JP5687097B2 - Light distribution control system - Google Patents

Description

  The present invention relates to a technique for controlling a light distribution state of a vehicular lamp.

  2. Description of the Related Art As a vehicular lamp, an ADB (Adaptive Driving Beam) that controls lighting of a driving light (driving beam) of a headlamp of an own vehicle according to the state of a vehicle ahead is known. Such a vehicular lamp controls the light distribution state of the headlamp of the own vehicle when, for example, a vehicle is present ahead, so that only the portion of the vehicle is cut off. A prior example of such a vehicular lamp is disclosed in, for example, JP-A-7-108873 (Patent Document 1).

  The vehicle lamp of the preceding example as described above has a camera installed at a predetermined position in front of the host vehicle (for example, upper center of the front window), and the vehicle body of the target vehicle (preceding vehicle or oncoming vehicle) imaged by the camera, Alternatively, the position of the taillight or headlamp is detected by image processing. Then, light distribution control is performed so that light from the traveling light of the own vehicle is not irradiated to the detected preceding vehicle or oncoming vehicle portion.

  By the way, in the vehicular lamp of the preceding example, it is necessary to obtain the irradiation range by the headlamp of the own vehicle according to the position of the target vehicle detected based on the image captured by the camera. It is necessary to detect the distance to the vehicle. Therefore, the vehicle needs to be equipped with a distance measuring means such as a radar or a stereo camera. However, when a distance measuring means such as a radar is provided, the irradiation range of the headlamp can be calculated more precisely, but there is a disadvantage that the configuration becomes complicated and the cost increases.

JP-A-7-108873

  The specific aspect which concerns on this invention makes it one of the objectives to provide the technique which can control the light distribution state by the headlamp of the own vehicle by simpler structure.

  A light distribution control system according to an aspect of the present invention is a light distribution control system for controlling a light distribution state by a vehicular lamp, and (a) images a target vehicle existing in front of the host vehicle. An imaging device; (b) an image processing device that detects left and right outer edges of the target vehicle based on an image output from the imaging device; and (c) the light distribution based on a detection result by the image processing device. A light distribution control device that outputs a light distribution signal for controlling the state is provided. The light distribution control device (d) is based on the detection result obtained from the image processing device, the angles θL and θR indicating the positions of the outer edges of the target vehicle with respect to the host vehicle, and the target vehicle. A vehicle angle detection unit for obtaining a depression angle θD of the vehicle, and (e) an angle defining an irradiation range by each of the right headlight and the left headlight of the host vehicle based on the detection results of the angles θL, θR, and θD an irradiation range calculation unit for calculating α1, α2, β1, and β2, and (f) a distribution that outputs a light distribution signal for controlling the light distribution state based on the calculation results of the angles α1, α2, β1, and β2. An optical signal output unit is included. The irradiation range calculation unit obtains (g) a distance d between the target vehicle and the host vehicle based on the depression angle θD, and (h) a value obtained by dividing a predetermined coefficient by the value of the distance d. By subtracting from the angle θR, an angle θRR formed between the right headlamp and the right outer edge of the target vehicle is obtained, and the angle α1 is determined by adding a first correction value thereto, (i) A value obtained by dividing a predetermined coefficient by the value of the distance d is added to the angle θR to obtain an angle θLR formed by the left headlight and the right outer edge of the target vehicle. The angle α2 is determined by adding a value, and (j) a value obtained by dividing a predetermined coefficient by the value of the distance d is added to the angle θL to add the right headlight and the left side of the target vehicle. The angle θRL formed with the outer edge is obtained, and the third The angle β1 is determined by subtracting a positive value, and (k) a value obtained by dividing a predetermined coefficient by the value of the distance d is subtracted from the angle θL to subtract the left headlight and the left side of the target vehicle. Is determined by subtracting the fourth correction value from the angle θLL formed with the outer edge of the angle θLL.

  In the above system, based on the detection result obtained from the image processing apparatus, the position of each outer edge of the target vehicle (for example, the end of a headlight or taillight) and the depression angle of the target vehicle are obtained, and these positions and A positional relationship with each of the right headlight and the left headlight of the vehicle is obtained. These positional relationships can be obtained by a simple calculation using a geometric method. Then, a correction value is added to the angle formed between each headlamp of the subject vehicle and the right outer edge of the target vehicle, and a correction value is applied to the angle formed between each headlight of the subject vehicle and the left outer edge of the target vehicle. By reducing, it is possible to easily set an appropriate light irradiation range in which light is not irradiated to the interior of the target vehicle. Thus, since the light irradiation range is obtained by a simple calculation, a high-performance and expensive calculation device is unnecessary, and a means for measuring the distance between the host vehicle and the target vehicle is also unnecessary. That is, it is possible to realize a light distribution control system that can control the light distribution state of the headlight of the host vehicle with a simpler configuration.

