| 摘要 |
PROBLEM TO BE SOLVED: To detect the turning behavior condition for a vehicle securely, even in the condition that the friction coefficient of the road surface is low. SOLUTION: By comparing the front wheel slip angle and the rear wheel slip angle operated depending on a car body side slip angle in a car body slip angle operation means 13, and comparing the front wheel slip angle limit value and the rear wheel slip angle limit value depending on the car body speed detected by a car body speed detecting means 10 and the friction coefficient inferred by a friction coefficient inferring means 14, the turning behavior condition of a vehicle is decided by a deciding means 15.
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