Output value correction device for acceleration sensor, output value correction method for the acceleration sensor, optical-axis control device for vehicle lighting fixture, and vehicle lighting fixture system

Abstract

To correct offset of an output value of an acceleration sensor with a simple structure.SOLUTION: This output value correction device for the acceleration sensor comprises a controller and a memory. The memory stores a pair of data groups of first acceleration and second acceleration acquired from the acceleration sensor at a plurality of timings while the acceleration sensor is stationary. The controller acquires first data of the first acceleration and the second acceleration from the acceleration sensor, extracts, from the data groups stored in the memory, second data in which the second acceleration is substantially the same as that of the first data and a code of the first acceleration is reverse, calculates a mean value of the first acceleration of the first data and the first acceleration of the second data, and corrects a value of the first acceleration output from the acceleration sensor by using the mean value as a correction value.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to an output value correction device for an acceleration sensor, an output value correction method for an acceleration sensor, an optical axis control device for a vehicle lamp, and a vehicle lamp system.

Background Art

[0002] Japanese Patent No. 6873347 (Patent Document 1) discloses an optical axis control device that measures a first road surface inclination angle by integrating the change amount of the inclination angle with respect to the horizontal plane while the vehicle is stopped, and measures a second road surface inclination angle based on the ratio of the change amount of the acceleration in the vertical direction to the change amount of the acceleration in the front-rear direction while the vehicle is running, derives a regression line in a rectangular coordinate system having a first axis corresponding to the first road surface inclination angle and a second axis corresponding to the second road surface inclination angle, and corrects the first road surface inclination angle so as to cancel the offset amount of the regression line.

[0003] In the above prior art, there is room for improvement in that it takes a relatively long time to accumulate data for obtaining a regression line and that a large amount of hardware and software resources are consumed in the calculation for obtaining a regression line.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] One of the objects of the specific aspect according to the present disclosure is to provide a technique capable of correcting the output value of an acceleration sensor with a simple configuration.

Means for Solving the Problems

[0006] [1] The output value correction device for an acceleration sensor according to one aspect of the present disclosure is a device for correcting the acceleration output from an acceleration sensor capable of detecting the acceleration corresponding to each of the orthogonal first axis and second axis, including a controller, and a memory connected to the controller, and includes: The memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations acquired from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor. The controller acquires first data, which is a pair of the first acceleration and the second acceleration, from the acceleration sensor, extracts second data from the data group stored in the memory, where the magnitude of the second acceleration in the second data is substantially the same as that of the first acceleration in the first data and the sign of the first acceleration is opposite, obtains an intermediate value between the first acceleration in the first data and the first acceleration in the second data, and corrects the value of the first acceleration output from the acceleration sensor using the intermediate value as a correction value. It is an output value correction device for an acceleration sensor. [2] The output value correction device for an acceleration sensor according to one aspect of the present disclosure is a device for correcting the acceleration output from an acceleration sensor capable of detecting the acceleration corresponding to each of the orthogonal first axis and second axis, including a controller, and a memory connected to the controller, and includes: The memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations acquired from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor. The controller Extract first data and second data from the data group stored in the memory, where the magnitudes of the second accelerations are substantially the same and the signs of the first accelerations are opposite to each other. Obtain the median value of the first acceleration of the first data and the first acceleration of the second data. Correct the value of the first acceleration output from the acceleration sensor using the median value as a correction value. It is an output value correction device for an acceleration sensor. [3] The optical axis control device for a vehicle lamp according to one aspect of the present disclosure The output value correction device for an acceleration sensor according to 1 or 2 above, An acceleration sensor, An optical axis control unit that variably sets the optical axis of a vehicle lamp using the acceleration of the acceleration sensor corrected by the output value correction device, It is an optical axis control device for a vehicle lamp, including [4] A vehicle lamp system according to one aspect of the present disclosure The optical axis control device according to 3 above, A vehicle lamp whose optical axis is set by the optical axis control device, It is a vehicle lamp system, including [5] An output value correction method for an acceleration sensor according to one aspect of the present disclosure A method executed using a controller and a memory to correct the acceleration output from an acceleration sensor capable of detecting accelerations corresponding to each of a first axis and a second axis that are orthogonal to each other. The memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations acquired from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor. The controller Obtain first data, which is a pair of the first acceleration and the second acceleration, from the acceleration sensor. Extract second data from the data group stored in the memory, where the magnitude of the second acceleration is the same as that of the first data and the sign of the first acceleration is opposite. Obtaining the median value of the first acceleration of the first data and the first acceleration of the second data, and correcting the value of the first acceleration output from the acceleration sensor using the median value as a correction value, which is a method for correcting the output value of an acceleration sensor. [6] A method for correcting the output value of an acceleration sensor according to an aspect of the present disclosure is a method executed using a controller and a memory to correct the acceleration output from an acceleration sensor capable of detecting accelerations corresponding to each of a first axis and a second axis that are orthogonal to each other, and the memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations acquired from the acceleration sensor at a plurality of timings while the acceleration sensor is stationary, the controller extracts first data and second data from the data group stored in the memory, where the magnitudes of the second accelerations are the same and the signs of the first accelerations are opposite to each other, obtains the median value of the first acceleration of the first data and the first acceleration of the second data, corrects the value of the first acceleration output from the acceleration sensor using the median value as a correction value, which is a method for correcting the output value of an acceleration sensor.

