Inclination angle detection apparatus and auto levelizer
Provided are: an inclination angle calculating unit for calculating, when having determined that a vehicle is stationary by referring to vehicle information indicating a traveling state of the vehicle, an inclination angle of the vehicle during a stationary period using inclination angle information indicating an inclination angle of the vehicle and determining a vehicle inclination angle during the stationary period from the calculated inclination angle of the vehicle; and a correction determination processing unit for determining whether an absolute value of a difference between the determined vehicle inclination angle and a reference angle determined previously by the inclination angle calculating unit is less than a first threshold value (threshold value α) and, if the absolute value of the difference is less than the first threshold value (threshold value α), performing a correction to rewrite the vehicle inclination angle to the reference angle.
1. An inclination angle detection apparatus, comprising:
processing circuitry to:
calculate, when having determined that a vehicle is stationary by referring to vehicle information indicating a traveling state of the vehicle, an inclination angle of the vehicle with respect to road surface during a stationary period using inclination angle information indicating an inclination angle of the vehicle with respect to road surface, and determine a vehicle inclination angle during the stationary period from the calculated inclination angle of the vehicle; and
determine whether an absolute value of a difference between the determined vehicle inclination angle and a reference angle determined previously is less than a first threshold value and, if the absolute value of the difference is less than the first threshold value, perform a correction to rewrite the vehicle inclination angle to the reference angle.
2. The inclination angle detection apparatus according to claim 1 , wherein the processing circuitry is further configured to perform the determination of whether the absolute value of the difference between the vehicle inclination angle and the reference angle is less than the first threshold value, if the processing circuitry determines that an angular variation larger than or equal to a second threshold value occurs by referring to the calculated inclination angle of the vehicle within one stationary period of the vehicle.
3. The inclination angle detection apparatus according to claim 1 , the processing circuitry is further configured to:
refer to the calculated inclination angle of the vehicle, measure the number of times of occurrence of a variation in load on the vehicle, and reset the counted number of times in a case in which a correction to rewrite the vehicle inclination angle to the reference angle is performed, and
calculate the first threshold value on the basis of the counted number of times.
4. The inclination angle detection apparatus according to claim 3 , wherein the processing circuitry counts the number of times an angular variation larger than or equal to the second threshold value occurs in the inclination angle of the vehicle during the stationary period of the vehicle.
5. The inclination angle detection apparatus according to claim 3 , wherein the processing circuitry increases the first threshold value as the counted number of times increases.
6. The inclination angle detection apparatus according to claim 2 , wherein, in a case where an angular variation larger than or equal to the second threshold value occurs in the calculated inclination angle of the vehicle within one stationary period of the vehicle, the processing circuitry stores, as the reference angle, an inclination angle of the vehicle that has arisen immediately before the occurrence of the angular variation larger than or equal to the second threshold value.
7. The inclination angle detection apparatus according to claim 6 , wherein the processing circuitry stores the reference angle for a plurality of stationary periods of the vehicle.
8. An auto levelizer, comprising:
the inclination angle detection apparatus according to claim 1 ; and
an optical axis controlling apparatus for adjusting an optical axis of a headlight of the vehicle on a basis of the vehicle inclination angle determined or corrected by the inclination angle detection apparatus.