JP6040673B2 - Vehicle yaw rate detection device - Google Patents

Description

  The present invention relates to a vehicle yaw rate detection device having a zero point correction function capable of detecting a yaw rate based on an output signal from a yaw rate sensor provided in the vehicle and performing zero point correction of the yaw rate.

  Conventionally, zero point correction has been performed so that an accurate yaw rate can be detected by correcting a deviation from the zero point of the yaw rate detected based on an output signal from the yaw rate sensor. Specifically, the zero point correction of the yaw rate is performed by setting the yaw rate at the time of stopping the vehicle where the yaw rate value = 0 is assumed as a temporary value of 0 points, collecting a large number of temporary values of 0 points, and traveling at a predetermined speed. Based on the provisional value collected at that timing when it is started, for example, the average value of the provisional value is set as an update value of 0 points. However, when a vehicle is placed on a turntable provided in a multilevel parking lot or the like, a yaw rate is generated even when the vehicle is stopped. Therefore, the yaw rate obtained at this time is collected as a temporary value of 0 points. If the zero point is updated, an erroneous zero point correction is performed.

  For this reason, Patent Document 1 proposes a technique for stopping collecting the yaw rate obtained during rotation of the turntable as a temporary value of 0 points. Specifically, in Cited Document 1, focusing on the fact that the differential value of the yaw rate sensor value exceeds a predetermined value at the start or end of rotation of the turntable, from the rotation start timing when the differential value of the yaw rate sensor value exceeds the predetermined value. The period until the rotation end timing at which the differential value of the yaw rate sensor value exceeds the predetermined value is detected again, and during that period, it is determined that the yaw rate is generated based on the rotation of the turntable, and collected during that period. The update of 0 point using the temporary value of 0 point is stopped. Then, an updated value of 0 points is calculated from a temporary value of 0 points collected at times other than during the turntable rotation period when the rotation of the turntable is stopped and the driver starts the vehicle.

JP 2005-181254 A

  However, the technique disclosed in Patent Document 1 is based on the assumption that the driver does not start the vehicle while the turntable is rotating, and the yaw rate generated in the vehicle when the vehicle is started while the turntable is rotating. If the differential value does not exceed the predetermined value, the period for stopping the collection of the temporary value of 0 point is not set, the 0 point is updated, and the 0 point is erroneously corrected.

  In addition, here, a case where a vehicle is mounted on a turntable is described as an example, but the same applies to a vehicle stopped in a ferry at a stop where a yaw rate may occur due to the influence of waves. There is a problem of erroneous correction of 0 points. In addition, there is a problem of erroneous correction of 0 points similarly for a vehicle that is turning at a very low speed when it is determined that the vehicle is stopped even at a very low speed (hereinafter referred to as an extremely low speed).

  In other words, when the stop surface (turntable or ferry) of the vehicle moves while the vehicle is stopped, it turns at an extremely low speed when it is determined that the vehicle is about to come off from the moving stop surface. During the exit from the turn, there can be a zero correction problem.

  In view of the above, the present invention provides a yaw rate detection device for a vehicle that can prevent erroneous correction when correcting the zero point of the yaw rate detected based on the output signal of the yaw rate sensor. Objective.

In order to achieve the above object, according to the first aspect of the present invention, based on the yaw rate (Yr) detected by the yaw rate detection means (100) when the stop determination means (110) determines that the vehicle is stopped. In addition, the temporary value storage means (120) stores the temporary value of the zero point of the yaw rate (Yr), and the storage determination means (140) determines whether the temporary value is stored in the temporary value storage means (120). When the stop determination means (110) determines that the vehicle is not stopped, the storage determination means (140) determines that the temporary value is stored, and the speed determination means (150). When it is determined that the vehicle speed (V) is less than the predetermined speed threshold (Kv), the yaw rate fluctuation detecting means (160) detects the fluctuation of the yaw rate (Yr) detected by the yaw rate detecting means (100). Detect When the vehicle speed (V) is between the lower than the predetermined speed threshold (Kv), erases the temporary value stored in the Karine storage means (120). Further, when it is determined that the vehicle is not stopped by the stop determination means (110), it is determined that the temporary value is stored by the storage determination means (140), and the speed determination means (150) When it is determined that the vehicle speed (V) is not less than the predetermined speed threshold (Kv), the correction means (180) performs zero point correction of the yaw rate (Yr).

