CN104918825B - 用于车辆的后视成像系统 - Google Patents
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Abstract
一种用于车辆(10)的后视成像系统包括:安装在车辆的后部、用于提供从车辆向后的广角水平视场(FoV)的至少一个视频相机;以及处于车辆中驾驶员可查看的位置的显示设备。视频处理器将相机FoV细分为三个水平设置的子FoV(RH FoV、中央FoV、LH FoV)并且在显示设备屏幕的视觉上分离的并排区域上显示所述子FoV。至少一个子FoV的水平位置和/或范围作为车辆运动的函数可变。
Description
相关申请
本申请涉及于2012年7月3日提交的美国申请No.13/541,650,其通过引用方式并入于此。
技术领域
本发明涉及用于汽车和其它车辆的后视成像系统。
背景
美国专利4,214,266(通过引用方式被并入)描述了在操纵车辆的同时用于协助操作者的视觉辅助系统。由'266专利描述的系统包含闭路视频系统,闭路视频系统包含距离测量装置。系统使操作者能够看到车辆的后面,并且通过使用距离指示装置,操作者可知道车辆的后部距离经由视频系统看到的对象多远。
美国专利5,670,935(通过引用方式被并入)描述了用于车辆的后视视觉系统,其包括至少一个相对于车辆行驶方向向后定向的图像捕获设备。显示系统(例如包括在'935专利中示意性图示的显示器20、20'、20"或20"'中的任何显示器)提供了从图像捕获设备的输出合成的图像。在'935专利描述的显示系统在其是车辆乘客室前部的焦距处可与车辆驾驶员的前方视场邻接。多个图像捕获设备可如'935专利中阐述的而被提供,且显示系统可显示从图像捕获设备的输出合成的单一图像,从而逼近从诸如车辆前部之类的单个位置的面后向的视图。
美国专利6,559,761(通过引用方式被并入)公开了用于车辆的俯视图显示系统。在'761专利中公开的显示系统包括在俯视场内的参考车辆指示器和至少三个视场显示部分。每个显示部分表示毗邻参考车辆的物理区域,且包括适于显示区域内另一车辆的存在以及在参考车辆和该另一车辆之间的相对距离的第一指示器。在'761专利中公开的另一个实施例中,每个视场显示部分包括适于表示在参考车辆和另一车辆之间的相对距离的改变方向、并可能表示车辆类型的第二指示器。因此,在'761专利中公开的显示系统将关于车辆的操作环境的信息传达给车辆操作者,同时尝试限制驾驶员注意力分散的程度。期望具有进一步降低驾驶员注意力分散的后视成像系统。
美国专利7,139,412(通过引用方式被并入)描述了用来创建车辆周围区域的合成“鸟瞰图”的手段。多台相机(CAM1)至(CAM8)在'412专利中被描述为安装在车辆上以用于拍摄局部车辆的外围。当得到时,相机图像被合成并在显示设备的屏幕上显示。相机图像的像素数据在'412专利中被描述为构成被补偿的合成图像,使得毗邻相机图像的像素数据的差异减少。在'412专利中描述的一个示例中,像素数据被校正,使得他们的值等于毗邻相机图像的像素数据的平均值。期望具有信息量更多但可容易查看的后视图像,其被提供在显示器上用于车辆用户查看。
美国专利7,881,496(通过引用方式被并入)描述了用于车辆的视觉系统,其包含具有成像传感器的成像设备、相机微控制器、具有显示元件的显示设备、显示微控制器、以及至少一个可由用户选择性地致动的用户输入。成像设备将图像信号经由通信链路传达至显示设备。显示微控制器响应于至少一个用户输入而影响图像信息。相机微控制器监控在通信链路上的图像信号,并响应于检测到受影响的图像信号而调整成像设备的功能。'496专利中描述的视觉系统与距离检测系统结合可调整系统的显示器或传感器。期望具有改进的后视成像系统。
美国专利8,150,210描述了用于车辆的图像合成系统,以为驾驶员提供车的360度环视的面向下的图像。系统包括:第一相机,其用于拍摄车辆外围的第一图像;第二相机,其用于拍摄车辆外围的第二图像,其中第二图像和第一图像有重叠区域。'210专利中公开的图像处理设备包括定义部件和合成部件,其用于合成第一图像和第二图像并输出第三图像。显示设备用于显示第三图像。期望具有管理在重叠区域中的对象合成的系统,使得对象不被扭曲。
