A walking assistance moving vehicle includes a walking assistance moving vehicle main body with a pair of drive wheels, a drive wheel rotational speed sensor, a turning sensor, and a controller. The drive wheel rotational speed sensor senses drive wheel rotational speed of each of the drive wheels. The turning sensor directly senses at least one of a first lateral acceleration and a first turning angular velocity. The controller indirectly acquires at least one of a second lateral acceleration and a second turning angular velocity based on the drive wheel rotational speed sensed by the drive wheel rotational speed sensor. The controller performs a first control to decelerate or stop drive of the drive wheels based on a comparison of the first turning angular velocity and the second turning angular velocity or a comparison of the first lateral acceleration and the second lateral acceleration.