Yaw rate detecting system for a vehicle

An apparatus for detecting a yaw rate of a vehicle comprising:

• a yaw rate sensor for measuring a yaw rate of a vehicle;
• stoppage determining means for determining a stopped state of said vehicle;
• zero point setting means for setting a zero point at the yaw rate measured by said yaw rate sensor when said stoppage determining means determines the stopped state of said vehicle;
• actual yaw rate calculating means for calculating an actual yaw rate of said vehicle in response to an output of said yaw rate sensor, on the basis of the zero point set by said zero point setting means;
• vehicle speed detecting means for detecting for detecting a vehicle speed of said vehicle;
• steering angle detecting means for detecting for detecting a steering angle of said vehicle;
• desired yaw rate setting means for setting a desired yaw rate on the basis of the vehicle speed detected by said vehicle speed detecting means and the steering angle detected by said steering angle detecting means;
• steering angle detecting means for detecting a steering angle of said vehicle;
• desired yaw rate setting means for setting a desired yaw rate on the basis of the vehicle speed detected by said vehicle speed detecting means and the steering angle detected by said steering angle detecting means;
• zero point correcting means for correcting the zero point set by said zero point setting means in response to a comparison of the desired yaw rate set by said desired yaw rate setting means and the actual yaw rate calculated by said actual yaw rate calculating means;
• and
• wherein said zero point setting means includes temporary zero point setting means for setting a temporary zero point in response to the result determined by said stoppage determining means, and wherein said zero point correcting means includes deviation calculating means for calculating a deviation between the desired yaw rate set by said desired yaw rate setting means and the actual yaw rate calculated by said actual yaw rate calculating means in response to the output of said yaw rate sensor, on the basis of the temporary zero point set by said temporary zero point setting means, and said zero point correcting means is adapted to correct the zero point on the basis of the temporary zero point, in response to the deviation calculated by said deviation calculating means and the vehicle speed detected by said vehicle speed detecting means.