Good checking for vehicle yaw rate sensor

A controller for determining whether a previously-detected vehicle malfunction still exists. If the malfunction is no longer detected in the sensor signals, a vehicle control system operates in a first operational state or normal operational state with respect to the previously-malfunctioning sensor (e.g., signals from the sensor are used to control the vehicle). If the malfunction continues to be detected, the vehicle control system operates in a second operational state or malfunction state with respect to the malfunctioning sensor in which the signals from the sensor are not used to control the vehicle.