| 摘要 |
PURPOSE:To detect a fault at an early stage and surely by a method wherein the fault of a yaw-rate sensor is judged on the basis of a yaw-rate frequency and a helm frequency which have been detected. CONSTITUTION:Angular signals from a handle helm sensor 25, a wheel velocity sensor 27 and a yaw-rate sensor 28, e.g. signals of a handle helm thetah, a wheel velocity V and a yaw rate psiv, are read. Then, whether four wheels are in a bad-road traveling state or not is judged on the basis of a fluctuation in the wheel velocity V. When they are not in the bad-road traveling state, the processing of the fault judgment of the sensor 28 is executed. That is to say, a sensor abnormality flag F is reset, a helm frequency Fthetah is detected 31, and a yaw-rate frequency Fpsiv is detected 32. A first fault judgment means 33 judges whether the absolute value of the difference between the frequency Fthetah and the frequency Fpsiv is a prescribed value C1 or higher. When it is the prescribed value C1 or higher, it is judged as the fault of the sensor 28. Then, the flag F is set and returned, and the processing of the fault judgment of the sensor 28 is finished. |
