| 摘要 |
PURPOSE:To accurately calculate the traveling direction of a vehicle without using an earth magnetism sensor which is intolerant of magnetic disturbance by combining an azimuth sensor which is hardly affected by disturbance like yaw rate sensor and a wheel speed sensor. CONSTITUTION:A straight traveling detecting means 4 finds a difference in number between pulses from left and right vehicle speed sensors 1 and 2 and decides the straight traveling state of a mobile object from whether or not the difference is larger than a constant value continuously. A zero-point calculating means 5 adds the data from the yaw rate sensor 3 in the section where the straight traveling state is decided and corrects the zero point of the yaw rate sensor 3 from the addition value and the addition time of the yaw rate sensor data when the addition time exceeds a constant time. Then an azimuth calculating means 6 calculates the traveling direction of the mobile object from the zero point of the yaw rate sensor 3 which is found by a calculating means 5. |