[0007] According to the above configuration, a technique capable of correcting the output value of an acceleration sensor with a simple configuration is provided.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

DETAILED DESCRIPTION OF THE INVENTION

[0009] FIG. 1(A) is a diagram showing the configuration of a vehicle lighting system according to an embodiment. The illustrated vehicle lighting system is mounted on a vehicle as an example of a moving body, and includes an optical axis control device 1 and a headlamp 2 connected to the optical axis control device 1. Information indicating the vehicle speed (vehicle speed information 3) detected by a vehicle speed sensor (not shown) provided in the vehicle is input to the optical axis control device 1.

[0010] The optical axis control device 1 performs control for variably setting the irradiation state and optical axis of the irradiation light by the headlamp 2, and includes a stop detection unit 10, an acceleration sensor 11, a controller 12, and a storage unit 13. The controller 12 is connected to each of the stop detection unit 10, the acceleration sensor 11, and the storage unit 13. In this embodiment, at least the controller 12 and the storage unit 13 constitute an “output value correction device for the acceleration sensor”.

[0011] The stop detection unit 10 detects whether the vehicle is in a stopped state or a running state. For example, based on the vehicle speed information, the stop detection unit 10 detects that the vehicle is in a stopped state when the vehicle speed is 0, and detects that the vehicle is in a running state when the vehicle speed is greater than 0. In this embodiment, the case where the vehicle is in a stopped state corresponds to the “acceleration sensor at rest”.

[0012] The acceleration sensor 11 is, for example, a sensor configured to be able to detect acceleration in three mutually orthogonal axial directions and is installed inside the vehicle. In the present embodiment, for the acceleration sensor 11, the X-axis (the first axis), which is one of the three axes, is arranged corresponding to the longitudinal direction of the vehicle, and the other Y-axis (the second axis) is arranged corresponding to the vertical direction of the vehicle. That is, the Y-axis is arranged corresponding to the vertical direction in a state where the vehicle has no inclination, and the X-axis is arranged corresponding to the horizontal direction (the direction orthogonal to the vertical direction) in a state where the vehicle has no inclination.

