| 摘要 |
PURPOSE:To simply detect a yaw rate without lowering accuracy, by detecting the ground speeds of a vehicle on both sides thereof by speed sensors to apply difference operational processing thereto. CONSTITUTION:The ground speeds of a vehicle on both sides thereof are detected by the left and right independent speed sensors Sl, Sr of the vehicle to be processed by the subtraction circuit 7 of a yaw rate detector 1 and the obtained subtraction value is multiplied by the proportion constant of the tread of a rear wheel by a multiplier circuit 8 to become an approximate yaw rate. This approximate yaw rate is supplied to a recurrent type filter 9 to remove the high frequency component of a suspension vibration component and yaw rate is simply detected by a constitution unnecessary for a rate gyroscope without lowering accuracy. |