美国专利6,734,896和美国专利7,714,887(它们通过引用方式被并入)描述了图像处理器,其被编程为从用捕获车辆周围环境的多个相机取得的相机图像生成自然合成的图像。参数储存部分储存表示在相机图像和合成图像之间的对应性并具有不同的空间或时间分辨率关系的多个图像合成参数组。参数选择部分根据用于检测诸如行驶速度和方向之类的车辆运动的车辆运动检测部分的输出来选择图像合成参数组。图像合成部分根据所选择的图像合成参数组从相机图像来生成合成图像。
附图说明
本发明的实施例现在将通过示例的方式参考附图来描述,在附图中:
图1a和图1b分别图示依照某些实施例的汽车的示意性侧视图和顶视图。
图2a到图2d图示依照某些实施例当车辆倒车时相机的整体广角视场(WFoV)被视频处理器分割为三个子FoV。
图3a和图3b分别图示依照某些实施例的装备有后视成像的汽车的示意性侧视图和顶视图,其中当车辆转变为向前运动时水平和竖直视场(FoV)在显示器上变窄。
图4到图6示意性地图示了包含两个或更多相机的实施例。
具体实施方式
根据某些实施例,用于车辆的后视成像系统包含至少一个安装在车辆后部的视频相机,以用于提供车辆向后的广角水平视场(FoV)。显示设备被提供在车辆中在可由驾驶员查看的位置处,以用于查看由至少一个视频相机提供的图像。视频处理器把相机FoV细分为多个子FoV,例如三个水平设置的子FoV。视频处理器生成显示的图像,图像包括在显示设备屏幕的视觉上分离的并排区域上显示的子FoV,其中至少一个子FoV的水平位置和/或延伸作为车辆运动的函数可变。
例如在其中相机FoV被细分成三个子FoV的示例实施例中,相机FoV可被分为左边(LH)、右边(RH)和中央子FoV。
在某些实施例中,当车辆在倒车和转向特定方向时,在中央FoV与在车辆侧边的其中车辆正在倒车的一个或多个子FoV之间的界线朝车辆的该侧移位。在这个示例中,当车辆在倒车以及转向上述特定方向时,显示中央FoV的显示屏幕区域可以以牺牲显示屏幕的至少一个其它区域为代价而被拉长。
当车辆向前移动时,一个或多个子视场可以在某些实施例中变窄。子视场在车辆速度增加时可以逐渐变得更窄。
在某些实施例中,在车辆在向后运动中变慢、停止和/或开始向前运动时,包括用于停车或倒车操作的广角查看系统和调整FoV的动态视场系统的组合系统的好处。二显示或三显示(或更多显示)格式在某些实施例中被提供,其当处于向前运动时,可模拟传统的左、右和后视镜。包括车辆的后部以及车辆的一侧或两侧的至少部分、从而包括一个或多个盲点的例如90°或120°或150°或180°的全景视图的宽视场被有利地提供在可容易地查看的显示器上以用于驾驶员在倒车时利用。
图1a和图1b分别是依照某些实施例的示意性地图示竖直和水平视场(FoV)的汽车10的示意性侧视图和顶视图。在这个实施例中的后视成像系统包含在后部安装在车辆外部的用于对车辆后面的视图进行成像的面向后的广角视场(WFoV)视频相机12。这个实施例的系统可仅包含单个WFoV相机12,或者两个或更多相机可被使用(见例如图4、图5和图6以及下面的对两个和三个(或更多)相机实施例的描述)。相机12可被安装在车辆壳体、行李箱壳体、保险杠壳体、牌照壳体、刹车灯或转向信号壳体内部的隔室中,或在具有足够用于捕获具有期望的一个或多个视场的图像的孔径(aperture)的其它隔室中。相机或相机模块可被使用,其具有诸如减震、防水密封、缩放和/或自动聚焦、电磁干扰(EMI)屏蔽之类的特征,或者具有如可能在美国专利申请13/571,393、13/571,395、13/571,397、13/571,405、13/445,857、61/609,293和61/643,331和美国专利RE42,898以及美国公开专利申请号20120063761、20110221936、20110216158、20090115885和20090225171中的任何项描述的一个或多个或几个进一步的特征,它们被转让给相同受让人,且通过引用方式并入于此。