JPH1164376A - Sensor abnormality detector in vehicle movement controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect abnormality at the small gain of a yaw rate sensor at a vehicle movement controller capable of controlling the movement of a vehicle based on the detected value of a yaw rate sensor and a horizontal acceleration sensor. SOLUTION: A yaw rate stable state judging means 12 judges a state where the detected value of a yaw rate sensor 8 at a time when a traveling state judging means 11 judges the traveling of a vehicle is stable within a first setting range set in advance. The abnormality of the sensor 8 is judged from the change of the detected value of a horizontal acceleration sensor 9 by a value equal to or larger than a first set value when the means 12 judges the stability of the detected value of the sensor 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a yaw rate sensor for detecting a yaw rate of a vehicle, a lateral acceleration sensor for detecting a lateral acceleration of the vehicle, a vehicle movement adjusting means for changing a movement of the vehicle, The present invention relates to a vehicle motion control device including a control unit that controls the operation of a vehicle motion adjusting unit based on a detection value of a sensor, and to a device for detecting abnormality of a yaw rate sensor and a lateral acceleration sensor.

[0002]

2. Description of the Related Art In Japanese Unexamined Patent Publication No. 9-127153, it is determined that the yaw rate sensor is abnormal when the detected value of the yaw rate sensor exceeds a predetermined range when the vehicle speed is equal to or higher than a predetermined value. Also, regarding the abnormality of the lateral acceleration sensor, if the detection value of the lateral acceleration sensor exceeds a predetermined value when the vehicle is in a predetermined traveling state, it is determined that the lateral acceleration sensor is abnormal. It is possible to judge.

[0003]

However, in the above-described conventional abnormality determination, it is possible to determine abnormality in a range where the detected values of the yaw rate sensor and the lateral acceleration sensor are large, but the yaw rate sensor and the lateral acceleration A vehicle that uses a yaw rate and a lateral acceleration while leaving such an abnormality undetected because both sensors cannot detect an abnormality in a range where the detection value is small due to sticking of a movable member in the sensor. In the motion control, the control may be inaccurate.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and a first object of the present invention is to make it possible to detect an abnormality with a small gain of a yaw rate sensor in a vehicle motion control device. A second object is to make it possible to detect an abnormality with a small gain.

[0005]

According to a first aspect of the present invention, a yaw rate sensor for detecting a yaw rate of a vehicle and a lateral acceleration sensor for detecting a lateral acceleration of the vehicle are provided. A vehicle motion control device comprising: a vehicle motion adjusting unit that can change the motion of the vehicle; and a control unit that controls the operation of the vehicle motion adjusting unit based on the detection values of the two sensors. Traveling state determining means for determining the traveling state of the vehicle, and a detection value of the yaw rate sensor when the traveling state determining means determines that the vehicle is traveling is stably set within a first set range set in advance. A yaw rate stable state judging means for judging a state of the vehicle, and a lateral direction when the detected value of the yaw rate sensor is judged to be stable by the yaw rate stable state judging means. A yaw rate sensor with the detected value of the speed sensor is changed over first set value, characterized in that it comprises a yaw rate abnormality determining means for determining as abnormal.

According to such a configuration, when the detected value of the lateral acceleration sensor changes by the first set value or more while the vehicle is running, the detected value of the yaw rate sensor also changes in accordance with the change in the lateral acceleration. If the detected value of the yaw rate sensor is stable within the first set range although it should have changed, it can be determined that the yaw rate sensor is abnormal in a small gain region.

According to another aspect of the present invention, there is provided a yaw rate sensor for detecting a yaw rate of a vehicle, a lateral acceleration sensor for detecting a lateral acceleration of the vehicle, and a motion of the vehicle. In a vehicle motion control device comprising: a vehicle motion adjusting unit capable of changing the vehicle motion; and a control unit that controls the operation of the vehicle motion adjusting unit based on the detection values of the two sensors, wherein the control unit controls a running state of the vehicle. Traveling state determining means for determining, and a lateral direction for determining a state in which a detection value of the lateral acceleration sensor when the traveling state determining means determines that the vehicle is traveling is stable within a second set range. A detection value of the yaw rate sensor when the detection value of the lateral acceleration sensor is determined to be stable by the acceleration stable state determination means and the lateral acceleration stable state determination means. Lateral acceleration sensor has to be changed more than the second set value, characterized in that it comprises a lateral acceleration abnormality determination means for determining as abnormal.

