| 摘要 |
PROBLEM TO BE SOLVED: To certainly and quickly determine abnormality of a yaw rate detection means when a vehicle turns. SOLUTION: A control section 20 comprises a first turning direction estimating means 25a for estimating a first yaw rate according to an output value 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 is not less than a first threshold, a second turning direction estimating means 25b for estimating a second yaw rate according to the output value of a lateral acceleration 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 when the second yaw rate is not less than or not more than the second threshold, a vehicle turning direction determining means 25c for determining the direction when the first turning direction is the same as the second turning direction to be a turning direction of the vehicle, and an abnormality determining means 25d for determining that a yaw rate sensor 94 is abnormal when the turning direction of the vehicle is different from the direction of the actual yaw rate. COPYRIGHT: (C)2009,JPO&INPIT |
