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1. An inverted pendulum type vehicle having at least a first travel operation unit capable of traveling on a floor surface, a first actuator that drives the first travel operation unit, a base body to which the first travel operation unit and the first actuator are installed, and a rider mounting section attached to the base body such that the rider mounting section is tiltable relative to a vertical direction, wherein the first travel operation unit is configured to be capable of traveling in all directions, including a longitudinal direction and a lateral direction relative to a rider on the rider mounting section, by a driving force of the first actuator, the inverted pendulum type vehicle comprising:
a second travel operation unit, which is connected to the first travel operation unit or the base body spaced from the first travel operation unit in the longitudinal direction and which is configured to be capable of traveling in all directions on a floor surface; a second actuator which generates a driving force for causing the second travel operation unit to travel at least in the lateral direction; and a control unit, which controls the first actuator and the second actuator so as to cause the first travel operation unit and the second travel operation unit to carry out travel motions thereof according to at least a tilt of the rider mounting section and to set the travel velocities of the first travel operation unit and the second travel operation unit in the lateral direction to be different from each other in a case where there is a request for turning the inverted pendulum type vehicle, wherein the control unit comprises a basic desired value determining unit which determines a basic desired value of a travel velocity of the second travel operation unit in the lateral direction on the basis of at least a desired value of an angular velocity in a direction about a yaw-axis of the inverted pendulum type vehicle determined according to the request at least at the time of turning of the inverted pendulum type vehicle, a limitation processing unit configured to determine a restricted desired value as a value obtained by restricting the basic desired value by limitation processing for restricting a magnitude of a difference before limitation, which is a difference between the basic desired value and an observed value or a substitute estimated value of the observed value of a lateral actual travel velocity, which is an actual travel velocity of the second travel operation unit in the lateral direction, to a magnitude of a predetermined limit width or less, an actuator control unit which controls the second actuator on the basis of the restricted desired value, and a limit width setting unit configured to variably set the limit width such that the limit width is changed according to at least the observed value of an actual travel velocity of the second travel operation unit or the substitute estimated value of the observed value.
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