  As described above, whether or not the yaw rate fluctuates during the period from when the vehicle (5) starts to the vehicle speed (V) reaches the predetermined speed threshold (Kv) while storing the temporary value of 0 point while the vehicle is stopped. To detect. As a result, it is possible to detect that the vehicle (5) has started off from the turntable (6) while the turntable (6) is rotating, and the like, and it is possible to prevent erroneous correction of the zero point in such a case. It becomes possible.

  For example, as described in claim 2, the yaw rate fluctuation detecting means (160) detects that the sign of the yaw rate (Yr) is inverted as the fluctuation of the yaw rate (Yr).

  When the vehicle (5) starts to turn out of the turntable (6) while the turntable (6) is rotating, the yaw rate (Yr) is reduced during a short period of time until the vehicle speed (V) reaches the predetermined speed threshold (Kv). ) Is inverted. Therefore, by detecting that the sign of the yaw rate (Yr) is reversed by the yaw rate fluctuation detecting means (160), the vehicle (5) starts while the turntable (6) is rotating, and the turntable (6). It is possible to detect that the user has tried to escape from the system, and in such a case, it is possible to prevent erroneous zero point correction.

  Further, as described in claim 3, the yaw rate fluctuation detection means (160) may detect that the yaw rate (Yr) exceeds a predetermined threshold as the fluctuation of the yaw rate (Yr).

  For example, when getting off from the ferry (7), it does not necessarily go until the sign of the yaw rate (Yr) is reversed. In such a case, when the yaw rate fluctuation detecting means (160) detects that the yaw rate (Yr) exceeds a predetermined threshold, it is possible to detect getting off from the ferry (7). In such a case, it is possible to prevent the zero point correction from being erroneously performed.

  Further, as described in claim 4, when the stop determination means (110) determines that the vehicle is stopped until the vehicle speed (V) is traveling at an extremely low speed that is equal to or less than a predetermined speed, In addition, the invention described in 3 can be applied.

  That is, when it is determined that the extremely low speed is also stopped, if the vehicle (5) is turning at a very low speed, the yaw rate (Yr) resulting from the turning is stored as a temporary value of 0 points, and 0 points based on that. Corrections may be made. Also in this case, by detecting the fluctuation of the yaw rate (Yr), it is possible to detect that the vehicle (5) has exited from the state of turning at an extremely low speed. Therefore, even when the vehicle (5) exits the state where the vehicle (5) is turning at an extremely low speed, erroneous zero point correction can be prevented.

  In addition, the code | symbol in the bracket | parenthesis of each said means shows an example of a corresponding relationship with the specific means as described in embodiment mentioned later.

1 is a block diagram illustrating a schematic configuration of a brake system to which a vehicle yaw rate detection device according to a first embodiment of the present invention is applied. It is the flowchart which showed the detail of 0 point correction processing. It is a time chart at the time of generating a vehicle after rotation of a turntable is stopped. It is a time chart at the time of starting a vehicle during rotation of a turntable. It is the schematic diagram which showed the mode of getting off from a ferry. It is the schematic diagram which showed the mode when it escaped from the state in turning at very low speed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiments, parts that are the same or equivalent to each other will be described with the same reference numerals.

(First embodiment)
A first embodiment of the present invention will be described. FIG. 1 is a block diagram showing a schematic configuration of a brake system to which a vehicle yaw rate detection device according to the present embodiment is applied.

  As shown in FIG. 1, a brake system to which a yaw rate detection device is applied includes a yaw rate sensor 1, a wheel speed sensor 2, an ECU (hereinafter referred to as ESC-ECU) 3 for an sideslip prevention control (ESC). The system configuration includes a brake actuator 4. In the present embodiment, the ESC-ECU 3 among these corresponds to a yaw rate detection device for a vehicle.

  The ESC-ECU 3 is a well-known device including a CPU, ROM, RAM, I / O, and the like, and executes side slip prevention control according to a program stored in the ROM. The yaw rate sensor 1 and the wheel speed sensor 2 The yaw rate generated in the vehicle is detected based on the detection signal and the like, and the skid prevention control is executed based on the detection result. For example, the ESC-ECU 3 detects the actually generated yaw rate detected based on the detection signal of the yaw rate sensor 1 and the vehicle speed detected based on the detection signal of the wheel speed sensor 2 or a steering angle sensor (not shown). The skid state of the vehicle is determined based on the difference from the target yaw rate obtained from the steering angle detected based on the signal. For example, when the difference between the actual yaw rate and the target yaw rate exceeds a predetermined threshold, the braking actuator 4 is driven to generate a braking force on the wheel to be controlled, and a yaw moment based on the braking force is generated to generate the target yaw rate. The vehicle is controlled to prevent the vehicle from slipping.

