| 摘要 |
PROBLEM TO BE SOLVED: To detect the yaw rate of a moving body with higher accuracy than conventional by determining the reliability of detection values for two yaw rate sensors in accordance with the reference yaw rate of the moving body. SOLUTION: The reference yaw rate Yrb of the vehicle is computed (S40-80) in accordance with the moving condition of the vehicle, and a sizeΔYr1 of a deviation between the reference yaw rate Yrb and the detection value Yr1 for one yaw rate sensor and a sizeΔYr2 of a deviation between the reference yaw rate Yrb and the detection value Yr2 for the other yaw rate sensor are computed (S90). When the sizesΔYr1 andΔYr2 of the yaw rate deviations are both less than a reference value K2 in determining the reliability (S120, 140), a weight k(n) is set to be the ratio ofΔYr2 to the sum ofΔYr1+ΔYr2 (S160), and the yaw rate Yr of the vehicle is computed in accordance with a weighted average of the two detection values using the weights of the detection values Yr1 and Yr2 as k(n), (1-k(n)) (S180). COPYRIGHT: (C)2003,JPO |
