| 摘要 |
PROBLEM TO BE SOLVED: To control behavior as properly as possible, even if zero point drift occurs with a yaw rate sensor. SOLUTION: A reference yaw rate γt is calculated on the basis of a dirigible road angle θ and a vehicle speed V (S20), an estimated yaw rate γw is calculated on the basis of a wheel speed Vwi (S30), an estimated yaw rate γg is calculated on the basis of a lateral acceleration Gy (S40). Such a state that absolute value of the first yaw rate deviation Δγ1, which is deviation between the reference yaw rate and an actual yaw rate, is beyond reference value Δγ1, continues for Tce hours or more, and such a state that absolute value of the second yaw rate deviation Δγ2, which is deviation between the reference yaw rate γt and the estimated yaw rate γw, or absolute value of the third yaw rate deviation Δγ3, which is deviation between the reference yaw rate γt and the estimated yaw rate γg, is beyond reference value, continues for defined hours or more (S60 to 200), then a behavior is controlled (S210 to 280). |
