| 摘要 |
<p>PROBLEM TO BE SOLVED: To make detectable the yaw angle of a car with precision and at a low cost, by calculating the yaw angle of a running car based on a set initial yaw angle at a first detection position, and correcting the initial yaw angle based on a deviation between car's estimated position which is estimated from car's yaw angle and travel distance and a second detecting position. SOLUTION: A control unit 10 detects the yaw angle of a car based on the detection signals from a yaw rate sensor 11, a car speed sensor 12, a magnetic sensor 13. With an initial yaw angle at car's first detection position set, based on an accumulated value of yaw rates obtained with a yaw rate sensor 11 sequentially and the set initial yaw angle, the yaw angle of a running car is calculated. The car's running position is estimated based on the calculated yaw angle and the car's travel distance obtained with the car speed sensor 12, and when the car's second detection position is obtained, the initial yaw angle is corrected based on a deviation between the car's estimated position and the second detection position. Then, based on the corrected initial yaw angle and the accumulated value of yaw rates, the car's yaw angle is calculated at the second detection position.</p> |