可以用备选实施例包括的其它相机和相机模块实施例以及相机模块的特征和部件的实施例在美国专利号7,224,056、7,683,468、7,936,062、7,935,568、7,927,070、7,858,445、7,807,508、7,569,424、7,449,779、7,443,597、7,768,574、7,593,636、7,566,853、8,005,268、8,014,662、8,090,252、8,004,780、8,119,516、7,920,163、7,747,155、7,368,695、7,095,054、6,888,168、6,583,444和5,882,221和美国公开专利申请号2012/0063761、2011/0317013、2011/0255182、2011/0274423、2010/0053407、2009/0212381、2009/0023249、2008/0296,717、2008/0099907、2008/0099900、2008/0029879、2007/0190747、2007/0190691、2007/0145564、2007/0138644、2007/0096312、2007/0096311、2007/0096295、2005/0095835、2005/0087861、2005/0085016、2005/0082654、2005/0082653、2005/0067688和美国专利申请号61/609,293以及PCT申请号PCT/US2012/024018和PCT/US2012/025758进行了描述,其全部都通过引用方式并入于此。
再次参考图1a和图1b的示例图示,宽频显示设备14被安装在车辆内部在前面以用于驾驶员查看。视频处理器16被包括用于处理来自相机12的视频信号以用于在显示设备14处查看,且在下文中详细描述。相机12、视频处理器16和显示器14在图1a中的示例配置中被图示,且可以各种方式被安装并连接。例如,有线或无线信号可在部件12、14和16之间传送并接收,且可以设置两个相机12以提供3D图像,且距离信息可以通过在美国公开申请号2012/0007940Al、2012/0200725Al、2012/0120283Al、2012/0075492Al和/或2007/0269108和/或美国专利申请序列号PCT/US2012/025758、US 13/077,891和/或美国专利7,469,071、7,692,696、7,606,417和/或7,868,922中的任何项描述的技术而被提供,它们被转让给相同受让人,且通过引用方式并入。
图1a图示了当相机的竖直FoV未被选择在水平线之上显著延伸时的侧视图的示例;然而,由于FoV可被在视频处理器内的图像处理部分数字化地调整,具有所选择的FoV的相机(包含多达完整半球的视图)可被使用,并且例如通过使用多个相机和/或一个或多个镜子,甚至大于180°的FoV可在某些实施例中被使用。虽然视频处理器16在图1a中作为独立单元被示出,但是它的一些或所有功能可被包含在相机和/或显示单元内,或分布在二者之间,且多个处理器部件可组合来形成视频处理器16,诸如图像信号处理器或ISP、中央处理单元或CPU和/或硬件加速部件,诸如在美国公开申请号2012/0008002Al、2011/0134287A1、2011/0115928Al和/或2012/0106790Al描述的,其全部都通过引用方式被并入。
图1a图示了大约70度的示例性竖直FoV,且图1b图示了其可以尽可能接近180度、且在多个实施例中不小于135度的水平FoV。在某些实施例中,相机被安装得更高,诸如在更高的车辆上或朝向车顶定位,且相应地提供不同的、通常更宽的竖直FoV。
