| 摘要 |
PURPOSE:To detect the failure of a yaw rate sensor, and thereby secure running safety by judging whether or not the rate of change in a yaw rate computed based on signals from the yaw rate sensor exceeds each threshold value for the rate of change in a yaw rate. CONSTITUTION:A yaw rate sensor YAW is composed of a yaw rate gyro and the like, and detects the yaw rate of a vehicle continuously. A computing means 1 for the change of rate in a yaw rate picks up a yaw rate value at present and the yaw rate value at the previous time while repeating the aforesaid pick-up action n times, and computes the average value of detected ones, so that the change of rate in a yaw rate at the time is thereby established. A failure judging means 4 judges that the yaw rate sensor is at fault when the computed change of rate in a yaw rate exceeds a yaw angular acceleration threshold value for the vehicle speed or handle angular velocity established in advance, so that rear wheels are thereby held at a neutral position with the solenoid of a side-to-side direction switch-over valve deenergized. |
