| 摘要 |
PROBLEM TO BE SOLVED: To provide a yaw rate detecting device capable of detecting an accurate yaw rate. SOLUTION: This yaw rate detecting device is equipped with right and left wheel speed sensors 1VR, 1VL and front and rear lateral acceleration sensors 2GF, 2GR. A first yaw rateγW is detected base on a low-frqeuency component of a speed difference between right and left wheels obtained from the outputs of the right and left wheel speed sensors 1VR, 1VL, and a second yaw rateγG is detected based on a time integrated value of a high-frequency component of a lateral acceleration difference between the front and the rear of a vehicle obtained for the outputs of the front and rear lateral acceleration sensors 2GF, 2GR. The final estimated yaw rateγis obtained based on the first and the second yaw ratesγW,γG.
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