[0013] Note that the "arranged corresponding to" mentioned here does not necessarily mean that the X-axis or the Y-axis exactly coincides with the longitudinal direction or the vertical direction of the vehicle. For example, even if there is a deviation between the X-axis or the Y-axis and the longitudinal direction or the vertical direction of the vehicle, as long as the controller 12 corrects the deviation, etc., and as a result, it is arranged so that the acceleration in the longitudinal direction or the vertical direction of the vehicle can be detected based on the output of the X-axis or the Y-axis of the acceleration sensor 11.

[0014] The controller 12 controls the light irradiation by the headlamp 2 and the optical axis at that time. This controller 12 can be configured using a computer system including, for example, a processor (CPU: Central Processing Unit) 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, a storage device 204 such as a flash memory, an input / output interface (I / F) 205, etc., as illustrated in FIG. 1(B).

[0015] The controller 12 includes an offset calculation unit (offset calculation function) 20, a data update unit (data update function) 21, and a control signal generation unit (control signal generation function) 22 as functions realized by the program 206 stored in the storage device 204 being read out and executed by the processor 201.

[0016] The offset calculation unit 20 calculates an offset value, which is a correction value for canceling the movement when the origin of the three axes of the acceleration sensor 11 has moved from its initial position due to aging deterioration or the like. The specific method for calculating the offset value will be described later.

[0017] The data update unit 21 acquires the X-axis acceleration and the Y-axis acceleration output from the acceleration sensor 11 at a plurality of timings while the vehicle is stopped, and writes and stores a data pair including the X-axis acceleration and the Y-axis acceleration in the storage unit 13. The X-axis acceleration and the Y-axis acceleration of the acceleration sensor 11 are acquired, for example, every 100 milliseconds and written into the storage unit 13 as a data pair. A data group including a plurality of data pairs written and accumulated in the storage unit 13 in this way is referred to as a "past log" in this specification. Further, the data update unit 21 acquires the offset value calculated by the offset calculation unit 20 and writes and stores the offset value in the storage unit 13. The offset value stored in the storage unit 13 is rewritten by the data update unit 21 each time a new offset value is calculated by the offset calculation unit 20.

[0018] The control signal generation unit (optical axis control unit) 22 obtains an attitude angle based on each output value (output data) of the X-axis acceleration and the Y-axis acceleration output from the acceleration sensor 11, and generates a control signal for controlling the optical axis of the irradiation light of the headlamp 2 according to this attitude angle, and supplies (outputs) it to the headlamp 2. The control signal generation unit 22 of the present embodiment has a function of correcting the acceleration obtained from the acceleration sensor 11 using the offset value calculated by the offset calculation unit 20 and stored by the storage unit 13, and obtains the attitude angle using the corrected acceleration. Further, the control signal generation unit 22 generates a control signal for controlling the operation of the light source 31 of the headlamp 2 and supplies (outputs) it to the light source 31.

[0019] The storage unit 13 is a non-volatile memory such as a flash memory, and stores a data group and an offset value necessary for information processing in the controller 12. The data group stored in the storage unit 13 is appropriately rewritten by the data update unit 21 of the controller 12.

[0020] The headlight 2 is attached to the front part of the vehicle and irradiates light such as high beam and low beam forward of the vehicle. This headlight 2 includes a light source 31 that emits light and a drive mechanism 32 for adjusting the optical axis of the light from the light source 31.

[0021] FIG. 2 is a diagram schematically showing a configuration example of the headlight 2. The headlight 2 of the present embodiment as an example includes a light source 31, a drive mechanism 32, a housing 33 that houses the light source 31, and a lens 34 that is disposed in front of the light source 31 (in the direction in which light is emitted) and is fixed to the housing 33. A reflecting surface for reflecting the light from the light source 31 forward is provided on the inner surface of the housing 33.

[0022] The drive mechanism (actuator) 32 is connected to the housing 33 that houses the light source 31, and changes the posture of this housing 33. Thereby, the optical axis a of the light from the light source 31 can be variably set. For example, when the rear part of the vehicle is relatively lowered, the optical axis a is controlled to be downward, and when the front part of the vehicle is relatively lowered, the optical axis a is controlled to be upward. The degree of downward or upward movement at that time is set according to the posture angle.

