Force vehicle behavior - control device with means for preventing a faulty control because of a shift in the center of a yaw rate sensor

摘要

PROBLEM TO BE SOLVED: To prevent an improper behavior control from being caused by the fluctuation of a zero point drift amount accompanied with temperature change in a yaw rate sensor. ;SOLUTION: The zero point drift amount γd of a yaw rate sensor is calculated at the stop state time or the straight running time of a vehicle and a deviation Δγ between the vehicular basic yaw rate γt calculated based on a steering angle θ and car speed V and a detection yaw rate γ-γd corrected by the zero point amount is calculated (S20, S30) and a behavior control is carried out (S90∼160) when the bigness of the yaw rate deviation exceeds a basic value Δγ_c. when a prescribed time T1 is not lapsed from an engine start time and the temperature of the yaw rate sensor is not stabilized, the absolute value of the yaw rate deviation Δγ is reduced and corrected to a correction amount γo to make behavior control difficult to carry out (S50-80).;COPYRIGHT: (C)1999,JPO