Apparatus and method for detecting abnormality of a vibration-type angular velocity sensor, abnormality detecting program, and a related vehicle control system

An abnormality detecting method for detecting an abnormal condition of a vibration-type angular velocity sensor, the method comprising the steps of:

• extracting, from a predetermined signal, a specific frequency component determined based on at least one of a driving system resonance frequency related to a driving system of said angular velocity sensor and a sensing system resonance frequency related to a sensing system of said angular velocity sensor, said angular velocity sensor capable of producing an erroneous output when receiving said specific frequency component of the predetermined signal;
• comparing a level of said specific frequency component extracted in said frequency component extracting step with a predetermined level and producing a signal notifying of an abnormal condition of said angular velocity sensor when the level of said specific frequency component is larger than said predetermined level;
• and
• outputting said signal notifying of the abnormal condition of said angular velocity sensor when the level of said specific frequency component is larger than said predetermined level.

An abnormality detecting program executed in a computer for detecting an abnormal condition of a vibration-type angular velocity sensor, said abnormality detecting method comprising the steps of:

• extracting, from a predetermined signal, a specific frequency component determined based on at least one of a driving system resonance frequency related to a driving system of said angular velocity sensor and a sensing system resonance frequency related to a sensing system of said angular velocity sensor, said angular velocity sensor capable of producing an erroneous output when receiving said specific frequency component of the predetermined signal;
• comparing a level of said specific frequency component extracted in said frequency component extracting step with a predetermined level and producing a signal notifying of an abnormal condition of said angular velocity sensor when the level of said specific frequency component is larger than said predetermined;
• and
• outputting said signal notifying of the abnormal condition of said angular velocity sensor when the level of said specific frequency component is larger than said predetermined level.

A vehicle control system comprising an abnormality detecting apparatus that detects an abnormal condition of a vibration-type angular velocity sensor, an actuator that executes a brake control of a vehicle and a vehicle stability control apparatus that manages said brake control executed by said actuator, wherein:

• said abnormality detecting apparatus comprises:
• frequency component extracting means for extracting, from a predetermined signal, a specific frequency component determined based on at least one of a driving system resonance frequency related to a driving system of said angular velocity sensor and a sensing system resonance frequency related to a sensing system of said angular velocity sensor, said angular velocity sensor capable of producing an erroneous output when receiving said specific frequency component of the predetermined signal;
• and
• judging means for comparing a level of said specific frequency component extracted by said frequency component extracting means with a predetermined level and outputting a signal notifying of an abnormal condition of said angular velocity sensor when the level of said specific frequency component is larger than said predetermined level, and
• said vehicle stability control apparatus limits said brake control executed by said actuator when said vehicle stability control apparatus receives said signal notifying of the abnormal condition of said angular velocity sensor from said abnormality detecting apparatus.