Method for detecting critical vehicle angular position leading to overturning

(57) According to the summary of the present invention, the offset of the turning rate sensor can be suppressed in the following manner. In other words, the individual of the turning rate (ωx) is below the turning rate threshold (+ ωu, -ωu) exceeded, and above the turning rate threshold (+ ωo, -ωo) is lower than the only, the integration with respect to those of the turning rate ( perform IT). At that time, the threshold value is set, depending on the offset of the individual turning rate sensor (DSx, DSy), to stop the integration of the turning rate (ωx) the (IT) after a predetermined reset time, to start anew.