| 摘要 |
PURPOSE: To precisely detect a vehicle azimuth without detecting an erroneous offset value even when a vehicle having this device on board is rotated by the rotating table of a parking garage. CONSTITUTION: When a stop judging part 14 judges that a vehicle is stopping, the offset value of output of an angular speed sensor 11 calculated by an offset calculating part 15 is compared with the preliminarily stored previous offset value by an offset value comparing part 15. When this difference is a regulated value or more, the offset correction of output in the angular speed sensor 11 in an offset correcting part 16 is not carried out. In this case, the value calculated by the offset calculating part 14 during stop is judged as a true offset value, and the correction for subtracting the offset value of output in the angle sensor 11 is carried out in the offset correcting part 16 at the time of traveling. Only when the difference in the offset value comparing part 15 is lower than the regulated value, the correction in the offset correcting part 16 is carried out during traveling to calculate the azimuth of the vehicle by an azimuth calculating part 17. |
