| 摘要 |
PURPOSE:To make it possible to update a leaking voltage in high reliability by adopting the leaking voltage corresponding to the value whose cumulative difference between the computed angle of a moving body based on the leaking voltages before and after the updating and road angle data is small. CONSTITUTION:The differences between two leaking voltages before and after updating and the outputs of an angular-speed sensor are integrated independently. The yaw angle (change angle of a moving body) based on each leaking voltage is computed. The angle of each moving body is computed based on the yaw angle. Then the difference between the road angle data on a map showing the correct road and the respective angle of the moving body is computed for every specified running distance within a specified section by map matching. The differences are integrated, and two cumulative differences are computed. The leaking voltage value corresponding to the angle of the moving body whose cumulative difference is less in the specified section is judged as the correct leaking voltage and adopted. The other value is eliminated. Thus, the leaking voltage of the angular-speed sensor can be updated all the time, and the high position detecting accuracy can be maintained. |
