<；P>；PROBLEM TO BE SOLVED: To provide a personal vehicle control device for restraining a vehicle body from slipping down in the cant running even if the roll angle is large. <；P>；SOLUTION: The control device includes: an operating part 14 to which a command value on the running and/or turning of the vehicle body and a command value on the turning of the vehicle body are inputted； sensors 52 and 53 for detecting the physical quantity on the roll angle and the physical quantity on the yaw angle； a right-wheel sensor 55R for detecting the physical quantity on the speed of rotation of a right wheel； and a left-wheel sensor 55L for detecting the physical quantity on the speed of rotation of a left wheel. A control part 2 computes the command value on turning of the vehicle body inputted based on the operating part 14 when the roll angle is a prescribed value or larger and the physical quantity on the turning angle of the vehicle body to the yaw axis detected by the sensors 52 and 53, and corrects the command value on the running and/or turning of the right wheel and the command value on the running and/or turning of the left wheel so that the difference is reduced based on the difference between the both physical quantities. <；P>；COPYRIGHT: (C)2010,JPO&INPIT
