Determining Rear Wheel Skid

Whether or not the vehicle is in the state of rear wheel skid is determined by the values of the vehicle's slip angle and the vehicle's slip angular velocity (time-dependent changes in the vehicle's slip angle). When the vehicle's slip angle is large, and the slip angular velocity is also large, the skid control ECU determines that the vehicle has a large rear wheel skid tendency.

Direction of Travel of the Vehicle's Center of Gravity

Slip Angle

Direction of Travel of the Vehicle's Center of Gravity

Slip Angle

Movement of Vehicle

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