在若干实施例中,相机FoV以及相机位置的配置以及一个或多个相机的数量以及不同指向的相机以及组合的视场允许对紧跟在车辆后面的区域和在驾驶员后面侧边上的一个或两个盲点进行成像。
图2a图示了依照某些实施例的用于相机12的整体广角FoV的显示器14如何被视频处理器16分割为三个子FoV,在这个示例中,当车辆倒车时,包含左边FoV、右边FoV和中央FoV。
当倒车时,竖直FoV(其在某些实施例中可被动态调整)包含如图1a所示的紧跟在车辆后面的以及在驾驶员侧边和后面的盲点中的区域。当使子FoV变宽和变窄例如参考图3b进行描述、或改变在子FoV之间的界线参考图2d进行描述时,在某些实施例中这些通过视频处理器16的协助得以完成,而相机(或在以后的实施例中的多个相机)的一个或多个物理视场不会改变。在备选的实施例中,一个或多个相机的视场可被调整。
源自三个子FoV的图像被传送到宽屏显示设备14,并且并排显示在宽屏显示设备14上,宽屏显示设备14可包含实现在宽屏显示单元上的虚拟2屏或3屏(或更多屏)显示器。三个图像场之间的分离可以如利用在显示器上清楚地给每个图像与其相邻图像划界的软件生成的竖条20所示。
在图2a中,儿童22被表示在车辆的盲点中,且与左边FoV和中央FoV重叠。第一点是如果视频表示直接被转移到显示设备14,儿童会跨右边条20出现,这对驾驶员来说是反直觉的,因为儿童实际上是在车辆的左手侧。因此在某些实施例中,整个视频显示器是左右反转的,以获得显示设备屏幕上的正确直觉显示,如图2b所示。
关于图2a的第二点是,比起如果其图像完全落在图像之一的子FoV内,在其图像跨越条20的情况下,儿童更不太可能被看见。因此,在某些实施例中,当车辆实际上倒车时(与处于静止相反),中央FoV在倒车的方向上旋转,使得在倒车方向上的前景对象偏移被带入中央图像内。这在图2d中示出,其中车辆正在向左倒车,并且中央FoV已向左旋转;使得儿童被带入中央FoV图像内,如图2c所示。在某些实施例中,LH FoV的角度已减少,同时RH FoV的角度已增加相同量。备选地,然而,仅仅是中央FoV的左边边界可以向左旋转,从而将右边边界留在原处。在某些实施例中,在LH FoV角度将减少的同时,RH FoV角度将保持不变。
在其它实施例中,即使当车辆静止时,系统被配置为以图2d中示出的方式来旋转后FoV。这可通过前景/背景分析来实现,以检测感兴趣的前景对象,且当发现这样的前景对象时,中央FoV或至少在车辆相关侧的中央FoV的边界被旋转,以将对象包含在中央FoV内。
同样,三个子FoV图像—左边FoV、中央FoV和右边FoV—的宽度可基于车辆运动而动态适配。因此在某些实施例中,在倒车的同时,当驾驶员开始向左转时,在这个方向上的视图被视为变得更加重要,且因此视图的这个部分的表示可在显示单元上被放大和/或拉长,同时后FoV或右边FoV的表示或二者可相应地减小。这种情况也在图2c中图示。
图3a和图3b分别为图示水平和竖直FoV的汽车10的示意性侧视图和顶视图,水平和竖直FoV在某些实施例中当车辆从向后运动或从停止转变成向前运动时可以变窄,和/或当车辆从向前运动或从停止转变为倒车方向时可以变宽。
当正在进行向向前运动的转变时,后视成像系统继续监控车辆的后部,但是由于示出车辆的后区域和侧区域的非常宽的全景显示现在被视为不太重要,两个或三个或更多水平子FoV(例如RH FoV、LH FoV和中央FoV)的角度范围相比于倒车而变窄(再一次,这种变窄在某些实施例中通过视频处理器选择期望FoV而完成,而不是通过改变相机的物理FoV;虽然在备选的实施例中相机FoV可被调整)。在某些实施例中随着车辆的速度增加,水平FoV的角度范围逐渐变得更窄,直到最后,例如在高速行驶时,LH和RH FoV将近似对应于侧视镜(wing mirror)的视场,而中央FoV近似对应于后视镜的视场(见图3b)。在对紧跟在车辆后部的盲点进行成像和显示现在被视为不太重要时,除了水平FoV的变窄之外,竖直FoV也可在某些实施例中变窄(图3a)。