According to such a configuration, when the detected value of the yaw rate sensor changes by the second set value or more while the vehicle is running, the detected value of the lateral acceleration sensor also changes according to the change of the yaw rate. Although it should be, when the detected value of the lateral acceleration sensor is stable within the second set range, it is possible to determine that the lateral acceleration sensor is abnormal in a small gain region.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below based on one embodiment of the present invention shown in the accompanying drawings.

FIGS. 1 to 6 show an embodiment of the present invention. FIG. 1 shows a drive system and a brake system of a vehicle, and FIG. 2 judges an abnormality of a yaw rate sensor and a lateral acceleration sensor. FIG. 3 is a block diagram illustrating the procedure of detecting the abnormality of the yaw rate sensor, FIG. 4 is a diagram illustrating the processing procedure of FIG. 3, and FIG. 5 is a flowchart illustrating the abnormality detection processing of the lateral acceleration sensor. FIG. 6 is a flowchart showing the procedure, and FIG. 6 is a diagram for explaining the processing procedure of FIG.

First, in FIG. 1, this vehicle is a front engine / front drive vehicle. A power unit P including an engine E and a transmission T is provided at a front portion of a vehicle body 1 with a left front wheel W _{FL as} a drive wheel and a right front wheel W _FL. Installed to drive front wheels W _FR . Left and right front wheel brakes B _FL and B _FR are attached to the left and right front wheels W _FL and W _FR, and left and right rear wheel brakes B are applied to driven left and right rear wheels W _RL and W _{RR. RL} and B _RR are mounted, and each wheel brake B _FL , B _FR and B
_RL and B _RR are, for example, disc brakes.

The first and second output ports 2A and 2B of the tandem type master cylinder M output brake fluid pressure corresponding to the depression operation of the brake pedal 3, and both output ports 2A and 2B are connected to the output ports 2A and 2B. is connected to the brake fluid pressure control device 4 as a vehicle motor control means, the brake fluid pressure to the wheel brakes B _FL from the brake fluid pressure control device 4, B _FR, B _RL, is caused to act on the B _RR. In the brake fluid pressure control device 4, the brake fluid pressure acting on each of the wheel brakes B _FL , B _FR , B _RL , and B _RR is controlled by the control unit 5, and the control unit 5 controls the brake fluid pressure. _Includes wheel speed sensors 6 _FL , 6 _FR , which detect the wheel speeds of the respective wheels W _FL , W _FR , W _RL , W _RR , respectively.
6 _RL , 6 _R , a steering angle sensor 7 for detecting a steering angle δ operated by a steering handle H, a yaw rate sensor 8 for detecting a yaw rate γ of the vehicle, and a lateral acceleration sensor 9 for detecting a lateral acceleration α of the vehicle Are respectively input.

The control unit 5 controls each wheel brake B _FL ,
Anti-lock brake control to release the wheel lock during brake operation by controlling the brake fluid pressure of B _FR , B _RL , B _RR and the left mounted on the left and right front wheels W _FL , W _FR which are the driving wheels Traction control for eliminating the occurrence of excessive slip on the left and right front wheels W _FL and W _FR during non-braking operation by controlling the brake fluid pressure of the right front wheel brakes B _FL and B _FR , and at the time of braking operation and non-braking operation Regardless, the directional stability control by the yaw motion of the vehicle can be executed by controlling the brake fluid pressure of the left and right front wheel brakes B _FL and B _FR . For example, in the control unit 5, anti-lock brake control,
In each of the traction control and the directional stability control, the reference speed of at least one of the drive wheels W _FL and W _FR and the driven wheels W _RL and W _RR is determined, and the actual drive wheels W _FL and W _FR and the driven wheels are also determined. A control amount is calculated based on a deviation between at least one of the wheel speeds W _RL and W _RR and the reference speed, and the operation of the brake fluid pressure control device 4 is controlled based on the control amount. . At this time, the reference value is corrected for at least one of the yaw rate γ and the lateral acceleration α. For example, in traction control, when at least one of the yaw rate γ and the lateral acceleration α is large, the reference value is corrected. Is reduced.

