| 摘要 |
PURPOSE:To detect sensor trouble even without providing over two pieces of same kind sensors as sensors for detecting quantity of state, in the control device of a vehicle. CONSTITUTION:In a steering angle control device, front and rear wheel steering angle sensors 11, 12, a yaw rate sensor 13, and a lateral acceleration sensor 14 are at least used for steering angle control. A quantity of state estimation part 16 estimates output of the sensors 13, 14 from front and rear wheel steering angles. A trouble detection part 17 judges which sensor is troubled in the sensor group 11-14, by comparing the output of the sensors 13, 14 and the estimated value. Even using each sensor singly, a troubled sensor can be specified and the trouble can be judged, and cost against the sensors can be reduced. |