  As described above, yaw rate detection based on the detection signal of the yaw rate sensor 1 is performed in vehicle skid prevention control or the like, but the zero point of the yaw rate detected from the detection signal of the yaw rate sensor 1 may be shifted. The ESC-ECU 3 has a zero point correction function for correcting the deviation of the zero point of the yaw rate, and performs zero point correction based on the yaw rate when the vehicle is stopped, that is, the yaw rate when the yaw rate value = 0 is expected. . In other words, the yaw rate value should be 0 when the vehicle is stopped, but if the yaw rate is generated, it is the amount of deviation from the zero point. For this reason, the yaw rate when the vehicle is stopped is assumed to be a temporary value of 0 points, a large number of temporary values of 0 points are collected, and when the vehicle starts traveling at a predetermined speed, the temporary value collected at that timing is obtained. Based on this, zero point correction of the yaw rate is performed. For example, an average value of the collected provisional values is obtained, and the zero point correction is performed by updating the zero point, assuming that the value is a correct zero point with no original deviation.

  However, as described above, when the vehicle is placed on the turntable, the yaw rate accompanying the rotation is generated even when the vehicle is stopped. For this reason, the zero point correction is limited so that the zero point correction is not performed based on the yaw rate generated with the rotation of the turntable. Further, a case where the vehicle starts to start while the turntable is rotating and gets off the turntable is accurately detected, and zero point correction is not performed based on the yaw rate at that time.

  Specifically, the ESC-ECU 3 performs the zero point correction as described above by executing the zero point correction process shown in FIG. Note that the zero point correction process shown in FIG. 2 is executed every predetermined control period when, for example, the ignition switch is turned on. As a limitation of the zero point correction, as shown in Patent Document 1, the yaw rate Yr detected during the rotation of the turntable based on the differential value of the yaw rate Yr detected by the detection signal of the yaw rate sensor 1 is used. Although a process of excluding the provisional value is also executed, this process is the same as the conventional process, and is omitted from FIG.

  First, in step 100, signal reading processing is performed. That is, the yaw rate Yr generated in the vehicle is detected by reading the detection signal of the yaw rate sensor 1, and the vehicle speed V is calculated from the wheel speed by a well-known method after reading the detection signal of the wheel speed sensor 2. Calculate.

  Next, it progresses to step 110 and it is determined whether it is stopping. This determination is performed by determining whether or not the vehicle speed V calculated in step 100 is zero. If an affirmative determination is made here, the routine proceeds to step 120, where the yaw rate Yr detected based on the detection signal of the yaw rate sensor 1 is stored, and the average of the yaw rate Yr stored from the stop to the present control cycle is stored. The value is calculated and stored as a provisional value of the yaw rate Yr (hereinafter referred to as provisional Yr0). Here, the provisional Yr0 is the average value of the yaw rate Yr stored from the stop to the present control cycle, but it is not always necessary to use the average value, and the latest yaw rate Yr may be the provisional Yr0.

  Thereafter, the process proceeds to step 130 where the flag Flag1 indicating that the temporary Yr0 is stored is set to 1, and the process is terminated.

  On the other hand, if a negative determination is made in step 110, the process proceeds to step 140, and it is determined whether or not the flag Flag1 is set to 1, that is, whether or not the temporary Yr0 is stored. Here, if the provisional Yr0 is not stored, the zero point correction cannot be performed. Therefore, the process is terminated as it is, and if the provisional Yr0 is stored, the process proceeds to step 150 and the subsequent steps. Based on the provisional Yr0, it is determined whether or not the zero point correction can be performed, and if possible, the zero point correction is performed.

  Specifically, in step 150, it is determined whether or not the vehicle speed V is less than a predetermined speed threshold value Kv. The predetermined speed threshold value Kv is set to a vehicle speed at which it is assumed that the vehicle has already exited the turntable after starting from the stop state. If a positive determination is made here, the process proceeds to step 160.

