Apparatus for estimating yaw rate

摘要

A future yaw rate γ(t) is estimated according to a current yaw rate γ(t) and a steering angular velocity. As compared with directly detecting the yaw rate γ(t) from a vehicle body, calculating the yaw rate γ(t) from a steering operation can attain a yaw rate having a phase advanced by a time lag &Dgr;t, whereby the future yaw rate γ(t) can be estimated accurately.