  In the light distribution control system, the first correction value is determined by subtracting a value obtained by multiplying the angle θRR by a predetermined coefficient from a predetermined value, and dividing the subtraction result by the distance d. The correction value of 2 is determined by subtracting a value obtained by multiplying the angle θLR by a predetermined coefficient from the predetermined value and dividing the subtraction result by the distance d, and the third correction value is calculated by adding the angle θRL to the angle θRL. A value obtained by multiplying a predetermined coefficient is subtracted from a predetermined value, and the subtraction result is determined by dividing the distance d. The fourth correction value is a value obtained by multiplying the angle θLL by a predetermined coefficient. Is preferably determined by subtracting from the distance d and dividing the result by the distance d.

  As a result, a correction value that varies in conjunction with the relative positional relationship between the host vehicle and the target vehicle is obtained, so that the light irradiation range can be determined more accurately.

  In the light distribution control system, the distance d is obtained by multiplying a value obtained by dividing a value p preset as the height difference between the imaging device and the position of the outer edge of the target vehicle by the depression angle θD by a predetermined coefficient. Is preferably determined.

  Thereby, the distance d can be obtained by a simple calculation.

It is a block diagram which shows the structure of the light distribution control system of the vehicle lamp of one Embodiment. It is a figure for demonstrating the method of estimating the distance of an object vehicle and the own vehicle based on the depression angle (theta) _D of the lamp of an object vehicle. It is the figure which represented the relationship between the distance d and the depression angle (theta) _D as a numerical value. It is a figure for demonstrating the method to approximate the light distribution angle of the lamp | ramp of the own vehicle based on horizontal angle (theta) _R , (theta) _L of the lamp | ramp of a target vehicle. It is the figure which represented the relationship between distance d, j, j / d, and horizontal angle (theta) _R , (theta) _RR , (theta) _LR as a numerical value. It is a figure for demonstrating the method to correct | amend the light distribution angle of the lamp | ramp of the own vehicle in order to avoid the dazzling to a target vehicle more reliably. It is a flowchart which shows the operation | movement procedure of a light distribution control system. FIG. 7 is a diagram representing the relationship between θ _LR , θ _RR and θ _AD and the distance d in FIG. 6 as numerical values.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration of a light distribution control system for a vehicle lamp according to an embodiment. A light distribution control system 1 shown in FIG. 1 generates and outputs a signal (hereinafter referred to as “light distribution signal”) for controlling a light distribution state by the vehicular lamp 2, and a camera (imaging device) 11. The image processing device 12 and the light distribution control device 13 are configured.

  The camera 11 is for imaging the front of the host vehicle, and is attached to a predetermined position of the vehicle, for example, the upper center of the front window. The target vehicle (preceding vehicle or oncoming vehicle) existing in front of the host vehicle is imaged by the camera 11, and the image data is output from the camera 11 to the image processing device 12.

  The image processing device 12 performs predetermined image processing on the image data input from the camera 11. For example, the image processing device 12 detects the position of the lamp (headlight or taillight) of the target vehicle by executing image processing such as binarizing the image data and detecting the contour.

  The light distribution control device 13 acquires the image processing result obtained by the image processing device 12, and generates a light distribution signal to be supplied to the vehicle lamp 2 based on the result. The vehicle angle detection unit 21, the irradiation range The calculation unit 22 and the light distribution signal output unit 23 are included. The light distribution control device 13 is realized by executing a predetermined program in a computer system including, for example, a CPU, a ROM, a RAM, and the like.

Based on the image processing result from the image processing device 12, the vehicle angle detection unit 21 determines the relative position of both end positions of the lamp (headlight or taillight) of the target vehicle based on the traveling direction of the host vehicle based on the angle. Ask. Specifically, the vehicle angle detection unit 21, a horizontal angle theta _L of the horizontal angle theta _R and left lamp rightmost lamp of the target vehicle as viewed from the vehicle, determine the depression angle theta _D of the subject vehicle lamp.

