Tilt detection device, tilt detection system, tilt detection method, and storage medium for storing tilt detection program

A tilt detection system, comprising:

• a tilt detection device, which is usable in a moving object, comprising:
• a processor;
• a non-transitory computer-readable storage medium;
• and
• a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:
• acquire first tilt information detected by a first tilt sensor disposed in a sensor package housing that is mounted in the moving object and includes a peripheral monitoring sensor used to monitor surroundings of the moving object;
• acquire second tilt information detected by a second tilt sensor disposed in a portion of the moving object other than the sensor package housing;
• identify a first difference between a tilt of the moving object relative to a common reference state and a tilt of the sensor package housing relative to the common reference state based on the first tilt information and the second tilt information;
• and
• determine that the sensor package housing is tilted from an initial position when the first difference that is identified does not fall within a first allowable range,
• wherein
• the sensor package housing that is mounted in the moving object and includes the peripheral monitoring sensor used to monitor surroundings of the moving object;
• the first tilt sensor that is disposed in the sensor package housing;
• and
• the second tilt sensor that is disposed in the portion of the moving object other than the sensor package housing, wherein
• the first tilt sensor includes a plurality of first tilt sensors disposed in the sensor package housing,
• the set of computer-executable instructions further cause the processor to:
• acquire the first tilt information detected by each of the plurality of first tilt sensors,
• identify a second difference that is a tilt difference between tilts of the plurality of first tilt sensors relative to a common reference state based on the first tilt information that is acquired from each of the plurality of first tilt sensors;
• detect a defect in at least one of the plurality of first tilt sensors when the second difference that is identified does not fall within a second allowable range;
• and
• determine that the sensor package housing is tilted from the initial position when the second difference that is identified falls within the second allowable range and when the first difference that is identified does not fall within the first allowable range.

A tilt detection system, comprising:

• a tilt detection device, which is usable in a moving object, comprising:
• a processor;
• a non-transitory computer-readable storage medium;
• and
• a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:
• acquire first tilt information detected by a first tilt sensor disposed in a sensor package housing that is mounted in the moving object and includes a peripheral monitoring sensor used to monitor surroundings of the moving object;
• acquire second tilt information detected by a second tilt sensor disposed in a portion of the moving object other than the sensor package housing;
• identify a first difference between a tilt of the moving object relative to a common reference state and a tilt of the sensor package housing relative to the common reference state based on the first tilt information and the second tilt information;
• and
• determine that the sensor package housing is tilted from an initial position when the first difference that is identified does not fall within a first allowable range,
• wherein
• the sensor package housing that is mounted in the moving object and includes the peripheral monitoring sensor used to monitor surroundings of the moving object;
• the first tilt sensor that is disposed in the sensor package housing;
• and
• the second tilt sensor that is disposed in the portion of the moving object other than the sensor package housing, wherein
• the second tilt sensor includes a plurality of second tilt sensors that are disposed in the portion of the moving object other than the sensor package housing,
• wherein
• the set of computer-executable instructions further cause the processor to:
• acquire the second tilt information detected by each of the plurality of second tilt sensors,
• identify a third difference that is a difference between tilts of the plurality of second tilt sensors relative to the common reference state based on the second tilt information that is acquired from each of the plurality of second tilt sensors;
• detect a defect in at least one of the plurality of second tilt sensors when the third difference that is identified does not fall within a third allowable range;
• and
• determine that the sensor package housing is tilted from the initial position when the third difference that is identified falls within the third allowable range and when the first difference that is identified does not fall within the first allowable range.

A tilt detection method implemented by at least one processor of a moving object, the method comprising:

• acquiring first tilt information detected by a first tilt sensor disposed in a sensor package housing that is mounted in the moving object and includes a peripheral monitoring sensor used to monitor surroundings of the moving object;
• acquiring second tilt information detected by a second tilt sensor disposed in a portion of the moving object other than the sensor package housing;
• identifying a first difference between a tilt of the moving object relative to a common reference state and a tilt of the sensor package housing relative to the common reference state based on the acquired first tilt information and the acquired second tilt information;
• determining that the sensor package housing is tilted from an initial position when the identified first difference does not fall within a first allowable range;
• and
• correcting a sensing deviation corresponding to the first difference that is identified when the sensor package housing is determined to be tilted from the initial position.

A non-transitory, computer readable, tangible storage medium for storing a tilt detection program for a moving object, the tilt detection program comprising instructions, when executed by at least one processor of the moving object, causing the at least one processor to:

• acquire first tilt information detected by a first tilt sensor disposed in a sensor package housing that is mounted in the moving object and includes a peripheral monitoring sensor used to monitor surroundings of the moving object;
• acquire second tilt information detected by a second tilt sensor disposed in a portion of the moving object other than the sensor package housing;
• identify a first difference between a tilt of the moving object relative to a common reference state and a tilt of the sensor package housing relative to the common reference state based on the acquired first tilt information and the acquired second tilt information;
• determine that the sensor package housing is tilted from an initial position when the identified first difference does not fall within a first allowable range, and
• correct a sensing deviation corresponding to the first difference that is identified when the sensor package housing is determined to be tilted from the initial position.