A control device 21 of an inverted pendulum type vehicle 1 including a moving motion unit 3 driven by an actuator device 8 controls the actuator device 8 so that the position of the overall centre of gravity of an occupant riding on an occupant riding section 5 and the vehicle 1 is shifted from the position of a balance state in the request direction of movement of the centre of gravity of the occupant as recognized from a predetermined kind of state of the vehicle 1. This improves the steering performance and the comfort of the vehicle.