| 摘要 |
PURPOSE:To simply and appropriately adjust the deviation from the mounting error or the like of a sensor by obtaining the corrective quantity through addition/subtraction when the signal value of the yaw rate sensor is deviated from the neutral zero, and outputting the yaw rate corresponding to the rotational angular velocity of a vehicle by correction to be increased/decreased. CONSTITUTION:In a vehicle provided with a yaw rate sensor, a judgement whether or not the vehicle is stably traveling straight by the sensor signal and the vehicle speed is made, and when the vehicle is traveling straight, the value of the sensor signal is judged, and when the yaw rate value gamma is deviated to the right relative to the neutral zero, subtraction by the specified amount DELTAgamma is repeated until the deviation becomes zero, and the corrective quantity gamma' is calculated by the specified amount DELTAgammaand the number of subtraction. On the other hand, when the yaw rate is deviated to the left, addition by the specified amount DELTAgamma is repeated to calculate the corrective quantity gamma' in a similar manner, and the corrective quantity gamma' corresponding to the deviation of the mounting error of the sensor and the aging change or the like is calculated. Then, the yaw rate gamma is obtained by uniformly adding the corrective quantity gamma' to the signal value of the sensor gamma0. This constitution allows the correction of the yaw rate value gamma to be a correct one. |
