{
  "$type": "site.standard.document",
  "description": "A normality detector includes a steering angle yaw rate calculator, a first difference calculator, a lateral G yaw rate calculator, a second difference calculator, and a normality determination section. The steering angle yaw rate calculator calculates a steering angle yaw rate. The first…",
  "path": "/patents/984440",
  "publishedAt": "2013-08-28T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T17/22",
    "NISSIN KOGYO KK [JP]"
  ],
  "textContent": "A normality detector includes a steering angle yaw rate calculator, a first difference calculator, a lateral G yaw rate calculator, a second difference calculator, and a normality determination section. The steering angle yaw rate calculator calculates a steering angle yaw rate. The first difference calculator calculates a first difference which is a difference between the steering angle yaw rate and an actual yaw rate. The lateral G yaw rate calculator calculates a lateral G yaw rate. The second difference calculator calculates a second difference which is a difference between the lateral G yaw rate and the actual yaw rate. The normality determination section determines that the yaw rate detector is in a normal state when the first difference falls within a first predetermined value and the second difference falls within a second predetermined value.",
  "title": "Vehicle behavior control apparatus"
}