The above-described brake fluid pressure control device 4 and a device for adjusting the output of the engine E may be used as motion regulation means for changing the motion of the vehicle. Alternatively, a means for adjusting the output of the engine E may be used.

The control unit 5 also has a function of detecting an abnormality of the yaw rate sensor 8 and the lateral acceleration sensor 9. In order to detect an abnormality of the yaw rate sensor 8 and the lateral acceleration sensor 9, FIG. As shown by the control unit 5, each wheel speed sensor 6 _FL ,
Running state determining means 11 for determining that the vehicle is in a running state based on wheel speeds detected by 6 _FR , 6 _RL , and 6 _RR , and the vehicle is running by the running state determining means 11. A yaw rate stable state judging means 12 for judging whether or not the detection value of the yaw rate sensor 8 at the time of judging is stable; and a lateral state when the running state judging means 11 judges that the vehicle is running. Direction acceleration sensor 9
And the lateral acceleration stable state determining means 13 for determining whether or not the detected value of the yaw rate sensor 8 is stable. The yaw rate abnormality judging means 14 for judging abnormality of the yaw rate sensor 8 based on the detection value of the direction acceleration sensor 9 and the lateral acceleration stable state judging means 13 judging that the detection value of the lateral acceleration sensor 9 is stable. A lateral acceleration abnormality judging means 15 for judging abnormality of the lateral acceleration sensor 9 based on the detection value of the yaw rate sensor 8 when the operation is being performed.

In the control unit 5, the abnormality determination of the yaw rate sensor 8 by the running state determination means 11, the yaw rate stable state determination means 12 and the yaw rate abnormality determination means 14 takes a predetermined time, for example, 2 seconds after the engine E is started by the ignition switch. It is executed according to the procedure shown in FIG.

In step S1 of FIG. 3, the vehicle speed V obtained from the average value of the wheel speeds of at least the left and right rear wheels W _RL and W _RR which are the driven wheels is set at a set speed VS of, for example, 10 km.
/ H is determined, and when V <VS, in step S2, the detected value γ of the yaw rate sensor 8 is set as the yaw determination reference value γB, and the yaw stability determination timer is reset. The detection value α of the lateral acceleration sensor 9 is determined as the maximum value αMAX of the lateral acceleration and the minimum value αMIN of the lateral acceleration. The detection value γ of the yaw rate sensor 8 and the detection value α of the lateral acceleration sensor 9
Is obtained by removing noise with a filter (not shown).

If it is determined in step S1 that V.gtoreq.VS and the vehicle is running, the flow advances to step S3.
It is determined whether or not the value (γ−γB) obtained by subtracting the yaw determination reference value γB from the detection value γ of the yaw rate sensor 8 is within a first setting range set to be larger than −ΔγS and smaller than + ΔγS. judge. ΔγS is, for example, 1 de
g / sec. That is, in step S3,
This is to determine whether the detection value γ of the yaw rate sensor 8 when it is determined that the vehicle is traveling is stable within a first set range that is a minute range, and | γ−γB | ≧ Δγ
When it is determined in S that the detected value γ of the yaw rate sensor 8 is in an unstable state, the process proceeds from step S3 to step S2.

In step S3, | γ−γB | <Δ
When it is determined that the detected value γ is stable and the detected value γ of the yaw rate sensor 8 is stable, the elapsed time of the yaw stability determination timer is set to the set time TS, for example, 200 in step S4.
It is determined whether or not 0 msec or more has elapsed. Step S4 is performed until the elapsed time of the yaw stability determination timer reaches the set time TS.
Then, in step S5, the yaw stability determination timer is counted, and the detection value α of the lateral acceleration sensor 9 is set to the maximum value αMAX of the lateral acceleration and the minimum value αMIN of the lateral acceleration.

The set value ΔγS for determining whether the detected value γ of the yaw rate sensor 8 is stable in step S3 and the set time TS in step S4 are determined when the vehicle is skidding or When drifting, the yaw rate sensor 8
Is set in order to detect an abnormality of the yaw rate sensor 8 except when skidding or drifting. In step S4, the elapse value of the yaw stability determination timer is set. When it is determined that the time TS has been reached, the processing of steps S6 to S11 elapses, and then an abnormality of the yaw rate sensor 8 is determined.

