Importance

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Abstract

The present invention is directed to a yaw rate detecting system for a vehicle, which includes a yaw rate sensor for measuring a yaw rate of the vehicle. The apparatus is adapted to determine a stopped state of the vehicle, set a zero point at the yaw rate measured by the yaw rate sensor when the stopped state of the vehicle is determined, and calculate an actual yaw rate in response to an output of the yaw rate sensor, on the basis of the zero point. The actual yaw rate is calculated by subtracting the yaw rate at the zero point from the yaw rate measured by the yaw rate sensor. It may be so arranged that a desired yaw rate is set on the basis of a vehicle speed and a steering angle, and the zero point is corrected in response to a comparison of the desired yaw rate and the actual yaw rate. For example, a temporary zero point is set when the stopped state of the vehicle is determined, and a deviation between the desired yaw rate and the actual yaw rate is calculated. In this case, the actual yaw rate is calculated by subtracting the yaw rate at the temporary zero point from the yaw rate measured by the yaw rate sensor. Then, the zero point is corrected on the basis of the temporary zero point in response to the deviation.

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First Claim