用于实现某些实施例的特别有用的处理器16在于2012年7月3日提交的美国申请号13/541,650中被描述(代理人参考:FN-384-US/P10275us00),其通过引用方式并入于此。在本文中,处理器将显示器14分为许多局部网格。每个网格在三个子FoV的实施例中对应于相应左边、右边和中央FoV,且每个子FoV对应于从相机12获取的图像流的区域。由相机12提供的图像流被存储在存储器中,且用于每个网格的图像信息区域转而由处理器的校正引擎部件跨系统总线检索。校正引擎使用于每个局部网格的图像信息在将校正的信息写回到系统存储器(从系统存储器检索校正的信息以用于显示)之前经受包括局部仿射和全局变换的变换组合。例如在某些实施例中,这些变换中的每个变换可以补偿物理透镜畸变(全局变换)、仿真透镜畸变(局部变换),或例如可以实现关于相机视图的显示镜像(仿射变换)。然而,通过单独定义个体变换并在用于局部网格的单个步骤中应用变换组合,校正引擎可因此有效地在显示器的侧边仿真侧视镜视场,其中在中央具有单独调整的后视图显示。此外,响应于如上文描述的车辆的移动,处理器还可容易调整每个网格的尺寸。在某些实施例中,特征和部件可以是如在美国公开专利申请号US20110216156A1、US20120133746A1、US20110141227A1、US20110141229A1和/或US20120019613A1以及美国专利申请序列号13/077,891、13/084,340和/或13/078,971描述的特征和部件,它们全部通过引用方式被并入。
图4示意性地图示了包含具有重叠视场的两个WFoV相机的另一个实施例。如示出的,在这种情况下左边相机FoV的左边部分提供用于显示设备14的LH FoV,右边相机FoV的右边部分提供用于显示设备的RH FoV,且用于显示设备的中央FoV源自两个相机的中央FoV#1和中央FoV#2部分。这些FoV通过视频处理器16来定义。在某些实施例中涉及通过视频处理器的一些附加后处理,以组合来自两个独立相机的两个中央FoV。两个或更多相机的这种配置允许一些范围以成像并分析阻挡单个相机的全部中央FoV的后面对象。这个备选的实施例还为在高速行驶时的LH和RH显示提供与侧视镜FoV对应的更真实的FoV。许多备选是可能的,诸如使用四个子FoV或另一个偶数(例如2、6、8等),使得中央FoV被简单分为分别与两个相机的右和左子FoV对应的左侧和右侧,或三个(或5、7等)相机可被使用,其中中间相机提供中央FoV。
图5图示了另一个实施例,其中一个或多个附加面向后的相机被并入在侧视镜的位置或靠近侧视镜的位置。在图5所示的示例中,包括两个附加的相机。在更高的向前速度下这些相机可被启动,且他们的输出供给显示设备14的LH和RH显示屏,代替来自在车辆后部的WFoV相机的LH FoV和RH FoV。在某些实施例中,来自这些相机的视图可与LH FoV和RHFoV组合,以创建用于LH和RH显示屏的复合显示。这消除了针对正好行驶到我们车辆的侧边且因此在WFoV后相机的视图之外的另一车辆的潜在盲点。
图6图示了某些实施例,其中三个视频相机(未示出)相互非常接近地位于车辆后部中央。每个相机的FoV提供相应的将被传送到显示设备14的三个水平FoV之一。因此左边相机的FoV提供LHFoV,右边相机的FoV提供RH FoV,且中间相机的FoV提供中央FoV。期望在LH和中央子FoV之间以及在中央和RH子FoV之间的一些重叠,以允许在这些FoV之间的配准(registration)。
如将理解的,本发明实现在车辆中,其中由相机提供的图像流将通过使处理器平台尽可能合理化来可靠地实时处理并显示。
本发明不限于本文中描述的实施例,其可被修改或改变而不脱离本发明的范围。
例如,用于移动透镜或其它光学部件以便自动聚焦和/或缩放的合适MEMS致动器被描述在美国专利申请序列号61/622,480以及美国PCT申请号PCT/US12/24018以及US20110230013和20080157323,其中这些中的每个均通过引用方式被并入。
