Two wheel self balanced vehicle control system is a typical kind of inverted pendulum control system. In this paper, in order to cut the cost, and improve the system control performance, a controller was designed by using the new ARM microprocessor STM32F373 as the control core and combining with inertial sensors MPU6050. Motor direct torque control method was presented. The optimal estimate of the tilt angle was obtained from the improved explicit complementary filter. To realize the self balance of the body, the cascade PID control loop is proposed through the angle and angular velocity control loop for obtaining of the DC motor torque. The control of motor torque is regulated by current loop, and the turning control is achieved through the body gravity control at the same time. Compared with the conventional voltage open loop control and the speed feedback control systems, the proposed system has the advantages of lower cost, fast response, running smoothly.