| 摘要 |
<p>A control section 20 includes a first turning direction estimating means 25a for estimating a first yaw rate according to an output of a steering angle sensor 92 and estimating a first turning direction from the positive and the negative of the first yaw rate when an absolute value of the first yaw rate concerned is not less than a first threshold value, a second turning direction estimating means 25b for estimating a second yaw rate according to an output of the lateral acceleration detection sensor 93 and estimating a second turning direction from the positive and the negative of a difference between the second yaw rate and the second threshold value when the second yaw rate is not less than or not more than the second threshold value; a vehicle turning direction judging means 25c for judging that the direction when the first turning direction and the second turning direction are the same is judged to be a turning direction of the vehicle and an abnormality judging means 25d for judging that the yaw rate sensor 94 is abnormal when the turning direction of the vehicle and the direction of the actual yaw rate differs from each other.
</p> |