In step S5, when it is determined that the elapsed time of the yaw stability determination timer has reached the set time TS, that is, when the state where the detected value γ of the yaw rate sensor 8 is stable has continued for the set time TS or more. In step S6, it is determined whether the detected value α of the lateral acceleration sensor 9 is larger than the maximum value αMAX of the lateral acceleration. If the detected value α is larger, the detected value α of the lateral acceleration sensor 9 is determined in step S7. After the maximum value of the acceleration is set to αMAX, the process proceeds to step S10. If it is determined in step S6 that the detected value α of the lateral acceleration sensor 9 is equal to or less than the maximum value αMAX of the lateral acceleration, the process proceeds to step S6.
In step 8, it is determined whether the detection value α of the lateral acceleration sensor 9 is less than the minimum value αMIN of the lateral acceleration, and α <αM
If IN, the detection value α of the lateral acceleration sensor 9 is determined as the minimum value of the lateral acceleration αMIN in step S9, and the process proceeds to step S10. In step S8, α ≧ α
If it is MIN, the process goes to step S10 bypassing step S9.

In step S10, it is determined whether the value obtained by subtracting the minimum value αMIN of the lateral acceleration from the maximum value αMAX of the lateral direction exceeds a first set value ΔαS, for example, 0.4 G, and (αMAX−αMIN). If> ΔαS, it is determined in step S11 that the yaw rate sensor 8 is abnormal. Here, the first set value ΔαS is determined in consideration of the fact that the detection value α of the lateral acceleration sensor 9 may be inaccurate when the vehicle runs in a bank.

Step S1 in the flowchart of FIG. 3 is performed by the traveling state determining means 11 by steps S2 to S5.
Is supplied to the yaw rate stable state determining means 12 and step S
6 to S11 correspond to the yaw rate abnormality determining means 14.

According to the processing procedure shown in FIG. 3, when the detection value γ of the yaw rate sensor 8 and the detection value α of the lateral acceleration sensor 9 change as shown in FIG. The change amount of the detection value γ of the yaw rate sensor 8 is ΔγS
At time t1 when the time elapsed by the yaw stability determination timer starts, the elapsed time of the yaw stability determination timer becomes the set time T.
From time t2 when the detection value γ of the yaw rate sensor 8 is in a stable state until S is reached, it is determined whether or not the detection value α of the lateral acceleration sensor 9 changes beyond the first set value ΔαS. . Thus, when the detected value α of the lateral acceleration sensor 9 tends to increase, the detected value α of the lateral acceleration sensor 9 at time t2 becomes the minimum value α of the lateral acceleration.
MIN, the lateral acceleration sensor 9
The maximum value α of the lateral acceleration increases as the detected value α of
Since MAX is sequentially updated with the detection value α of the lateral acceleration sensor 9, it is determined that the yaw rate sensor 8 is abnormal at time t3 when (αMAX−αMIN) exceeds the first set value ΔαS. become.

In the control unit 5, the lateral acceleration sensor 9 includes a traveling state determining means 11, a lateral acceleration stable state determining means 13 and a lateral acceleration abnormality determining means 15.
Is determined in accordance with the procedure shown in FIG. 5 after a predetermined time, for example, 2 seconds, has elapsed after the engine E was started by the ignition switch.

In step S21 of FIG. 5, it is determined whether or not the vehicle speed V is running at a set speed VS, for example, 10 km / h or more. If V <VS, then in step S22 the lateral acceleration sensor 9 is determined. Is determined as the acceleration determination reference value αB, the acceleration stability determination timer is reset, and the detection value γ of the yaw rate sensor 8 is determined as the maximum value γMAX of the yaw rate and the minimum value γMIN of the yaw rate.

If it is determined in step S21 that V.gtoreq.VS and the vehicle is running, the flow advances to step S2.
In 3, the value (α−αB) obtained by subtracting the acceleration determination reference value αB from the detection value α of the lateral acceleration sensor 9 is within a second setting range that is set to be larger than −ΔαS and smaller than + ΔαS. Determine whether or not. Thus, ΔαS is set to, for example, 0.04G. That is, step S23
Is to determine whether the detection value α of the lateral acceleration sensor 9 when it is determined that the vehicle is traveling is stable within a second set range that is a minute range, and | α−αB
If | ≧ ΔαS and it is determined that the detection value α of the lateral acceleration sensor 9 is in an unstable state, step S23
From step S22.

