To propose a vehicle which is capable of turning stably.

Overturn prevention control is executed by which a lean motor of a lean device 50 is driven and controlled by setting a target lean angle 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 by which a gimbal motor of a gyroscope device 60 is driven and controlled so that gyroscopic moment is generated in a direction of inclining a vehicle to an inner side of the rotation when the vehicle is at risk of overturning, and a gyroscope of the gyroscope device 60 is controlled by setting a target rotation number of a flywheel so as to become larger as an overturning risk increases.