| 摘要 |
The present invention relates to an apparatus and method to determine the unstable state of a vehicle. The apparatus to determine the unstable state of a vehicle comprises: a vehicle speed sensor which measures a speed of a vehicle; a yaw rate sensor which measures a yaw rate of the vehicle; a steering angle sensor which measures a steering angle of the vehicle; and a control part which calculates an estimate of a front wheel angle of the vehicle based on the speed measured through the vehicle speed sensor and the yaw rate measured through the yaw rate sensor and calculates a measurement of the front wheel angle of the vehicle based on the steering angle measured through the steering angle sensor, wherein the control part compares the estimate with the measurement of the front wheel angle of the vehicle to determine the unstable state of the vehicle. |
