose a vehicle which is capable of turning stably.

In a vehicle, overturn prevention control is executed for driving and controlling a lean motor of a lean device 50 in which a target lean angle is set 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 for driving and controlling a gimbal motor and a clutch of a gyroscope device 60 so that gyroscopic moment is generated in a direction inclining the vehicle to an inner side of the rotation when the vehicle is at risk of overturning to an outer side of the rotation due to abrupt steering or the like. Accordingly, the vehicle is prevented from overturning to the outer side of the rotation.