[0023] FIG. 3 is a diagram showing the detection state of the acceleration sensor in an ideal state where no movement of the origin has occurred. However, consider the case where the vehicle is stopped. Hereinafter, the posture angle (vehicle body angle) of the vehicle is denoted as θ. Regarding the sign of the posture angle θ, the value in the case where the vehicle is in a forward tilt posture (a state where the front side is relatively lowered) is taken as positive, and the value in the case where the vehicle is in a rearward tilt posture (a state where the rear side is relatively lowered) is taken as negative.

[0024] At this time, assuming that the gravitational acceleration is G, and the X-axis acceleration of the acceleration sensor 11 is X and the Y-axis acceleration is Y, they can be expressed as follows. X = Gsin(θ), or Xsin(-θ) Y = Gcos(θ)

[0025] Therefore, θ is obtained as follows. atan represents the arctangent. θ = atan(X / Y)

[0026] Based on the above relational expression, the attitude angle can be obtained using the X-axis acceleration and Y-axis acceleration of the acceleration sensor 11.

[0027] Figure 4 is a diagram showing the detection state of the acceleration sensor in a state where the origin has moved. However, consider the case where the vehicle is stopped. In this case, since the origin has moved by α in the X-axis direction and β in the Y-axis direction from the ideal position, if the acceleration output from the acceleration sensor 11 is used as it is, the attitude angle θ cannot be accurately obtained with high precision.

[0028] Here, when the Y-axis acceleration during vehicle stop (i.e., when the acceleration sensor 11 is stationary) has a certain value, the attitude angle θ that can be taken with respect to this Y-axis acceleration value has the same absolute value and is either a positive value or a negative value. At this time, if the X-axis acceleration corresponding to the case where the attitude angle θ is a positive value is X1 and the X-axis acceleration corresponding to the case where the attitude angle θ is a negative value is X2, the midpoint (X1 + X2) / 2, which is the intermediate value between X1 and X2, corresponds to the movement amount α in the X-axis direction. Therefore, by using this movement amount α as an offset value and subtracting this offset value from the X-axis acceleration output from the acceleration sensor 11, the movement amount α can be corrected.

[0029] Specifically, the movement amount α is obtained as follows. (X1 + X2) / 2 = ((Gsinθ + α) + (Gsin(-θ) + α)) / 2 = α

[0030] Therefore, in the present embodiment, by using the "past log", which is a data group of the accelerations of the acceleration sensor 11 pre-stored in the storage unit 13, and obtaining the midpoint between the X-axis accelerations using two data points where the Y-axis accelerations are equal and the absolute values of the X-axis accelerations are the same but with opposite signs, an offset value corresponding to the movement amount α is obtained. The obtained offset value is stored in the storage unit 13. Next, when a new offset value is obtained, the offset value stored in the storage unit 13 is updated by the data update unit 21. Then, when calculating the attitude angle θ by the control signal generation unit 22, a correction is performed by subtracting the offset value from the X-axis acceleration output from the acceleration sensor, and the attitude angle θ is calculated using the corrected acceleration, thereby improving the calculation accuracy of the attitude angle θ and achieving high-precision optical axis control.

[0031] FIG. 5 is a flowchart showing the operation procedure of the vehicle lighting system. Here, the operation procedure regarding the calculation and update of the offset value will be described. It is assumed that the past log has been accumulated in advance and stored in the storage unit 13. Also, for each process shown here, as long as there are no contradictions or inconsistencies in the results of the information processing, their order can be swapped, and other processes not explicitly shown here can also be added.

[0032] When it is detected by the stop detection unit 10 that the vehicle is stopped (step S11; YES), the offset calculation unit 20 of the controller 12 acquires a pair of the X-axis acceleration and the Y-axis acceleration (first data) output from the acceleration sensor 11 (step S12).

