The Lorentzian type IIB matrix model is a promising candidate for a non-perturbative formulation of superstring theory. However, it was found recently that a Euclidean space-time appears in the conventional large-$N$ limit. In this work, we add a Lorentz invariant mass term to the original model and consider a limit, in which the coefficient of the mass term vanishes at large $N$. By performing complex Langevin simulations to overcome the sign problem, we observe the emergence of expanding space-time with the Lorentzian signature.