| 摘要 |
PROBLEM TO BE SOLVED: To provide a device for detecting abnormalities in a yaw rate sensor capable of reliably preventing abnormal error detection in the yaw rate sensor by making the conditions of abnormality diagnosis of the yaw rate sensor different from the usual conditions of abnormality diagnosis in the case where the presence of a possibility that a vehicle is on a turn table is judged by the state of forward movement of the vehicle. SOLUTION: In the case where it is judged that the vehicle is moving forward after backward movement i.e., that there is a possibility that the vehicle is on a turn table, in an abnormality diagnosis processing to deal with to a turn table, processings are performed under the conditions of the sensor abnormality diagnosis different from the normal conditions such as delay in the period of diagnosis on whether the yaw rate sensor 9 is abnormal or not, temporary prohibition of the sensor abnormality diagnosis, rise in a threshold for judging sensor abnormality used for the sensor abnormality diagnosis, the monitoring of the degree of reduction in sensor values in a plurality of times of sensor abnormality diagnosis processing, etc. |
