An apparatus is provided to control an angle of a light axis of light from headlights mounted on a vehicle. In the apparatus, images of a field of view in front of the vehicle are captured, and the captured images are used to detect taillights of a preceding vehicle. A illumination target position is set by using, as a positional reference, a position of the detected taillights in the captured images, and the angle of the light axis so that the light axis is directed to the illumination target position. The command is provided to an angle changing device, where the provided command depends on the angle calculated. The angle changing device changes the direction of the light axis of the light at an angle commanded by the command.