PROBLEM TO BE SOLVED: To accurately detect the front and rear tilt angle of a car body and sufficiently perform operation control in the front and rear tilt direction with an attitude changing operation means while reducing a risk of deteriorating the traveling stability in such a state that the car body turns and travels.SOLUTION: An attitude controller of a working vehicle includes: tilt angle computing means 300 for adding a detected value after removing a high-frequency component in detected values with a front and rear tilt angle sensor 24 to an integral value after removing a low-frequency component in integral values obtained by integrating the detected values with an angular velocity sensor 25 and determining the front and rear tilt angle of the car body V is installed. Lowering operation limiting processing for controlling the operation of the attitude changing operation means is operated so that the front and rear tilt angle relatively to the horizontal reference plane of the car body V is the set tilt angle in such a form that lowering tilt operation is performed without practicing lifting tilt operation when the car body V is detected to be in a turning and traveling state.COPYRIGHT: (C)2009,JPO&INPIT【課題】 車体が旋回走行している状態において走行安定性が低下するおそれを少ないものにしながら、精度よく車体の前後傾斜角を検出して、姿勢変更操作手段による車体の前後傾斜方向での作動制御を良好に行えるようにする。【解決手段】 前後傾斜角センサ24の検出値のうちの高周波数成分を除去した後の検出値と角速度センサ25の検出値を積分した積分値のうちの低周波数成分を除去した後の積分値とを加算して車体Vの前後傾斜角を求める傾斜角算出手段300を備えて構成され、車体Vが旋回走行状態であることが検出されると、下降傾斜作動を実行し且つ上昇傾斜作動を実行しない形態で、車体Vの水平基準面に対する前後傾斜角が前記設定傾斜角になるように姿勢変更操作手段の作動を制御する下降操作限定処理を実行する。【選択図】 図9
