| 摘要 |
PROBLEM TO BE SOLVED: To diagnose failure of a detector, which detects a discrepancy between a turning angle of a steering wheel and that of a tire, even during the execution of correction of the discrepancy. SOLUTION: When a CPU within a controller 26 detects a discrepancy between the present (steering) wheel turning angle, which is detected by a steering wheel turning angle sensor 30, and a target, wheel turning angle obtained from a tire turning angle detected by a tire (turning) angle sensor 28, the CPU opens an electromagnetic valve during the operation of the steering wheel in order to produce a slip of the steering wheel operation, thereby correcting the discrepancy. When a car speed obtained from the detection value of a car speed sensor 35 exceeds 5 km/h and when such failure conditions as ΔY=0 and moreover VT=0 (where ΔY denotes the variation of a yaw-rate Y obtained from the detection value of a yaw-rate sensor 36 during the turning of the car, while VT denotes the angular velocity of the tire, which is obtained from the detection value of a tire (turning) angle sensor 28.) are continuously satisfied for a prescribed period of time, the CPU diagnoses the tire turning angle sensor 28 as failure. |