In step S23, | α−αB | <
If it is determined that ΔαS and the detection value α of the lateral acceleration sensor 9 is stable, it is determined in step S24 whether or not the aging value of the acceleration stability determination timer has exceeded the set time TS, for example, 2000 msec. Until the elapsed time value of the acceleration stability determination timer reaches the set time TS, the process proceeds from step S24 to step S25. In step S25, the acceleration stability determination timer is counted, and the detection value γ of the yaw rate sensor 8 is set to the maximum value of the yaw rate. γMAX and the minimum value of the yaw rate γMIN are determined.

The set value ΔαS for determining whether the detection value α of the lateral acceleration sensor 9 is stable in step S23 and the set time TS in step S24 are determined when the vehicle is in an oversteer state, When the vehicle is running in slalom, the detection value γ of the lateral acceleration sensor 9 may not change in some cases. Therefore, the value is set to detect an abnormality in the lateral acceleration sensor 9 except during an oversteer state or during slalom traveling. Things,
In step S24, when it is determined that the time value of the acceleration stability determination timer has reached the set time TS, it is determined that the lateral acceleration sensor 9 is abnormal after the processing in steps S26 to S31.

In step S25, when it is determined that the time value of the acceleration stability determination timer has reached the set time TS, that is, the state where the detection value α of the lateral acceleration sensor 9 is stable continues for the set time TS or more. When you are
In step S26, it is determined whether the detected value γ of the yaw rate sensor 8 is larger than the maximum value γMAX of the yaw rate, and if it is larger, the detected value γ of the yaw rate sensor 8 is changed to the maximum value γMA of the yaw rate in step S27.
After determining X, the process proceeds to step S30. Step S
If it is determined in step 26 that the detected value γ of the yaw rate sensor 8 is equal to or smaller than the maximum value γMAX of the yaw rate, it is determined in step S28 whether the detected value γ of the yaw rate sensor 8 is smaller than the minimum value γMIN of the yaw rate. γ <γM
If it is IN, the detection value γ of the yaw rate sensor 8 is determined to be the minimum value γMIN of the yaw rate in step S29 and the process proceeds to step S20, and γ ≧ γ in step S28.
If it is MIN, the process goes to step S30 bypassing step S29.

In step S30, it is determined whether or not a value obtained by subtracting the minimum value γMIN of the yaw rate from the maximum value γMAX of the yaw rate exceeds a second set value ΔγS, for example, 20 deg / sec, and (γMAX−γMIN)> ΔγS. In step S21, it is determined that the lateral acceleration sensor 9 is abnormal. Here, the second set value ΔγS is determined in consideration of the fact that the detection value γ of the yaw rate sensor 8 may be inaccurate when the vehicle runs in the bank.

Step S21 in the flowchart of FIG.
S25 is determined by the lateral acceleration stable state determination means 13, and steps S26 to S31 are determined by the lateral acceleration abnormality determination means 15.
Is equivalent to

According to the processing procedure shown in FIG. 5, when the detection value α of the lateral acceleration sensor 9 and the detection value γ of the yaw rate sensor 8 change as shown in FIG. The change amount of the detection value α of the lateral acceleration sensor 9 is Δα
At time t1 ', which is equal to or less than S, time elapsed by the acceleration stability determination timer is started, and the detected value α of the lateral acceleration sensor 9 is in a stable state until the elapsed time of the acceleration stability determination timer reaches the set time TS. From t2 ', it is determined whether or not the detected value γ of the yaw rate sensor 8 changes beyond the second set value ΔγS. When the detected value γ of the yaw rate sensor 8 is increasing, the time t
2 ′, the detected value γ of the yaw rate sensor 8 is set to the minimum value γMIN of the yaw rate sensor, and as the detected value γ of the yaw rate sensor 8 increases, the maximum value γMAX of the yaw rate is sequentially determined by the detected value γ of the yaw rate sensor 8. (ΓMAX−γMIN) is the second
At time t3 'when the set value ΔγS is exceeded, it is determined that the lateral acceleration sensor 9 is abnormal.

