| 摘要 |
PURPOSE:To detect abnormality of a device to detect a travelling state of a vehicle by way of using information acquired from a position information detection means of a vehicle. CONSTITUTION:Detection results of a yaw-rate sensor and a front wheel steering angle sensor expected to find the detection result of the same tendency concerning a travelling state of a vehicle are compared with each other (S5, S6, S11). In the case when it is judged that there is no consistency in the results of the both sensors and there is abnormality about either of the sensors, vehicle position information in accordance with information from a GPS device is referred to (S8, S12), and which of the sensors has abnormality is judged. In accordance with the vehicle position information, whether the vehicle is in a normal turning travelling state, a straight or an abnormal turning travelling state is judged, and it is compared with information acquired from the detection results of the sensors and which of the sensors has abnormality is judged. |
