| 摘要 |
PROBLEM TO BE SOLVED: To ensure a failure diagnosis by judging the irregular state of a road surface by a bad road judging means, and setting a standard value used for the failure diagnosis of a yaw rate sensor, when a bad road is judged, higher than that in a good road. SOLUTION: A bad road judging block 14 extracts a specified frequency component which is a band pass filter from a static estimated yaw rate signalγVW determined from the deviation of outputs of both lateral wheel speed sensors 4L, 4R, and judges a bad road when the absolute value of the signal is a prescribed threshold or more. When a bad road traveling is judged by the block 14, a switch means 15 for selecting the added value of a failure diagnostic threshold is switched to set the added value of 3deg/s in general to 30deg/s. Thus, the failure diagnostic threshold of a yaw rate sensor 1 is set larger than in general time in bad road traveling, and an erroneous diagnosis can be prevented.
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