  In step 160, it is determined whether or not the yaw rate has changed. In the case of the present embodiment, it is detected whether the sign of the yaw rate Yr is inverted as the yaw rate fluctuation. That is, if the vehicle starts while the turntable is rotating and tries to come out of the turntable, the moment the front wheel or rear wheel comes off the turntable, the front of the vehicle is located outside the turntable and the rear of the vehicle is with the turntable. It continues to rotate. For this reason, when one of the front wheels or the rear wheels is located outside the turntable against the yaw moment that occurs when both front and rear wheels are on the turntable, A yaw moment is applied. Therefore, the sign of the yaw rate Yr is reversed during a short period until the vehicle speed V reaches the predetermined speed threshold value Kv. When the sign of the yaw rate Yr is reversed in this way, it is considered that the vehicle has escaped during rotation of the turntable, so the routine proceeds to step 170 and the flag Flag1 indicating that the temporary Yr0 is stored is reset to 0. At the same time, the temporary Yr0 stored so far is erased and the process is terminated. Accordingly, the zero point correction can be prohibited so that the zero point correction is not performed when the vehicle comes out while the turntable is rotating, and the zero point can be prevented from being erroneously corrected.

  On the other hand, if a negative determination is made in step 160, the process is terminated as it is, and the determination in step 160 is continuously performed until the vehicle speed V becomes equal to or higher than the predetermined speed threshold Kv and a negative determination is made in step 150. If a negative determination is made in step 150, the process proceeds to step 180 and zero point correction of the yaw rate Yr is performed. Specifically, the provisional Yr0 stored at that time is updated to 0 point of the new yaw rate Yr. At this time, as described above, when an affirmative determination is made in step 160 and it is detected that the vehicle has slipped out during rotation of the turntable, the temporary Yr0 that has already been stored is deleted. A negative determination is made at step 140, and the process does not proceed to step 180. For this reason, 0 point correction is not performed, and the yaw rate 0 point Yr0 that has been stored as 0 points until now is used as it is as 0 points. Then, the process proceeds to step 190, where the flag Flag1 indicating that the temporary Yr0 is stored is reset to 0, and the temporary Yr0 stored so far is deleted, and the process is terminated.

  3 and 4 are time charts for the case where the vehicle 5 is generated after the rotation of the turntable 6 is stopped and the case where the vehicle 5 is started during the rotation.

  As shown in FIG. 3, it is assumed that at time T1, the vehicle 5 travels to the turntable 6 whose rotation is stopped and then stops at time T2, and then the turntable 6 starts to rotate at time T3. In that case, since the vehicle is stopped at time T2, provisional Yr0 is stored after time T2. Even if the turntable 6 is rotating at the time T3, the temporary Yr0 is stored because it is stopped.

  However, the provisional value of the yaw rate Yr detected during the rotation of the turntable 6 based on the differential value of the yaw rate Yr detected by the detection signal of the yaw rate sensor 1 is excluded as in the prior art. For this reason, when the turntable 6 starts to rotate at time T3 and when the turntable 6 stops at time T4, the differential value of the yaw rate Yr exceeds a predetermined value, and the turntable 6 is in the rotation period. It is detected. Then, the provisional Yr0 during that period is excluded and zero point correction is not performed, or zero point correction is performed based on the provisional Yr0 obtained at other times. For this reason, there is no erroneous correction due to the influence of the yaw rate Yr generated by the rotation of the turntable 6.

  On the other hand, as shown in FIG. 4, it is assumed that at time T1, the vehicle 5 travels to the turntable 6 whose rotation is stopped and then stops at time T2, and then the turntable 6 starts to rotate at time T3. Also in this case, the temporary Yr0 is stored because the vehicle is stopped at time T2. Even if the turntable 6 is rotating at the time T3, the temporary Yr0 is stored because it is stopped.

  Here, when the turntable 6 starts to rotate at time T3, even if the start of rotation of the turntable 6 is detected based on the differential value of the yaw rate Yr detected by the detection signal of the yaw rate sensor 1, the rotation is detected. When the vehicle 5 starts and exits the turntable 6, even if a differential value of the yaw rate Yr is generated, it may not exceed a predetermined value. For this reason, if the differential value of the yaw rate Yr is only compared with a predetermined value, it is not possible to detect a case where the vehicle 5 has left the rotating turntable 6.

