Light distribution controlling device, vehicle lamp system, and light distribution controlling method

1 . A light distribution controlling device that determines a light distribution pattern having a dimmed portion to overlap a dimming target present in a region ahead of a vehicle, the light distribution controlling device configured to:

perform, by using a structuring element of a predetermined shape, a dilation process on a luminous point included in an image capturing the region ahead to generate a dilated region, and determine the dimmed portion based on the dilated region; and

vary at least one of a size of the structuring element or a position of a pixel of interest in the structuring element in accordance with at least one of a vehicle speed or a rate of turn of the vehicle.

2 . The light distribution controlling device according to claim 1 , wherein the light distribution controlling device executes at least any one of:

when the vehicle speed is a second vehicle speed higher than a first vehicle speed, setting dimensions of the structuring element in the image's up-down and right-left directions to dimensions greater than dimensions in the image's up-down and right-left directions held when the vehicle speed is the first vehicle speed;

when the vehicle speed is the second vehicle speed, setting dimensions of the structuring element in the image's right-left direction to dimensions greater than dimensions in the image's right-left direction held when the vehicle speed is the first vehicle speed; or

when the vehicle speed is the second vehicle speed, shifting the position of the pixel of interest in the structuring element from a position held when the vehicle speed is the first vehicle speed in a direction in which the dimming target becomes displaced due to a movement of the vehicle.

3 . The light distribution controlling device according to claim 1 , wherein the light distribution controlling device executes at least any one of:

when the rate of turn is a second rate of turn higher than a first rate of turn, setting dimensions of the structuring element in the image's up-down and right-left directions to dimensions greater than dimensions in the image's up-down and right-left directions held when the rate of turn is the first rate of turn;

when the rate of turn is the second rate of turn, setting dimensions of the structuring element in the image's right-left direction to dimensions greater than dimension in the image's right-left direction held when the rate of turn is the first rate of turn; or

when the rate of turn is the second rate of turn, shifting the position of the pixel of interest in the structuring element from a position held when the rate of turn is the first rate of turn in a direction opposite a direction of turn of the vehicle.

4 . The light distribution controlling device according to claim 2 , wherein the light distribution controlling device executes at least any one of:

when the rate of turn is a second rate of turn higher than a first rate of turn, setting dimensions of the structuring element in the image's up-down and right-left directions to dimensions greater than dimensions in the image's up-down and right-left directions held when the rate of turn is the first rate of turn;

when the rate of turn is the second rate of turn, setting dimensions of the structuring element in the image's right-left direction to dimensions greater than dimension in the image's right-left direction held when the rate of turn is the first rate of turn; or

when the rate of turn is the second rate of turn, shifting the position of the pixel of interest in the structuring element from a position held when the rate of turn is the first rate of turn in a direction opposite a direction of turn of the vehicle.

5 . The light distribution controlling device according to claim 1 , wherein

the light distribution controlling device acquires the rate of turn based on a detection value of a steering angle sensor provided in the vehicle.

6 . The light distribution controlling device according to claim 2 , wherein

the light distribution controlling device acquires the rate of turn based on a detection value of a steering angle sensor provided in the vehicle.

7 . The light distribution controlling device according to claim 3 , wherein

the light distribution controlling device acquires the rate of turn based on a detection value of a steering angle sensor provided in the vehicle.

8 . The light distribution controlling device according to claim 4 , wherein

the light distribution controlling device acquires the rate of turn based on a detection value of a steering angle sensor provided in the vehicle.

9 . A vehicle lamp system, comprising:

a light distribution variable lamp capable of illuminating a region ahead of a vehicle with a visible light beam of a variable intensity distribution;

an imaging device that captures an image of the region ahead; and

the light distribution controlling device according to claim 1 that determines a light distribution pattern based on the image captured by the imaging device and controls the light distribution variable lamp so as to form the light distribution pattern.

10 . A light distribution controlling method of determining a light distribution pattern having a dimmed portion to overlap a dimming target present in a region ahead of a vehicle, the light distribution controlling method comprising:

performing, by using a structuring element of a predetermined shape, a dilation process on a luminous point included in an image capturing the region ahead to generate a dilated region, and determining the dimmed portion based on the dilated region; and

varying at least one of a size of the structuring element or a position of a pixel of interest in the structuring element in accordance with at least one of a vehicle speed or a rate of turn of the vehicle.