DEVICE FOR OBTAINING LEANING VEHICLE ANGULAR VELOCITY AROUND AXIS IN DIRECTION PERPENDICULAR TO ROAD SURFACE

An angular speed acquisition device of acquiring angular speed about a road surface perpendicular axis of a leaning vehicle, which is able to easily acquire the angular speed about the road surface perpendicular axis of the leaning vehicle, is provided. A leaning vehicle (1) on a road surface (E) includes a vehicle body frame (4) capable of leaning in a vehicle left-right direction and a steering shaft (4b) which steers at least one of a front wheel unit (2) or a rear wheel unit (3). An angular speed acquisition device (20) for acquiring angular speed about the road surface perpendicular axis of the leaning vehicle, which is mountable on the leaning vehicle (1), includes a memory (27) and a processor (20a). The memory (27) stores the relationship between steering angle which is a rotation angle about the rotational axis of the steering shaft (4b), vehicle speed of the leaning vehicle (1), and angular speed ω about the road surface perpendicular axis in advance. The processor (20a) executes a steering angle acquisition process (S21) of acquiring a steering angle signal, a vehicle speed acquisition process (S22) of acquiring a vehicle speed signal, and a road surface perpendicular axis angular speed acquisition process (S23) of acquiring angular speed ω about the road surface perpendicular axis based on the above-described relationship and from the steering angle signal and the vehicle speed signal.