  However, as in the present embodiment, if the yaw rate fluctuation is detected based on whether the sign of the yaw rate Yr is reversed or not, at time T4, the vehicle 5 is turning the turntable 6 while the turntable 6 is rotating. The case where it escapes from can be detected. Therefore, in this case, it is possible to prevent the zero point from being erroneously corrected by preventing the zero point correction of the yaw rate Yr from being performed.

  As described above, in the present embodiment, while the temporary Yr0 is stored while the vehicle is stopped, it is detected whether or not the yaw rate fluctuates after the vehicle 5 starts until the vehicle speed V reaches the predetermined speed threshold value Kv. Like to do. As a result, it is possible to detect that the vehicle 5 has left the rotating turntable 6, and in such a case, it is possible to prevent erroneous correction of the zero point.

(Second Embodiment)
A second embodiment of the present invention will be described. In the present embodiment, erroneous correction of the zero point of the yaw rate Yr when the vehicle placed on the ferry is lowered from the ferry is prevented. Note that the brake system to which the yaw rate detection device of this embodiment is applied is the same as that of the first embodiment, and the method of the zero point correction process is basically the same.

  For example, as shown in FIG. 5, when the vehicle 5 placed on the ferry 7 is lowered from the ferry 7, when the vehicle 5 is placed on the ferry 7, the ferry is stopped on the ferry, so the ferry after the driver turns on IG Temporary Yr0 is stored on the basis of the yaw rate Yr generated by the rotation of the ship itself or by the fluctuation of the ferry 7 caused by waves or the like. In the conventional method, even after the ferry arrives at the terminal, the rotary motion remains in the ferry due to the influence of the waves, and the vehicle 5 is started when the vehicle 5 is lowered from the ferry 7 while the yaw rate is generated. Then, there is a possibility that zero point correction is performed based on the temporary Yr0 stored during boarding. Also in this case, since the temporary Yr0 is stored based on the yaw rate Yr due to the ferry 7 swinging, if the zero point is updated based on the temporary Yr0, an erroneous zero point correction is performed.

  Therefore, also in this embodiment, by executing the zero point correction process shown in FIG. 2 described in the first embodiment, the getting off from the ferry 7 is detected, and when it is detected, the stored temporary Yr0 is stored. On the basis of this, the zero point correction is not performed, and the zero point correction is prevented. That is, when getting off from the ferry 7, the vehicle 5 is moved to the stable ground from the ferry 7 that is rotated by the wave, so that the yaw rate fluctuates. For this reason, the getting-off from the ferry 7 can be detected basically by executing the zero point correction process shown in FIG. However, when getting off from the ferry 7, the yaw rate does not always change until the sign of the yaw rate Yr is reversed. Therefore, the yaw rate fluctuation in step 160 of FIG. 2 may be made on the condition that the differential value of the yaw rate Yr is equal to or greater than a predetermined threshold value.

  In this way, when getting off from the ferry 7 is detected based on the fluctuation of the yaw rate, and when it is detected, the zero point correction is not performed based on the stored temporary Yr0. When getting off the vehicle, it is possible to prevent erroneous zero point correction.

(Third embodiment)
A third embodiment of the present invention will be described. In the present embodiment, not only when the vehicle speed is exactly 0, but also when the vehicle is turning at a very low speed in a case where a margin is provided for the determination so that it is determined that the vehicle is also stopped at an extremely low speed, in this embodiment. This prevents erroneous correction of the zero point of the yaw rate Yr. Note that the brake system to which the yaw rate detection device of this embodiment is applied is the same as that of the first embodiment, and the method of the zero point correction process is basically the same.

  When it is determined that the extremely low speed is also stopped, for example, as shown in FIG. 6, if the vehicle 5 is turning at a very low speed (for example, a spin not intended by the driver), the yaw rate Yr resulting from the turning is stored as a temporary Yr0. Based on this, zero point correction may be performed. For this reason, by executing the zero point correction process shown in FIG. 2 described in the first embodiment, a state in which the vehicle 5 is turning at a very low speed is detected, and when this is detected, the stored temporary The zero point correction is not performed based on Yr0, so that the zero point correction is prevented. That is, when the vehicle 5 is turning at a very low speed, if the driver performs an operation such as depressing the accelerator so as to get out of the turning state, the yaw rate fluctuation occurs. Therefore, basically, by executing the zero point correction process shown in FIG. 2 as it is, it is possible to detect that the vehicle 5 has exited the state where the vehicle 5 was turning at an extremely low speed. However, when the vehicle 5 exits from a state where the vehicle 5 is turning at an extremely low speed, the yaw rate fluctuation may not necessarily occur until the sign of the yaw rate Yr is reversed. Therefore, the yaw rate fluctuation in step 160 of FIG. 2 may be made on the condition that the differential value of the yaw rate Yr is equal to or greater than a predetermined threshold value.

