| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate a yaw rate without relying on a yaw rate sensor, and to maintain a vehicle stability control even when the yaw rate sensor is broken. <P>SOLUTION: The current flowing in an electric motor 20 is detected, and an axial force F is estimated based on the detected value. The estimated axial force is applied to the relationship between the preset and stored axial force and lateral acceleration to estimate the lateral acceleration G, and the vehicular yaw rate is estimated by using the estimated lateral acceleration G. <P>COPYRIGHT: (C)2012,JPO&INPIT |
