| 摘要 |
PURPOSE:To calculate an accurate yaw rate regardless of the drift amount of a yaw rate sensor in the sensor signal processor for calculating the yaw rate based on output signals from the yaw rate sensor. CONSTITUTION:A first constitution is provided with a yaw rate correction signal calculating means d1 for updating the zero point signal of the yaw rate sensor in a direction for equalizing the ratio of the values of only the plus component and the only the minus component of a steering angle and the ratio of the values of the only the plus component and only the minus component of the yaw rate when steering below prescribed steering amplitude is continued for a prescribed time under the condition of being below prescribed velocity fluctuation. The second constitution is provided with a yaw rate correction signal calculating means d2 for estimating the generated yaw rate from the steering angle, forward/backward direction velocity and vehicle characteristics and updating the output signal of the yaw rate sensor as the zero point signal when the estimated generated yaw rate is a permissible yaw rate error determined beforehand or less. |
