| 摘要 |
PROBLEM TO BE SOLVED: To restrain lowering of execution determining accuracy of sideslip restraining control, even when a steering angle sensor causes failure.SOLUTION: A vehicle behavior control device 10 arithmetically operates a target yaw rate of a vehicle by using a steering angle detected by a steering angle sensor 16 in normal time, and determines execution of the sideslip restraining control based on it. A vehicle behavior control ECU 12 of the vehicle behavior control device 10 has a failure determining part 35 for detecting the failure of the steering angle sensor 16, a steering torque sensor 20 and a steering torque arithmetic operation part 32 for detecting steering torque, a slip angle arithmetic operation part 26 for detecting a slip angle of a vehicle body and a sideslip restraining control part 36 for determining whether to execute the sideslip restraining control based on the steering torque and the slip angle when detecting the failure of the steering angle sensor 16. |
