| 摘要 |
PURPOSE:To properly detect a yawrate by discriminating abnormality of a yawrate sensor without wrong decision. CONSTITUTION:A yawrate sensor is provided to perform its abnormality decision process for whether the yaw rate sensor is abnormal or not by comparing an actual yaw rate Wa* detected by this yawrate sensor, with an estimated yawrate rx* calculated from a speed difference between right/left wheels of a vehicle. Here in the case of detecting a slip condition of the right/left wheels from respective wheel speeds thereof, the above-mentioned abnormality decision process is suspended. |
