| 摘要 |
PURPOSE:To prevent a danger of a vehicle by stabilizing a yaw rate feedback loop, and adjusting the gain for a yaw rate when the unstable movement of a rear wheel is detected. CONSTITUTION:Values of a vehicle speed sensor 7, a handle angle sensor 8, and a rear position sensor 10 are inputted, and the time until the yaw rate of a vehicle body is generated after a rear wheel is steered and the magnitude of the yaw rate are predicted based on these values. The prediction value is compared with the detection value detected by a yaw rate sensor 9, the detection value corrected by the prediction value is used as the actual yaw rate value to correct the response delay of the yaw rate sensor 9. |