[0033] Next, the offset calculation unit 20 searches the past log, which is a data group stored in the storage unit 13, and if there is a data pair (second data) including a Y-axis acceleration with a value equal to the Y-axis acceleration of the first data acquired in step S12 (substantially the same magnitude) (step S13; YES), the X-axis acceleration included in the second data is extracted.

[0034] Here, it may be possible to use strictly equal values for the acceleration in the Y-axis direction, or it may be considered that they are equal values as long as they are substantially the same values within a certain allowable range. That is, when the difference between the obtained acceleration in the Y-axis direction and the acceleration in the Y-axis direction retrieved from the past log is, for example, within ±2 mG, the acceleration in the Y-axis direction may be regarded as equal as substantially the same value within the allowable range.

[0035] And when the sign of the X-axis acceleration of the extracted second data is different from the sign of the X-axis acceleration of the first data obtained in step S11, that is, when an X-axis acceleration with a positive sign and an X-axis acceleration with a negative sign are obtained (step S14), the midpoint is calculated using these X-axis accelerations (corresponding to X1 and X2 described above) (step S15). This obtained midpoint corresponds to the above-described movement amount α, that is, it corresponds to the offset value.

[0036] The data update unit 21 writes the obtained offset value to the storage unit 13, that is, performs an update process of the offset value (step S16). Since the offset value is updated at any time in this way, the accuracy of the attitude angle θ is improved by performing the calculation of the attitude angle θ by the control signal generation unit 22 using the acceleration corrected using the offset value stored in the storage unit 13, and thus the accuracy of the optical axis control is improved.

[0037] When the vehicle is not stopped (step S11; NO), when there is no data pair including the acceleration in the Y-axis direction equal to the acceleration in the Y-axis direction obtained in step S12 in the past log (step S13; NO), and when different-sign X-axis accelerations are not obtained (step S14; NO), the offset value is not updated in each case, and the process returns to step S11.

[0038] According to the above-described embodiment, a technique capable of correcting the output value of the acceleration sensor with a simple configuration is provided. In addition, by using the corrected acceleration, the calculation accuracy of the attitude angle of the vehicle can be improved, and thereby the accuracy of the optical axis control can be improved.

[0039] Note that the present disclosure is not limited to the content of the above-described embodiments, and various modifications can be made and implemented within the scope of the gist of the present disclosure. For example, in the above-described embodiments, when the Y-axis acceleration was acquired at a certain time during parking, the offset value was calculated using the acquired Y-axis acceleration and the past log. However, the calculation timing of the offset value is not limited to this. For example, at an appropriate timing during parking, data pairs in the past log accumulated so far in which the Y-axis accelerations are the same and the X-axis accelerations have different signs are extracted from the data pairs included in the past log, and the offset value may be calculated using the X-axis accelerations of these data pairs.

[0040] Also, in the above-described embodiments, as an example of an applicable case of the output value correction device for the acceleration sensor according to the present disclosure, the optical axis control device for a vehicle lamp and the vehicle lamp system including the same were cited to describe the embodiments. However, the application range of the output value correction device for the acceleration sensor is not limited to this. The output value correction device for the acceleration sensor according to the present disclosure can be applied to all devices, instruments, or systems in which an acceleration sensor is mounted and whose posture can change (i.e., a moving body). For example, various application examples such as a drive recorder, a portable game device, a navigation device, and a smartphone can be considered.