The irradiation range calculation unit 22 calculates parameters for determining the irradiation range of the headlight of the host vehicle based on the angles θ _R , θ _L , and θ _D obtained by the vehicle angle detection unit 21. Details of the parameters will be described later.

  The light distribution signal output unit 23 generates and outputs a light distribution signal for use in light distribution control by the vehicular lamp 2 based on the above parameters calculated by the irradiation range calculation unit 22. The vehicle lamp 2 that has received this light distribution signal operates a built-in actuator or the like (not shown) so as to realize a light irradiation range determined by the light distribution signal.

  The light distribution control system 1 of the present embodiment has the above configuration, and the operation thereof will be described next.

First, a method for estimating the distance between the target vehicle and the host vehicle based on the depression angle θ _D of the ramp of the target vehicle will be described with reference to FIG. In FIG. 2, the positional relationship between the host vehicle 30 and the target vehicle 32 is shown by a schematic side view. As shown in the figure, the vehicle angle detector 21 detects the depression angle θ _D of the lamp 33 of the target vehicle based on the position of the camera 11 based on the image captured by the camera 11. At this time, let p be the difference in height between the camera 11 and the lamp 33 of the target vehicle. Here, p is defined in a stationary state on a flat ground. This p differs depending on whether the lamp 33 of the target vehicle 33 is a headlight or a taillight, and also differs depending on the vehicle type of the target vehicle. However, in this embodiment, the distance d can be estimated by regarding p as a constant value. Here, p = 0.6 m when the lamp 33 is a headlamp, and p = 0.4 m when the lamp 33 is a tail lamp. These numerical values are merely examples, and can be changed as appropriate in consideration of the height of the camera 11 and the like.

When assuming a positional relationship shown in FIG. 2, the depression angle theta _D and the distance d between the lamp 33 of the target vehicle 32, the relationship between the difference p of the height can be expressed as follows.
θ _D = arctan (p / d) (1)

From the above calculation formula, the relationship between the distance d and the depression angle θ _D is expressed as a numerical value as shown in FIG. Based on the numerical values shown in FIG. 3, once again, to represent the depression angle theta _D as a function of the distance d and the height difference p, can be expressed by simple formulas such as:.
θ _D = 57.3 × p / d (2)

  Here, the coefficient “57.3” is effective particularly in the range of the distance d of 5 m or more in the numerical example shown in FIG. Specifically, when the distance d is 3 m, 2 m, and 1 m, the coefficients are 56.5, 55.6, and 51.6, respectively. However, compared with the case where the distance between the target vehicle and the host vehicle is 3 m or less, it is considered that the necessity for the light distribution control is higher when the distance is 5 m or more. Therefore, in the present embodiment, the above-described coefficient “57.3” is used in consideration that the accuracy of light distribution control is further increased when the distance d is 5 m or more. Note that the value of this coefficient varies depending on the set value of p, and the value of “57.3” is merely an example.

When the above equation (2) is modified, the distance d can be expressed as follows.
d = 57.3 × p / θ _D (3)
Therefore, by using the value of the depression angle theta _D obtained by the image processing, the distance d between the vehicle and the target vehicle (3) can be easily calculated based on the formula.

  The distance calculation accuracy (error) when using the above equation (3) is as follows. An actual height difference p determined by the relationship between the target vehicle and the host vehicle and a preset value p may cause an error of about ± 0.1 m. If the preset value of p is 0.4 m, the error between the distance d calculated based on the equation (3) and the actual distance is about ± 25%. If the preset value of p is 0.6 m, the error between the distance d calculated based on the equation (3) and the actual distance is about ± 17%.

Next, a method for estimating the light distribution angles of the left and right lamps of the subject vehicle based on the horizontal angles θ _R and θ _L of the lamps of the target vehicle will be described with reference to FIGS. 4A shows the positional relationship between the camera 11 of the host vehicle 30 and the left and right lamps 31L and 31R and the right lamp 34R of the target vehicle 32. FIG. 4B shows the camera 11 of the host vehicle 30 and the left and right lamps 31L and 31R. The positional relationship between each of the lamps 31L and 31R and the left lamp 34L of the target vehicle 32 is shown.

