In order that a vehicle can travel stably and a driver does not feel uncomfortable, a vehicle is provided with: a body part; a boarding part (11); a steering part; a vehicle tilt device (43); a lateral acceleration detection unit; a tilt control processing means for generating a control value for tilt control according to lateral acceleration; a tilt drive control processing means for driving an actuator on the basis of the control value for tilt control; a travel control processing means for generating a control value for travel control for driving a drive unit for traveling; a travel drive control processing means for driving the drive unit for traveling on the basis of the control value for travel control. The tilt control processing means is provided with a first control value limitation processing means for calculating the amount of movement of the center of gravity, calculating the maximum angular acceleration, and limiting fluctuations in the control value for tilt control on the basis of the maximum angular acceleration. Since the amount of movement of the center of gravity of the vehicle is calculated, and fluctuations in the control value for tilt control are limited on the basis of the maximum angular acceleration, the vehicle is prevented from being tilted when a predetermined wheel comes off a road surface.