Patent ID: 8868309

Claim:
A vehicle behavior control apparatus comprising: a steering angle detector that detects a steering angle of a vehicle; a lateral acceleration detector that detects a lateral acceleration of the vehicle; a yaw rate detector that detects an actual yaw rate of the vehicle; and a controller that controls behavior of the vehicle based on output values from at least the steering angle detector and the yaw rate detector, wherein the controller includes an abnormality detector that detects as to whether or not the yaw rate detector is in an abnormal state; and a normality detector that detects as to whether or not the yaw rate detector is in a normal state, and the normality detector includes a steering angle yaw rate calculator that calculates a steering angle yaw rate based on the output value of the steering angle detector, a first difference calculator that calculates a first difference which is a difference between the steering angle yaw rate and the actual yaw rate; a lateral G yaw rate calculator that calculates a lateral G yaw rate based on the output value of the lateral acceleration detector; a second difference calculator that calculates a second difference which is a difference between the lateral G yaw rate and the actual yaw rate, and a normality determination section that determines that the yaw rate detector is in the normal state when the first difference falls within a first predetermined value and the second difference falls within a second predetermined value.