The vehicle angle detector 21 based on the image captured by the camera 11, the horizontal angle theta _R lamps 34 of the target vehicle relative to the position of the camera 11 is detected. At this time, the relationship between the distance d between the camera 11 and the lamp 34 on the right side of the target vehicle and j, j / d, horizontal angles θ _R , θ _RR , θ _LR shown in FIG. It becomes like 5. Here, j = d · sin (θ _R ), k = d · cos (θ _R ), θ _RR = arctan {(j−0.546) / k}, θ _LR = arctan {(j + 0.546) / k}, and the numerical value “0.546” is a half value of the distance between the left and right lamps 31L and 31R of the host vehicle, and is only one of numerical examples and can be changed as appropriate. It is assumed that the camera 11 is disposed between the left and right lamps 31L and 31R.

Based on the numerical values shown in FIG. 5, again, it expressed horizontal angle theta _R and j, the relationship d as a function can be expressed by the simple equation as follows.
θ _R = 57.5 × j / d (4)
j = θ _R × d / 57.5 (5)
k = 57.14 × j / θ _R (6)

At this time, the horizontal angle θ _RR indicating the relative positional relationship between the right lamp 31R of the host vehicle and the right lamp 34R of the target vehicle can be expressed as follows.
θ _RR = (j−0.546) × 57.14 / k (7)
Substituting the above equations (5) and (6) into this equation (7) results in the following.
θ _RR = θ _R -31.4 / d (8)
Therefore, by using the value of the horizontal angle θ _R obtained by image processing and the value of the distance d calculated based on the above-described depression angle θ _D , the horizontal angle θ _RR is simply calculated based on the equation (8). be able to.

Similarly, θ _LR indicating the relative positional relationship between the left lamp 31L of the host vehicle and the right lamp 34R of the target vehicle can be expressed as follows.
θ _LR = (j + 0.546) × 57.14 / k (9)
Substituting the above equations (5) and (6) into this equation (9) yields the following.
θ _LR = θ _R + 31.4 / d (10)
Therefore, by using the value of the horizontal angle θ _R obtained by image processing and the value of the distance d calculated based on the above-described depression angle θ _D , the horizontal angle θ _RL is simply calculated based on the equation (10). be able to.

Similarly, theta _RL indicating a relative positional relationship between the left lamp 34L of the right lamp 31R and the target vehicle of the own vehicle can be expressed as follows.
θ _RL = (j + 0.546) × 57.14 / k (11)
Substituting the above equations (5) and (6) into this equation (11) yields the following.
θ _RL = θ _L + 31.4 / d (12)
Therefore, by using the value of the distance d is calculated based on the depression angle theta _D VALUE and the horizontal angle theta _L obtained by image processing, simply calculates the horizontal angle theta _LR based on the equation (12) be able to.

Similarly, θ _LL indicating the relative positional relationship between the left lamp 31L of the host vehicle and the left lamp 34L of the target vehicle can be expressed as follows.
θ _LL = (j−0.546) × 57.14 / k (13)
Substituting the above equations (5) and (6) into this equation (13) yields the following.
θ _LL = θ _L + 31.4 / d (14)
Therefore, by using the value of the distance d is calculated based on the depression angle theta _D VALUE and the horizontal angle theta _L obtained by image processing, simply calculates the horizontal angle theta _LL based on the equation (14) be able to.

  Next, a method for correcting the light distribution angles of the left and right lamps of the host vehicle will be described with reference to FIG. FIG. 6 shows the positional relationship between one of the left and right lamps 31L and 31R of the host vehicle 30 and the right lamp 34R of the target vehicle 32. The positional relationship of the left lamp 34L of the target vehicle 32 is symmetric with the diagram shown in FIG.

As shown in FIG. 6, consider a case where the light distribution angle is corrected so that light irradiation is performed 0.3 m (30 cm) outward in the horizontal direction from the position of the right lamp 34 </ b> R of the symmetric vehicle 32. The numerical value “0.3 m” is an example, and the present invention is not limited to this. At this time, the angle θ _AD added as a correction value to the horizontal angle θ _LR or θ _RR can be expressed by the following equation.
θ _AD = (17.2 / d) − (0.04 × θ _RR / d)
= (17.2−0.04 × θ _RR ) / d (15)
θ _AD = (17.2 / d) − (0.04 × θ _LR / d)
= (17.2−0.04 × θ _LR ) / d (16)
These equations (15) and (16) can be easily obtained from FIG. 8 because the distance and the angle are inversely proportional to θ _AD when θ _LR or θ _RR is 0 °. In addition, each part of “0.04 × θ _RR ” and “0.04 × θ _LR ” is linearly approximated from a difference value when θ _LR or θ _RR is 10 °, 20 °, and 0 °. This is the calculated formula.

