| 摘要 |
<p>PROBLEM TO BE SOLVED: To suppress the error detection of anomalies by providing a means to determine the anomalies of a yaw rate sensor which changes a predetermined threshold value to determine anomalies according to the contents of a means to determine the state of a road surface. SOLUTION: Information on the state of a vehicle including the input of each of steering angle sensor 21. wheel velocity sensors 22 and 23, a speed sensor 24, a yaw rate sensor 25, and a rotation position sensor 102 and the on/off state of an ignition switch IG are inputted to an electronic circuit unit(ECU) 1 connected to a vehicle 2. Then the ECU 1 drives an actuator 100 according to information on the state of a vehicle and controls the steering of rear wheels 6 and 7. At the time of the occurrence of an anomaly in the yaw rate sensor 25, a target steering angle of rear wheels is determined by a predetermined expression, and the actuator 100 is controlled so that the real steering angles of the rear wheels 6 and 7 may match the computed target steering angle of rear wheels.</p> |
