Tire failure detecting device, tire failure detection method, tire failure detection program and computer readable recording medium recording tire failure detection program

摘要

The tire failure detecting apparatus has a steering angle sensor for detecting a steering angle, a yaw rate sensor for detecting a yaw rate, and a control unit. Then, the control unit determines the slip energy based on the output signals of the steering angle sensor and the yaw rate sensor, and determines that a tire has occurred when the side slip exceeds the first threshold value.