| 摘要 |
<p>PROBLEM TO BE SOLVED: To accurately determine the reverse movement of vehicle with the structure at a low cost by inverting the polarity of a real yaw rate so as to compute the deviation with a vehicle condition determining means for determining over steering and under steering when a reverse movement determining means determines the reverse movement of the vehicle. SOLUTION: A vehicle condition computing unit 8 computes the car body speed with a wheel speed sensor 2, and obtains the steering angle with a steering sensor 3, and computes the target yaw rate on the basis of them. On the other hand, the vehicle condition computing means 8 determines whether a vehicle moves reverse or not on the basis of the real yaw rate obtained by a yaw rate sensor 4 and the target yaw rate. In the case of YES, a value obtained by inverting the polarity of the real yaw rate is used as a real yaw rate. In determination, polarity of the real yaw rate and the target yaw rate, polarity of each differential value, and polarity of each secondary differential value are opposite to each other, and determination is performed on the basis of a difference between each absolute value, each absolute value of the differential value, and each absolute value of the secondary differential value.</p> |