在其它实施例中,导电线路(例如见USSN 13/571,393)还可部分沿传感器部件或传感器部件壳体或透镜镜筒的外面、或者通过传感器壳体或传感器运行(例如使用如US20110230013或20080157323中的热过孔或硅通过孔或导电过孔或铜过孔,它们通过引用方式被并入)。依照某些实施例,导电线路可将电子致动器部件的接触垫连接到柔性印刷电路或印刷电路板的接触垫。可以设置减震海绵或其它弹性部件,以屏蔽内部相机模块光学器件和电子设备免遭对相机模块的外壳的震动,且EMI屏蔽和自动聚焦且/或缩放特征或调节可被提供,如可在13/571,393申请中通过示例描述的,其通过引用方式被并入。
依照某些实施例,加速计和/或定向传感器可包含在相机模块中,例如如可以在美国序列号61/622,480和/或61/675,812描述的,它们被转让给相同的受让人,且通过引用方式并入。
虽然本发明的示例性附图和具体实施例已被描述和图示,但是要理解的是本发明的范围将不限于所讨论的特定实施例。因此,实施例应被当做说明性的而不是限制性的,且应理解的是本领域的技术工作者可以在那些实施例中做出变化,而不脱离本发明的范围。
另外,在可根据本文中的优选实施例执行且可以已在上文中被描述的方法中,已经以所选的排版顺序对操作进行了描述。然而,出于排版方便,顺序已被选择和如此排序,且并不旨在暗示任何用于执行操作的特定排序,除了其中可能明确阐述特定排序或其中本领域普通技术人员可能认为特定排序是必要的那些顺序。
另外,在本文中上面和下面引用的所有参考都通过引用方式被并入,以及背景、摘要和附图说明和美国申请12/213,472、12/225,591、12/289,339、12/774,486、13/026,936、13/026,937、13/036,938、13/027,175、13/027,203、13/027,219、13/051,233、13/163,648、13/264,251和PCT申请WO/2007/110097和美国专利6,873,358和RE42,898各自均通过引用方式被并入具体实施方式,如同公开备选的实施例。
此外,以下项也通过引用方式被并入,如同公开备选的实施例:
美国专利号8,055,029、7,855,737、7,995,804、7,970,182、7,916,897、8,081,254、7,620,218、7,995,855、7,551,800、7,515,740、7,460,695、7,965,875、7,403,643、7,916,971、7,773,118、8,055,067、7,844,076、7,315,631、7,792,335、7,680,342、7,692,696、7,599,577、7,606,417、7,747,596、7,506,057、7,685,341、7,694,048、7,715,597、7,565,030、7,636,486、7,639,888、7,536,036、7,738,015、7,590,305、7,352,394、7,564,994、7,315,658、7,630,006、7,440,593、7,317,815和7,289,278,以及
美国专利申请序列号13/306,568、13/282,458、13/234,149、13/234,146、13/234,139、13/220,612、13/084,340、13/078,971、13/077,936、13/077,891、13/035,907、13/028,203、13/020,805、12/959,320、12/944,701和12/944,662;以及