[0041] The present disclosure has the following features. (Appendix 1) A device for correcting the acceleration output from an acceleration sensor capable of detecting the acceleration corresponding to each of the first axis and the second axis that are orthogonal to each other, a controller, a memory connected to the controller, and includes, the memory stores a data group of pairs of the first acceleration corresponding to the first axis and the second acceleration corresponding to the second axis, which are the accelerations acquired from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor, the controller, acquires first data that is a pair of the first acceleration and the second acceleration from the acceleration sensor, Extract, from the data group stored in the memory, second data in which the magnitude of the first acceleration is substantially the same as that of the second acceleration and the sign of the first acceleration is reversed, obtain the median value of the first acceleration of the first data and the first acceleration of the second data, correct the value of the first acceleration output from the acceleration sensor using the median value as a correction value, An apparatus for correcting the output value of an acceleration sensor. (Appendix 2) An apparatus for correcting the acceleration output from an acceleration sensor capable of detecting accelerations corresponding to each of a first axis and a second axis that are orthogonal to each other, a controller, a memory connected to the controller, and includes the memory stores a data group of pairs of the first acceleration corresponding to the first axis and the second acceleration corresponding to the second axis, which are the accelerations acquired from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor, the controller extracts first data and second data in which the magnitude of the second acceleration is substantially the same and the signs of the first accelerations are opposite to each other from the data group stored in the memory, obtains the median value of the first acceleration of the first data and the first acceleration of the second data, corrects the value of the first acceleration output from the acceleration sensor using the median value as a correction value, An apparatus for correcting the output value of an acceleration sensor. (Appendix 3) the controller stores the correction value in the memory, The apparatus for correcting the output value of an acceleration sensor according to Appendix 1 or 2. (Appendix 4) the controller updates the correction value stored in the memory when the correction value is newly obtained, The apparatus for correcting the output value of an acceleration sensor according to any one of Appendices 1 to 3. (Appendix 5) The acceleration sensor is installed on a moving body, and the first axis is arranged corresponding to a direction orthogonal to the vertical direction when the moving body is in a non-tilted state, and the second axis is arranged corresponding to the vertical direction. An output value correction device for an acceleration sensor according to any one of Appendices 1 to 4. (Appendix 6) The moving body is a vehicle. An output value correction device for an acceleration sensor according to any one of Appendices 1 to 5. (Appendix 7) An output value correction device for an acceleration sensor according to any one of Appendices 1 to 6, an acceleration sensor, and an optical axis control unit that variably sets the optical axis of a vehicle lamp using the acceleration of the acceleration sensor corrected by the output value correction device. A vehicle lamp optical axis control device including the above. (Appendix 8) An optical axis control device according to Appendix 7, a vehicle lamp in which the optical axis is set by the optical axis control device, A vehicle lamp system including the above. (Appendix 9) A method executed using a controller and a memory to correct the acceleration output from an acceleration sensor capable of detecting the acceleration corresponding to each of the orthogonal first axis and second axis, wherein the memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations acquired from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor, the controller acquires first data that is a pair of the first acceleration and the second acceleration from the acceleration sensor, extracts second data from the data group stored in the memory, where the magnitude of the first data and the second acceleration is the same and the sign of the first acceleration is opposite, obtains an intermediate value between the first acceleration of the first data and the first acceleration of the second data, and Correcting the value of the first acceleration output from the acceleration sensor using the intermediate value as a correction value. An acceleration sensor output value correction method for performing the above. (Appendix 10) A method executed using a controller and a memory to correct the acceleration output from an acceleration sensor capable of detecting accelerations corresponding to each of a first axis and a second axis that are orthogonal to each other, the method comprising: The memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations acquired from the acceleration sensor at a plurality of timings while the acceleration sensor is stationary. The controller: Extracts first data and second data from the data group stored in the memory, wherein the magnitudes of the second accelerations are the same and the signs of the first accelerations are opposite to each other. Obtains an intermediate value between the first acceleration of the first data and the first acceleration of the second data. Correcting the value of the first acceleration output from the acceleration sensor using the intermediate value as a correction value. An acceleration sensor output value correction method for performing the above.

