GYRO SENSOR CALIBRATION METHOD

In a method of calibrating a gyro sensor mounted on a vehicle for measuring an angular velocity in a rotating direction generated about an axis of a vertical direction, a lateral shift amount detection process of detecting lateral shift amounts of the vehicle with respect to magnetic markers laid in a road, an azimuth estimation process of estimating, when the vehicle passes over a laying location where two magnetic markers are laid, an azimuth of the vehicle by a calculation process with the lateral shift amounts with respect to the two magnetic markers taken as input values, and a calibration process of calibrating the gyro sensor by using the azimuth of the vehicle estimated by the azimuth estimation process, are performed.