| 摘要 |
PURPOSE:To certainly correct direction change by the magnetizing of a vehicle by outputting proceeding direction data from the 1st direction sensor instead of the proceeding direction data from the 2nd direction sensor when the corrected proceeding direction data are substantially made equal to the proceeding direction data from the 1st direction sensor. CONSTITUTION:A control unit 4 calculates for the magnetizing and calculates a correction value of the direction data detected by a terrestrial magnetism sensor 1. In other words, a vector of the direction data A before the magnetizing, the vector of the direction data C after the magnetizing, the vector for the magnetizing and the vector r2-r1 of a proceeding direction variation of the vehicle by the magnetizing are denoted as (r), (x), (a) and (b) (the vector measured in advance a steering angle, for instance) respectively and when r1=r and ¦r1¦=¦r2¦=¦r¦ are assumed (r1 is parallel translation or r), for the magnetizing (a) is calculated by a=x-r1-b=x-r-b and r=x-a and the direction data (r) calculated by correcting are made real direction data. It is confirmed whether or not the direction data are equal to those actually detected while the vehicle travels a section C after passing through a grade crossing and when it is correct, it is changed over to the former detection by the terrestrial magnetism sensor 1.
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