GYRO SENSOR CALIBRATION METHOD

In a method of calibrating a gyro sensor mounted on a vehicle (5) 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 (5) with respect to magnetic markers (10U, 10D) laid in a road, an azimuth estimation process of estimating, when the vehicle (5) passes over a laying location where two magnetic markers (10U, 10D) are laid, an azimuth of the vehicle (5) by a calculation process with the lateral shift amounts with respect to the two magnetic markers (10U, 10D) taken as input values, and a calibration process of calibrating the gyro sensor by using the azimuth of the vehicle (5) estimated by the azimuth estimation process, are performed.