| 摘要 |
PURPOSE:To eliminate the error of an orientation sensor and to exactly know the present position of a vehicle by erasing the angle of yaw detected by the orientation sensor when judgement is made that the vehicle curves at an inflection point and runs on a specific road and further when the vehicle runs a specified distance with the handwheel in a neutral position. CONSTITUTION:An error is generated by as much as the lateral sliding angle between the angle at which the vehicle curves actually and the steering angle which is detected from the orientation sensor 2 when the vehicle runs and curves at the inflection point after the initial orientation of the vehicle is set. The information on the road stored in a memory device 5 and the angle obtainable from the sensor 2 are compared at this time. Judgement is made that the handwheel maintains the neutral position by the steering angle detected by the sensor 2 at the point of the time when the vehicle is judged by this comparison to run on the specific new road. A controller 1 erase the angle of yaw and updates the initial orientation of the sensor 2 with the angle of the specific new road when the vehicle runs by the specified distance detected from a vehicle speed sensor 3. |
