| 摘要 |
PROBLEM TO BE SOLVED: To stabilize turning behavior as far as possible and prevent a sudden change of the turning behavior of a vehicle securely by detecting failure of a state amount detecting means and controlling the rate of change of control amount of stabilization of previous behavior if there is any failure. SOLUTION: An electrical control device 28 is consisted from a micro computer 30 and a drive circuit and a signal of actual yaw rate γ of a vehicle and respective signals of vehicle speed V, steering angle θ, cross acceleration Gy, and fore and aft acceleration Gx from respective sensors are entered in the micro computer 30. The electrical control device 28 discriminates whether there is a failure of the yaw sensor 32 or not based on the actual yaw rate γand reference yaw rate and if it discriminates that there is danger of the failure of the yaw sensor 32 due to noise and the like contained in an output from the yaw sensor 32, rate of change of control amount of stabilization of turning behavior. |
