| 摘要 |
PROBLEM TO BE SOLVED: To serve to detect a lane change in and out of the range of ABS control by using a wheel rotating speed sensor. SOLUTION: The size of a lateral acceleration, showing the lateral acceleration of a vehicle, is found. A time variation in the size of the lateral acceleration is formed. A lane change is detected when the time variation exceeds a predetermined threshold value. The size of a rotating speed, showing the rotating motion of at least two wheels, is trapped and the size of the lateral acceleration is found depending on the size of the rotating speed.
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