| 摘要 |
PROBLEM TO BE SOLVED: To obtain a computing method that can compute the drift amount of a yaw rate sensor precisely even when a vehicle is moved by a movement means such as a ferryboat. SOLUTION: In the computing method for the drift amount of a yaw rate sensor, when the stop state of a vehicle is judged, the drift amountγd of the yaw rate sensor is computed on the basis of the output of the yaw rate sensor. Whether the vehicle is in a stopped state or not is judged (S20). When the vehicle is in the stopped state, a temporary drift amountγdt is computed and stored on the basis of the outputγs of the yaw rate sensor in every prescribed time from a point of time in which the state is first judged (S30 to S70). When the running state of the vehicle is judged (S80), the first amountγd is set to a latest preliminary drift amountγdt(n) which is stored just before. |
