| 摘要 |
PURPOSE:To accurately calculate the amount of rise of the initial period during which yawing rate is varied by providing between a yawing rate computing means and a filter means a correcting means which multiplies each detected value predetermined number of times only during the period of the first time in which the absolute value of the detected value of the yawing rate is above a predetermined value. CONSTITUTION:Detection signals from G sensors 31, 32 are read at the start of a system so as to judge whether or not the absolute value of each detected value is above a predetermined value. When the absolute value is above the predetermined value a signal change is judged as the initial rise of the actual change of each sensor signal due to occurrence of cross G and the detected value is multiplied predetermined number of times and corrected only for the initial period during which each detection signal is changed, and the detected value corrected is output to a yawing rate computing portion 51. The yawing rate is computed according to the corrected value and then the quantity of steering of rear wheels is computed using the result of this computation and a control signal is output from a rear wheel control portion 53 according to the result of this computation so that the rear wheels are controlled. |