Next, the operation of this embodiment will be described. When the detected value α of the lateral acceleration sensor 9 changes by the first set value ΔαS or more while the vehicle is running, the detected value γ of the yaw rate sensor 8 is also changed. It should change in response to changes in lateral acceleration. Therefore, when the detection value α of the lateral acceleration sensor 9 changes by the first set value ΔαS or more, the detection value of the yaw rate sensor 8 is stable within the first set range. Can be determined to be abnormal.

When the detected value γ of the yaw rate sensor 8 changes by the second set value ΔγS or more while the vehicle is running, the detected value α of the lateral acceleration sensor 9 should also change according to the change of the yaw rate. is there. Therefore, when the detected value γ of the yaw rate sensor 8 changes by the second set value ΔγS or more, the fact that the detected value α of the lateral acceleration sensor 9 is stable within the second set range indicates that the lateral acceleration sensor 9 has gain. It is possible to determine that a small area is abnormal.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the appended claims. It is possible to do.

[0037]

As described above, according to the first aspect of the present invention, the abnormality of the yaw rate sensor with a small gain can be easily determined based on the correlation between the detected value of the yaw rate sensor and the detected value of the lateral acceleration sensor. Can be detected.

According to the second aspect of the present invention, it is possible to easily detect an abnormality at a small gain of the lateral acceleration sensor based on the correlation between the detected value of the yaw rate sensor and the detected value of the lateral acceleration sensor. Can be.

[Brief description of the drawings]

FIG. 1 is a diagram showing a drive system and a brake system of a vehicle.

FIG. 2 is a block diagram extracted from a control unit of a configuration for determining an abnormality of a yaw rate sensor and a lateral acceleration sensor.

FIG. 3 is a flowchart illustrating an abnormality detection processing procedure of the yaw rate sensor.

FIG. 4 is a diagram for explaining the processing procedure of FIG. 3;

FIG. 5 is a flowchart illustrating an abnormality detection processing procedure of the lateral acceleration sensor.

FIG. 6 is a diagram for explaining the processing procedure of FIG. 3;

[Explanation of symbols]

4 ... Brake fluid pressure control device as vehicle motion adjusting means 5 ... Control unit 8 ... Yaw rate sensor 9 ... lateral acceleration sensor 11 ... Running state determination means 12 ... Yaw rate stable state Judgment means 13 ... lateral acceleration stable state judgment means 14 ... yaw rate abnormality judgment means 15 ... lateral acceleration abnormality judgment means

Claims (2)

[Claims] 1. A yaw rate sensor (8) for detecting a yaw rate of a vehicle, a lateral acceleration sensor (9) for detecting a lateral acceleration of the vehicle, and a vehicle movement adjusting means (4) for changing a movement of the vehicle. And a control unit (5) for controlling the operation of the vehicle motion adjusting means (4) based on the detection values of the two sensors (8, 9), wherein the control unit (5) comprises: A traveling state determining means (11) for determining the traveling state of the vehicle, and a detection value of the yaw rate sensor (8) when the traveling state determining means (11) determines that the vehicle is traveling are preset. The yaw rate stable state determining means (12) for determining a stable state within the first set range, and the yaw rate stable state determining means (12) determine that the detected value of the yaw rate sensor (8) is stable. A yaw rate abnormality judging means (14) for judging that the yaw rate sensor (8) is abnormal when the detected value of the lateral acceleration sensor (9) has changed by a value equal to or more than the first set value. A sensor abnormality detection device in a vehicle motion control device. 2. A yaw rate sensor (8) for detecting a yaw rate of a vehicle, a lateral acceleration sensor (9) for detecting a lateral acceleration of the vehicle, and a vehicle movement adjusting means (4) for changing a movement of the vehicle. And a control unit (5) for controlling the operation of the vehicle motion adjusting means (4) based on the detection values of the two sensors (8, 9), wherein the control unit (5) comprises: A traveling state determining means (11) for determining the traveling state of the vehicle, and a detection value of the lateral acceleration sensor (9) when the traveling state determining means (11) determines that the vehicle is traveling is a second value. The lateral acceleration stable state determining means (13) for determining a stable state within the set range, and the detected value of the lateral acceleration sensor (9) is stabilized by the lateral acceleration stable state determining means (13). Is determined to be When yaw rate sensor (8)
A lateral acceleration abnormality judging means (15) for judging that the lateral acceleration sensor (9) is abnormal when the detected value has changed by the second set value or more. Sensor abnormality detection device.