The base product is small, walking of the old person and the disabled person etc who are the suffering walking auxiliary is assisted, the walking auxiliary car which can prevent inversion is offered. The walking auxiliary car relating to this invention, one Drive the wheel of pair and the wheel of the said pair or the multiple 1st Drive sections and the wheel of pair has with the grip section where gripping in one end of the computer section and the computer section which turning possibly supports is possibly provided. In order angular change of the computer section 0 (zero) with to become on the basis of the output from the sensor section and the sensor section which detect the angular change in tilt angle of skew of pitch direction of the computer section, one or it has with the 1st control section which controls the operation of the multiple 1st Drive sections.底面積が小さく、被歩行補助者である老人、身障者等の歩行を補助し、転倒を防止することができる歩行補助車を提供する。本発明に係る歩行補助車は、一対の車輪と、該一対の車輪を駆動する一又は複数の第1駆動部と、一対の車輪を回転することが可能に支持する本体部と、本体部の一端に把持することが可能に設けられている把持部とを備える。本体部のピッチ方向の傾斜角の角度変化を検出するセンサ部と、センサ部からの出力に基づいて、本体部の角度変化が0(ゼロ)となるよう一又は複数の第1駆動部の動作を制御する第1制御部とを備える。