  Thus, based on the yaw rate fluctuation, it is detected that the vehicle 5 has exited from the state of turning at an extremely low speed, and when this is detected, zero point correction is performed based on the stored temporary Yr0. By avoiding this, even when the vehicle 5 exits from a state where the vehicle 5 is turning at an extremely low speed, it is possible to prevent erroneous zero point correction.

(Other embodiments)
The present invention is not limited to the embodiment described above, and can be appropriately changed within the scope described in the claims. For example, in each of the embodiments described above, the case where the yaw rate detection device of the vehicle 5 is configured by the ESC-ECU 3 has been described, but may be configured by another ECU or the like.

  The steps shown in each figure correspond to means for executing various processes. Specifically, the part of the ESC-ECU 3 that executes the process of step 100 is the yaw rate detecting means and the vehicle speed detecting means, the part that executes the process of step 110 is the stop determining means, and the part that executes the process of step 120 is the temporary The value storage means, the part that executes the process of step 140 is the storage determination means, the part that executes the process of step 150 is the speed determination means, the part that executes the process of step 160 is the yaw rate fluctuation detection means, and executes the process of step 170 This part corresponds to zero point correction prohibiting means.

  DESCRIPTION OF SYMBOLS 1 ... Yaw rate sensor, 2 ... Wheel speed sensor, 3 ... ESC-ECU, 4 ... Brake actuator, 5 ... Vehicle, 6 ... Turntable, 7 ... Ferry

Claims (4)

Yaw rate detection means (100) for detecting the yaw rate (Yr) generated in the vehicle (5);
Vehicle speed detection means (100) for detecting the vehicle speed (V);
Stop determination means (110) for determining whether or not the vehicle is stopped based on the vehicle speed (V);
A temporary value of zero of the yaw rate (Yr) is stored based on the yaw rate (Yr) detected by the yaw rate detection means (100) when the stop determination means (110) determines that the vehicle is stopped. Temporary value storage means (120) for
Storage determination means (140) for determining whether or not the temporary value is stored in the temporary value storage means (120);
Speed determining means (150) for determining whether or not the vehicle speed (V) is less than a predetermined speed threshold (Kv);
When the stop determination unit (110) determines that the vehicle is not stopped, the storage determination unit (140) determines that the temporary value is stored, and the speed determination unit (150). The yaw rate fluctuation detection detects the fluctuation of the yaw rate (Yr) detected by the yaw rate detection means (100) when it is determined that the vehicle speed (V) is less than the predetermined speed threshold (Kv). Means (160);
When the stop determination unit (110) determines that the vehicle is not stopped, the storage determination unit (140) determines that the temporary value is stored, and the speed determination unit (150). Correction means (180) for correcting the zero point of the yaw rate (Yr) when it is determined that the vehicle speed (V) is not less than the predetermined speed threshold (Kv).
When the fluctuation of the yaw rate (Yr) is detected by the yaw rate fluctuation detecting means (160) , the temporary value storage means (120) is stored while the vehicle speed (V) is less than the predetermined speed threshold value (Kv). A yaw rate detection apparatus comprising: zero point correction prohibiting means (170) for erasing the stored temporary value.   The yaw rate detection device according to claim 1, wherein the yaw rate fluctuation detecting means (160) detects that the sign of the yaw rate (Yr) is inverted as the fluctuation of the yaw rate (Yr).   The yaw rate detection device according to claim 1, wherein the yaw rate fluctuation detecting means (160) detects that the yaw rate (Yr) exceeds a predetermined threshold as a fluctuation of the yaw rate (Yr).   The stop determination means (110) determines that the vehicle is stopped until the vehicle speed (V) is traveling at an extremely low speed that is equal to or less than a predetermined speed. Yaw rate detection device.

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