Yaw rate detection apparatus

A yaw rate detection apparatus, comprising:

• a vehicle yaw rate detection device which detects a yaw rate of a vehicle to output a detection value thereof;
• a right-wheel and left-wheel speed detection device which detects at least speeds of right and left wheels to output detection values thereof;
• a wheel speed yaw rate calculation device which calculates a wheel speed yaw rate from the detection values of the speeds of the right and left wheels;
• a turning correction coefficient calculation device which calculates a turning correction coefficient based on an amount of turning associated with a turning operation within a predetermined time in which the detection value of the vehicle yaw rate deviates due to a temperature change;
• and
• a vehicle yaw rate correction device which corrects the detection value of the vehicle yaw rate based on the detection value of the vehicle yaw rate, the wheel speed yaw rate and the turning correction coefficient, wherein the vehicle yaw rate correction device comprises:
• a device which calculates a time average value which is an average value of an integrated value of a deviation between the detection value of the vehicle yaw rate and the wheel speed yaw rate,
• a device which corrects the time average value by using the turning correction coefficient to calculate a time average correction value, and
• a device which corrects the detection value of the vehicle yaw rate by using the time average correction value.