Counter steer detecting method

A counter steer detecting method comprising the steps of:

• detecting a steering angle by a steering angle sensor;
• detecting a lateral acceleration by a lateral acceleration sensor;
• and
• determining counter steer according to the steering angle detected by said steering angle sensor and the lateral acceleration detected by said lateral acceleration sensor on the basis of a counter steer determination area table indicating whether or not the counter steer is on in relation to the combination of steering angle and lateral acceleration;
• said counter steer determination area table indicating at least one of a first area where the direction of turn indicated by the steering angle is opposite to the direction of turn indicated by the lateral acceleration and a second area where the direction of turn indicated by the steering angle is the same as the direction of turn indicated by the lateral acceleration;
• said first area being defined outside the counter steer determination area near a point where the steering angle is 0 and the lateral acceleration is 0;
• said second area being defined inside the counter steer determination area where the lateral acceleration is larger than a boundary value increasing in absolute value from a first predetermined value greater than 0 at a steering angle of 0 with an increase in absolute value of the steering angle.