Abstract: A novel yawing-momentum detecting apparatus, and yawing-detecting method for a vehicle, and also a motion controlling apparatus for the vehicle with employment of this yawing-momentum detecting apparatus. The yawing-momentum detecting apparatus for the vehicle comprises: a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis passing through a gravity center of the vehicle within a plane perpendicular the vertical axis; units for calculating yawing momentum of the vehicle occurring around the vertical axis based upon outputs from the plural acceleration sensors; and characteristic correcting units for correcting output characteristics of the plural acceleration sensors under known acceleration values to coincide with reference output characteristic values when the known acceleration values are obtained under a certain vehicle operating condition.

Abstract: An apparatus for detecting an angular rate of a moving body has first and second sensors each of which has a detection direction, the first and second acceleration sensors are mounted at fixed locations on a moving body so that the first and second acceleration sensors have substantially the same detection direction on a plane and a fixed distance therebetween in the detection direction, and the angular rate (.omega.) of the moving body is detected according to the following equation: ##EQU1## wherein .DELTA.G is an acceleration difference and R is the distance between the first and second acceleration sensors in the detection direction.

Abstract: An anti-skid control system of a vehicle comprising a yaw motion sensing device of the vehicle, a device for calculating target slip rates of the wheels according to the yaw motion, a wheel speed detecting device for detecting actual speeds of the wheels, a control device for generating a control signals based on the target slip rates and the actual speeds of the wheels, a control valve for controlling braking oil pressure according to the control signals, a first failure detecting device for detecting an abnormality relating to the yaw motion sensing device, a second failure detecting device for detecting an abnormality relating to the control valve, and a failsafe control device for keeping the target slip rates from the calculating device constant and when the abnormality relating to the yaw motion sensing device is detected and for bringing the control valve into a non-operating state when the abnormality relating to the control valve is detected.

Abstract: The invention relates to an anti-skid control system for an automotive vehicle, which includes devices provided independently for respective wheels of the vehicle and for controlling the brake fluid pressure of respective wheels, device for detecting a vehicle speed and a rotation speed of the wheel and deriving slip ratio on the wheel on the basis of the detected values, device for detecting actual yawing angular acceleration on the vehicle, device for setting a target value of the slip ratio on the wheel based on the yawing angular acceleration for each wheel independently of the other, and control signal unit for providing the control signal to the brake fluid pressure controlling unit so as to adjust the derived slip ratio toward the target value.