| 摘要 |
PROBLEM TO BE SOLVED: To quickly and precisely detect abnormality of a yaw rate sensor by performing continuous monitoring even if a vehicle is in any motion condition. SOLUTION: A failure diagnostic device 1 of the yaw rate sensor determines, based on force acting on each wheel, whether the vehicle is in a linear advancing state, steady turning state, or non-steady turning state. When the vehicle is in the linear advancing state, a linear advancing/steady turning state yaw rate value determining part 1b determines whether a yaw rate sensor value is approximately zero or not (normal or abnormal). When the vehicle is in the steady turning state, the linear advancing/steady turning state yaw rate value determining part 1b determines whether the yaw rate sensor is normal or not by comparing the yaw rate sensor value, vehicle speed, and a yaw rate value calculated by a force detecting sensor. When the vehicle is in the non-steady turning state, a yaw moment from the yaw rate sensor value is compared with the yaw moment by the force acting on each wheel according to a correlation coefficient, and a non-steady turning state yaw rate value determining part 1c determines that the yaw rate sensor is normal if correlation therebetween is strong, and that it is abnormal if the correlation is low. COPYRIGHT: (C)2006,JPO&NCIPI |
