Behavior control device of vehicle based upon double checking of yaw rate deviation

摘要

A behavior control device of a vehicle adapted to detect a first yaw rate deviation of a yaw rate detected by a yaw rate sensor relative to a standard yaw rate estimated from a steering angle detected by a steering angle sensor and a vehicle speed detected by a vehicle speed sensor, and also detect at least one of a second yaw rate deviation of a yaw rate estimated from wheel rotation speed of a pair of left and right wheels from the standard yaw rate and a third yaw rate deviation of a yaw rate estimated from a lateral acceleration detected by a lateral acceleration sensor and a vehicle speed detected by a vehicle speed sensor from the standard yaw rate, and execute a yaw rate suppress control such as a spin or driftout suppress control, when the first yaw rate deviation exceeds a threshold value determined therefor and at least one of the second and third yaw rate deviations also exceeds a threshold value determined therefor.