| 摘要 |
PROBLEM TO BE SOLVED: To surely detect an unstable condition in driving operation. SOLUTION: A present steering angle in the supposed case where steering is smoothly carried out is estimated based on a detected steering angle value, an error en between an estimated steering angle value and the detected steering angle value is detected, and an unstable condition in driving operation is detected based on the sharpness in a distribution of the error en. The unstable condition in driving operation caused by minding a work other than driving, including dozing drive as a matter of course, is surely detected thereby. |
