| 摘要 |
PROBLEM TO BE SOLVED: To detect speedily abnormality of a sensor such as a yaw rate sensor and a steering angle sensor. SOLUTION: During controlling of a yaw rate, an adjusting direction of the yaw moment exerted to a vehicle is compared with a steering direction of a driver by providing, for example, braking force. When both the directions are opposite to each other, a sensor is decided to be abnormal.
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