| 摘要 |
PURPOSE:To improve the precision of the conversion of an angular speed of a vehicle to an angle by limiting the integration of the angular speed with time in respect to time to reduce the cumulative mixture of the error of an offset quantity. CONSTITUTION:An angular speed sensor 10 detects an angular speed omega in the advance direction of the vehicle, and the value of the offset signal from an offset operating circuit 60a is subtracted in a microcomputer 60 to attain a subtraction result omegar, and the subtraction result omegar is added to a partial integral value DELTAS to update it, and a set unit integral value A is determined in accordance with a characteristic curve L, which prescribes the relation between a preliminarily stored running speed Vs and the set unit integral value A, on a basis of the value of the running speed signal from a running speed calculating circuit 50. If DELTAS>=A is not true, the addition operation is not performed. If DELTAS>=A is true, an overall integral value S=S+DELTAS is generated as a digital angle signal. |
