| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular yaw rate calculator capable of calculating the yaw rate value needed to calculate more accurately the radius of the curve of a course on which a vehicle is traveling. SOLUTION: A vehicular yaw rate calculator includes a yaw rate sensor 2,a storage means 3 for storing yaw rate valueω, an average value calculation means 5 for calculating the average valueω' of a number of yaw rate values detected, a computation means 19 for computing a yaw rate valueω" using the yaw rate valueω, the average valueω', and a positive number (a) less than one, fromω"=(1-a)ω+aω', and a storage change means 21 which causes the storage means 3 to change the yaw rate value by computed by the computation means 19 and stored in the means 3. The cases wherein the difference between the yaw rate valueωand the average valueω' is not smaller than a predetermined value for a predetermined time or longer are distinguished from other cases, and in the former cases the computation means 19 is made to perform computations while increasing the value of the positive number (a). |
