To provide a vehicle capable of moving a riding part and tilting a vehicle body properly and respectively if a driving motor for an actuator and a motor for the riding part cause failure to control vehicle running properly while maintaining a vehicle body standing and tilting condition (balance of the vehicle body).

When controlling posture of the vehicle body by the driving motor 52 without moving the riding part and using a balancer, the control of posture of the vehicle body becomes impossible if the driving motor 52 causes failure, and the condition in which the vehicle body stands while tilted cannot be maintained. On the other hand, when controlling posture of the vehicle body including the moving of the riding part, the control of the riding part 13 to a target position becomes difficult if the motor 62 for the riding part causes failure, and the condition in which the vehicle body stands while tilted cannot be maintained. Therefore, when the driving motor 52 causes failure, the riding part 13 is properly moved in accordance with actual vehicle running acceleration and actual inclination angle of the vehicle body to maintain the condition in which the vehicle body stands while tilted. If the motor for the riding part (balancer driving actuator) 62 causes failure, the vehicle body is properly tilted in accordance with actual position of the riding part to control vehicle running while maintaining the condition in which the vehicle body stands while tilted.

COPYRIGHT: (C)2009,JPO&INPIT