Similarly, the angle θ _AD added as a correction value to the horizontal angle θ _RL or θ _LL can be expressed by the following equation.
θ _AD = (17.2−0.04 × θ _RL ) / d (17)
θ _AD = (17.2−0.04 × θ _LL ) / d (18)

Therefore, when these correction values are added to the above equations (8), (10), (12), and (14), the corrected horizontal angles can be expressed as follows.
α1 = θ _R −31.4 / d + (17.2−0.04 × θ _RR ) / d (19)
α2 = θ _R + 31.4 / d + (17.2−0.04 × θ _LR ) / d (20)
β1 = θ _L + 31.4 / d− (17.2−0.04 × θ _RL ) / d (21)
_{β2 = θ L -31.4 / d- (} 17.2-0.04 × θ LL) / d ··· (22)
It has been confirmed that the accuracy of the horizontal angle obtained by these calculation formulas is small enough that there is no practical problem. Specifically, the angle error is about 0.04 °, which is 1 cm or less when expressed in the distance from the lamps 34L and 34R of the target vehicle in the horizontal direction.

According to the above principle, light distribution control can be realized by performing simple addition / subtraction / division / division calculations using the depression angle θ _D and the horizontal angles θ _R and θ _L obtained from an image of the target vehicle. Hereinafter, the operation procedure of the light distribution control system 1 will be described with reference to the flowchart shown in FIG.

  When the target vehicle existing in front of the host vehicle is imaged by the camera 11 (step S11), the image processing device 12 performs predetermined image processing on the image data output from the camera 11 (step S12).

Next, the vehicle angle detection unit 21 detects the depression angle θ _D and the horizontal angles θ _R and θ _L based on the image processing result by the image processing device 12 (step S13).

Next, the irradiation range calculation unit 22 sets the irradiation range of light from the headlamp of the own vehicle based on the depression angle θ _D and the horizontal angles θ _R and θ _L detected by the vehicle angle detection unit 21. The necessary angles α1, α2, β1, and β2 are calculated (step S14).

  Next, the light distribution signal output unit 23 uses a light distribution signal to be used for light distribution control by the vehicular lamp 2 based on the angles α1, α2, β1, and β2 calculated by the irradiation range calculation unit 22. Generate and output (step S15).

  As described above, in the light distribution control system of the present embodiment, based on the detection result obtained from the image processing device, the position of each outer edge of the target vehicle (for example, the headlight or the end of the taillight) and the target vehicle The depression angle is obtained, and the positional relationship between these positions and the right and left headlights of the host vehicle is obtained. These positional relationships can be obtained by a simple calculation using a geometric method. Then, a correction value is added to the angle formed between each headlamp of the subject vehicle and the right outer edge of the target vehicle, and a correction value is applied to the angle formed between each headlight of the subject vehicle and the left outer edge of the target vehicle. By reducing, it is possible to easily set an appropriate light irradiation range in which light is not irradiated to the interior of the target vehicle. Thus, since the light irradiation range is obtained by a simple calculation, a high-performance and expensive calculation device is unnecessary, and a means for measuring the distance between the host vehicle and the target vehicle is also unnecessary. That is, it is possible to realize a light distribution control system that can control the light distribution state of the headlight of the host vehicle with a simpler configuration.

  In addition, this invention is not limited to the content of embodiment mentioned above, In the range of the summary of this invention, it can change and implement variously. For example, in the above-described embodiment, the light distribution control system is configured including the camera, the image processing device, and the light distribution control device. However, when the host vehicle is equipped with the camera and the image processing device in advance, A light distribution control system may be constructed by combining the camera and the like with a light distribution control device. Further, the camera and the image processing apparatus may be configured integrally.

