| 摘要 |
PURPOSE:To correct an error of a direction detector automatically while traveling by providing a means to correct directional data based on the directional information at the time of passing through a specific point of a network of roads to the output sides of a direction arithmetic part and a map storage part. CONSTITUTION:A difference detection part 4 compares the information on the network of roads inputted from the map storage part 2 for every prescribed distance travel by a distance sensor 1 with the actual directional data inputted from the direction arithmetic part 7 and operates the difference and an average arithmetic part 5 averages the difference value. A bias level at the specific point C1 is denoted as Xo-Yo and if the direction at the specific point C2 is made theta1' although it is to be theta1 properly, the arithmetic part 5 operates it to correct to X'o-Y'o approximately. In this way, the error of the direction detector can be corrected automatically in an ordinary traveling state. |
