| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus and method for detecting an under steer, capable of increasing detection precision of an under steer at low cost without a lateral G sensor and capable of completely preventing erroneous detection of the under steer. SOLUTION: The apparatus for detecting under steer includes an under steer detection prohibition evaluation means 15 of performing under steer detection prohibition and cancellation of under steer detection prohibition according to a yaw rate and a norm yaw rate. The under steer detection prohibition evaluation means prohibits under steer detection when either of a condition 1 or a condition 2 below is met, where the condition 1 is a condition in which an absolute value of the yaw rate is lager than an absolute value of the norm yaw rate and the symbols of the yaw rate and the norm yaw rate are the same, and the condition 2 is a condition in which the symbols of the yaw rate and the norm yaw rate are different from each other. The under steer detection prohibition evaluation means cancels under steer detection prohibition when the difference between absolute values between yaw rate and norm yaw rate continues for a prescribed time under a state equal to or below a predetermined threshold value. COPYRIGHT: (C)2011,JPO&INPIT |
