Abstract: The present disclosure provides a balancing vehicle. The balancing vehicle comprises a baseplate, a pedal assembly, a detecting module, a wheel assembly, and a control system. The pedal assembly is disposed above and pivotally connected to the baseplate. The detecting module is disposed between the baseplate and the pedal assembly to detect a motion of the pedal assembly relative to the baseplate. The wheel assembly is rotatably coupled to the baseplate. The control system is attached to the baseplate and electronically connected to the detecting module and mechanically coupled to the wheel assembly so as to control the wheel assembly based on the motion of the pedal assembly detected by the detecting module.