A walking assistance (18) moving vehicle includes a walking assistance moving vehicle main body with wheels (13,14), a distance sensor (15), an inclination sensor (17), and a controller (24). The distance sensor (15) senses distance between the walking assistance moving vehicle main body and an object ahead of the walking assistance moving vehicle main body. The inclination sensor (17) senses inclination of the walking assistance moving vehicle main body. The controller (24) distinguishes between a first state in which the walking assistance moving vehicle moves on a sloped ground and a second state in which at least one of the wheels is off a ground based on the distance sensed by the distance sensor and the inclination sensed by the inclination sensor. The controller further controls the walking assistance (18) moving vehicle main body according to a result of distinguishing between the first state and the second state.
