Vehicle Motion Measurement Apparatus, a Vehicle Abnormal Motion Prevention Apparatus and a Drive Recorder

A vehicle motion measurement apparatus comprising

• a driving state variable estimator for detecting plural measured signals other than a steering angle which change depending on the equipped condition of a vehicle;
• a vehicle parameter obtainer for obtaining at least one vehicle parameter that does not change by the driving condition of the vehicle;
• a sideslip angle temporary estimator for computing a sideslip angle temporary estimated value from a fist set of parameters selected from the plural measured signals and at least one vehicle parameters including the mass;
• a sideslip angle differential corresponding value computer for computing a sideslip angle differential corresponding value from a second set of signals selected from the plural measured signals and at least one vehicle parameter including no mass;
• and
• a sideslip angle combined estimator for performing a precise estimation of a sideslip angle from the sideslip angle temporary estimate value and the sideslip angle differential corresponding value.