Patent ID: 7353096

Claim:
A yaw rate sensor failure detecting device comprising: a yaw rate sensor for detecting a yaw rate; a tire force detecting unit for detecting tire force acting on each wheel; a vehicle motion state judging unit for judging a steady turn state and a non-steady turn state on the basis of the tire force acting on each wheel; a yaw rate comparing and abnormality judging unit for comparing a yaw rate value from the yaw rate sensor with a yaw rate value calculated on the basis of the value of the tire force acting on each wheel when the vehicle is in the steady turn state and judging abnormality of the yaw rate sensor; and a yaw moment comparing and abnormality judging unit for comparing a yaw moment value calculated from the yaw rate value from the yaw rate sensor with a yaw moment value calculated on the basis of the value of the tire force acting on each wheel when the vehicle is in the non-steady turn state and judging abnormality of the yaw rate sensor.