Fecha de publicación: 17/02/2011 Fuente: Wipo "Sensorization" An attitude angle estimating means computes a derivative amount of an attitude angle with respect to a vertical axis of a vehicle body, and integrates the computed derivative amount of the attitude angle, and estimates the attitude angle. On the basis of the sensor signal and the attitude angle estimated by the attitude angle estimating means, a computing means computes a derivative amount of the attitude angle obtained from equations of motion for vehicle motion. A drift amount estimating means estimates a sensor drift amount of the sensor signal by using a relationship that, when taking a sensor drift amount of the sensor signal into consideration, the derivative amount of the attitude angle computed by the attitude angle estimating means, and a value that considers a sensor drift amount in the derivative amount of the attitude angle computed by the computing means, are equal.