DESCRIPTION OF SYMBOLS 1 ... Light distribution control system 2 ... Vehicle lamp 11 ... Camera (imaging device)
DESCRIPTION OF SYMBOLS 12 ... Image processing apparatus 13 ... Light distribution control apparatus 21 ... Vehicle angle detection part 22 ... Irradiation range calculation part 23 ... Light distribution signal output part

Claims (4)

A light distribution control system for controlling a light distribution state by a vehicle lamp,
An imaging device for imaging a target vehicle in front of the host vehicle;
An image processing device for detecting left and right outer edges of the target vehicle based on an image output from the imaging device;
A light distribution control device that outputs a light distribution signal for controlling the light distribution state based on a detection result by the image processing device;
Including
The light distribution control device includes:
A vehicle angle detector that obtains angles θL and θR indicating the positions of the outer edges of the target vehicle with respect to the host vehicle, and a depression angle θD of the target vehicle based on the detection result obtained from the image processing device; ,
An irradiation range calculation unit that calculates angles α1, α2, β1, and β2 that define the irradiation ranges of the right and left headlamps of the host vehicle based on the detection results of the angles θL, θR, and θD. When,
A light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the calculation results of the angles α1, α2, β1, and β2.
Have
The irradiation range calculation unit
A distance d between the target vehicle and the host vehicle is obtained based on the depression angle θD,
A value obtained by dividing a predetermined coefficient by the value of the distance d is subtracted from the angle θR to obtain an angle θRR formed by the right headlamp and the right outer edge of the target vehicle. The angle α1 is determined by adding values,
A value obtained by dividing a predetermined coefficient by the value of the distance d is added to the angle θR to obtain an angle θLR formed by the left headlight and the right outer edge of the target vehicle. Determine the angle α2 by adding the values,
A value obtained by dividing a predetermined coefficient by the value of the distance d is added to the angle θL to obtain an angle θRL formed by the right headlight and the left outer edge of the target vehicle. Determine the angle β1 by subtracting the value;
A value obtained by dividing a predetermined coefficient by the value of the distance d is subtracted from the angle θL to obtain an angle θLL formed by the left headlight and the left outer edge of the target vehicle. Determine the angle β2 by subtracting the value;
Light distribution control system for vehicular lamps. The first correction value is determined by subtracting a value obtained by multiplying the angle θRR by a predetermined coefficient from a predetermined value, and dividing the subtraction result by the distance d.
The second correction value is determined by subtracting a value obtained by multiplying the angle θLR by a predetermined coefficient from a predetermined value, and dividing the subtraction result by the distance d.
The third correction value is determined by subtracting a value obtained by multiplying the angle θRL by a predetermined coefficient from a predetermined value and dividing the subtraction result by the distance d.
The fourth correction value is determined by subtracting a value obtained by multiplying the angle θLL by a predetermined coefficient from a predetermined value and dividing the subtraction result by the distance d.
The light distribution control system according to claim 1. The distance d is determined by multiplying a value obtained by dividing a value p set in advance as the height difference between the imaging device and the position of the outer edge of the target vehicle by the depression angle θD by a predetermined coefficient.
The light distribution control system according to claim 1. A light distribution control device for controlling a light distribution state by a vehicular lamp,
The result of detecting the left and right outer edges of the target vehicle existing in front of the host vehicle is input, and based on the detection result, an angle θ L indicating the position of each outer edge of the target vehicle with respect to the host vehicle, a vehicle angle detector for obtaining θR and a depression angle θD of the target vehicle ;
The angle θ L, θ R, based on the detection result of the theta] D, the angle α1 for defining the irradiation range by each of the right headlamp and left headlamp of the own vehicle, α2, β1, irradiation range to calculate the β2 A calculation unit;
A light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the calculation results of the angles α1, α2, β1, and β2.
With
The irradiation range calculation unit
A distance d between the target vehicle and the host vehicle is obtained based on the depression angle θD,
A value obtained by dividing a predetermined coefficient by the value of the distance d is subtracted from the angle θR to obtain an angle θRR formed by the right headlamp and the right outer edge of the target vehicle. The angle α1 is determined by adding values,
A value obtained by dividing a predetermined coefficient by the value of the distance d is added to the angle θR to obtain an angle θLR formed by the left headlight and the right outer edge of the target vehicle. Determine the angle α2 by adding the values,
A value obtained by dividing a predetermined coefficient by the value of the distance d is added to the angle θL to obtain an angle θRL formed by the right headlight and the left outer edge of the target vehicle. Determine the angle β1 by subtracting the value;
A value obtained by dividing a predetermined coefficient by the value of the distance d is subtracted from the angle θL to obtain an angle θLL formed by the left headlight and the left outer edge of the target vehicle. Determine the angle β2 by subtracting the value;
A light distribution control device for a vehicle lamp.

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