In an inverted pendulum type mobile unit that performs inverted pendulum stabilization control and traveling control based on a velocity target value as an input variable, a change in tilt angle of a vehicle body occurring during traveling is smoothed. The target value generating portion 100 in the inverted pendulum type mobile unit 1 generates the velocity target value V REF of the mobile unit 1 and the tilt angular rate target value É REF of the vehicle body 11 so that a second-order time derivative of V REF is continuous and É REF is continuous with respect to time. The controller 107 in the inverted pendulum type mobile unit 1 calculates a torque command value Ä COM for the motor drivers 16a and 16b using V REF and É REF as a control target to allow the mobile unit 1 to travel at V REF while maintaining the state where the gravity center of the vehicle body 11 or the gravity center of total mass of the vehicle body 11 and a subject supported on the vehicle body is located upper than the rotation center of the wheels 10a and 10b.
