| 摘要 |
PURPOSE:To detect abnormality in a vehicle sensor (yaw rate sensor) positively. CONSTITUTION:A sub-yaw rate sensor 31b is provided in addition to a main yaw rate sensor 31a and yaw rates gammaa, gammab detected by the sensors 31a, 31b are inputted to a microcomputor 35. The microcomputor 35 calculates the variation rates DELTAgammaa, DELTAgammab of the yaw rates gammaa, gammab and then determines the difference D(=¦DELTAgammaa¦-¦DELTAgammab¦). The microcomputor 35 decides that the main yaw rate sensor 31a is abnormal if the difference D is larger than a predetermined value epsilon. |