Description of Signs

[0042] 1: Optical axis control device, 2: Headlamp, 3: Vehicle speed information, 10: Stop detection unit, 11: Acceleration sensor, 12: Controller, 13: Storage unit, 20: Offset calculation unit, 21: Data update unit, 22: Control signal generation unit

Claims

1. An apparatus for correcting the acceleration output from an acceleration sensor capable of detecting the acceleration corresponding to each of the orthogonal first and second axes, comprising: a controller; a memory connected to the controller; wherein the memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations obtained from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor; the controller obtains first data which is a pair of the first acceleration and the second acceleration from the acceleration sensor, extracts second data from the data group stored in the memory, wherein the magnitude of the second acceleration is substantially the same as that of the first data and the sign of the first acceleration is opposite, obtains an intermediate value between the first acceleration of the first data and the first acceleration of the second data, and corrects the value of the first acceleration output from the acceleration sensor using the intermediate value as a correction value. An apparatus for correcting the output value of an acceleration sensor.

2. An apparatus for correcting the acceleration output from an acceleration sensor capable of detecting the acceleration corresponding to each of the orthogonal first and second axes, comprising: a controller; a memory connected to the controller; wherein the memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations obtained from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor; the controller extracts first data and second data from the data group stored in the memory, wherein the magnitude of the second acceleration is substantially the same and the signs of the first accelerations are opposite to each other, obtains an intermediate value between the first acceleration of the first data and the first acceleration of the second data, and corrects the value of the first acceleration output from the acceleration sensor using the intermediate value as a correction value. An apparatus for correcting the output value of an acceleration sensor.

3. The controller stores the correction value in the memory. The apparatus for correcting the output value of an acceleration sensor according to claim 1 or 2.

4. When a new correction value is obtained, the controller updates the correction value stored in the memory. The apparatus for correcting the output value of an acceleration sensor according to claim 1 or 2.

5. The acceleration sensor is installed on a moving body, and the first axis is arranged corresponding to a direction orthogonal to the vertical direction in a state where the moving body has no inclination, and the second axis is arranged corresponding to the vertical direction. An output value correction device for an acceleration sensor according to claim 1 or 2.

6. The moving body is a vehicle. An output value correction device for an acceleration sensor according to claim 1 or 2.

7. An output value correction device for an acceleration sensor according to claim 1 or 2, an acceleration sensor, and an optical axis control unit that variably sets the optical axis of a vehicle lamp using the acceleration of the acceleration sensor corrected by the output value correction device. An optical axis control device for a vehicle lamp, including the above.

8. An optical axis control device according to claim 7, and a vehicle lamp in which the optical axis is set by the optical axis control device. A vehicle lamp system, including the above.

9. A method executed using a controller and a memory to correct the acceleration output from an acceleration sensor capable of detecting accelerations corresponding to each of orthogonal first and second axes, wherein the memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations obtained from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor, and the controller obtains first data that is a pair of the first acceleration and the second acceleration from the acceleration sensor, extracts second data from the data group stored in the memory, where the magnitude of the second acceleration is the same as that of the first data and the sign of the first acceleration is opposite, obtains an intermediate value between the first acceleration of the first data and the first acceleration of the second data, and corrects the value of the first acceleration output from the acceleration sensor using the intermediate value as a correction value. An output value correction method for an acceleration sensor, which executes the above.

10. A method executed using a controller and a memory to correct the acceleration output from an acceleration sensor capable of detecting accelerations corresponding to each of orthogonal first and second axes, wherein the memory stores a data group of pairs of a first acceleration corresponding to the first axis and a second acceleration corresponding to the second axis, which are the accelerations obtained from the acceleration sensor at a plurality of timings during the rest of the acceleration sensor, and the controller Extracting first data and second data from the data group stored in the memory, where the magnitudes of the second accelerations are the same and the signs of the first accelerations are opposite to each other; Finding a median value between the first acceleration of the first data and the first acceleration of the second data; Correcting the value of the first acceleration output from the acceleration sensor using the median value as a correction value; An output value correction method for an acceleration sensor that executes the above.

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