| 摘要 |
PROBLEM TO BE SOLVED: To obtain an advance judgment device by which the advance running operation of a vehicle can be judged easily without newly adding a constitution other than a constitution for motion control by a method wherein the vehicle is judged to be in the advance running operation when a steering-angle reference yaw rate and a detected yaw rate are in the same direction so as to be larger than a first set value. SOLUTION: A first judgement means 13 judges that a vehicle is in an advance running state when a steering-angle reference yaw rateγS which is computed by a steering-angle reference-yaw-rate computing means on the basis of a vehicle speed V and a steering angleδand a yaw rateγwhich is detected by a yaw rate sensor 8 are in the same direction so as to be larger than a first set value S1 (e.g. 10 deg/sec). Thereby, without arranging and installing a sensor which detects the shaft position of an automatic transmission, it is possible to easily judge that the vehicle is in an advance running operation. Consequently, the cost of an advance judgment device can be reduced. |