美国公开专利申请序列号US20120019614、US20120019613、US20120008002、US20110216156、US20110205381、US20120007942、US20110141227、US20110002506、US20110102553、US20100329582、US20110007174、US20100321537、US20110141226、US20100141787、US20110081052、US20100066822、US20100026831、US20090303343、US20090238419、US20100272363、US20090189998、US20090189997、US20090190803、US20090179999、US20090167893、US20090179998、US20080309769、US20080266419、US20080220750、US20080219517、US20090196466、US20090123063、US20080112599、US20090080713、US20090080797、US20090080796、US20080219581、US20090115915、US20080309770、US20070296833和US20070269108。
Claims (26)
1.一种用于车辆的后视成像系统,包括:
至少一个视频相机,安装在所述车辆上,用于提供采用从所述车辆向后的广角水平视场(FoV)捕获的图像的视频信号,
显示设备,处于所述车辆中驾驶员可查看的位置,和
视频处理器,用于对采用所述相机的视场捕获的并且提供图像的所述视频信号动态地并且数字地进行调整,以使得所述图像被提供在所述视频信号中,所述图像在车辆在转向方向上转向时被显示在一个或多个实时的显示器上,以在所述转向方向上水平地旋转,
其中至少一个子视场的水平位置和/或范围能够作为所述车辆的运动的函数变化。
2.根据权利要求1所述的后视成像系统,其中所述相机视场被分为左边(LH)子视场、右边(RH)子视场和中央子视场。
3.根据权利要求2所述的后视成像系统,其中当所述车辆倒车和转向特定方向时,在中央视场与所述车辆的在所述车辆倒车的一侧的所述子视场之间的界线朝向所述车辆的该一侧移位。
4.根据权利要求3所述的后视成像系统,其中当所述车辆倒车和转向所述特定方向时,显示所述中央视场的显示屏幕的区域以牺牲所述显示屏幕的至少一个其它区域为代价被拉长。
5.根据权利要求4所述的后视成像系统,其中当所述车辆向前移动时所述子视场变窄。
6.根据权利要求5所述的后视成像系统,其中随着所述车辆的速度增加,所述子视场逐渐变得更窄。
7.根据权利要求4所述的后视成像系统,其中所述视频相机的所述广角水平视场至少是135度。
8.根据权利要求4所述的后视成像系统,其中所述视频相机的竖直视场至少是70度。
9.根据权利要求4所述的后视成像系统,其中所述至少一个视频相机包括多个相机,并且其中从所述车辆向后的所述广角水平视场(FoV)源自所述多个相机。
10.根据权利要求3所述的后视成像系统,其中当所述车辆向前移动时所述子视场变窄。
11.根据权利要求10所述的后视成像系统,其中随着所述车辆的速度增加,所述子视场逐渐变得更窄。
12.根据权利要求3所述的后视成像系统,其中所述视频相机的所述广角水平视场至少是135度。
13.根据权利要求3所述的后视成像系统,其中所述视频相机的竖直视场至少是70度。
14.根据权利要求3所述的后视成像系统,其中所述至少一个视频相机包括多个相机,并且其中从所述车辆向后的所述广角水平视场(FoV)源自所述多个相机。
15.根据权利要求2所述的后视成像系统,其中当所述车辆向前移动时所述子视场变窄。
16.根据权利要求15所述的后视成像系统,其中随着所述车辆的速度增加,所述子视场逐渐变得更窄。
17.根据权利要求2所述的后视成像系统,其中所述视频相机的所述广角水平视场至少是135度。
18.根据权利要求2所述的后视成像系统,其中所述视频相机的竖直视场至少是70度。
19.根据权利要求2所述的后视成像系统,其中所述至少一个视频相机包括多个相机,并且其中从所述车辆向后的所述广角水平视场(FoV)源自所述多个相机。
20.根据权利要求1所述的后视成像系统,其中当所述车辆向前移动时所述子视场变窄。
21.根据权利要求20所述的后视成像系统,其中随着所述车辆的速度增加,所述子视场逐渐变得更窄。
22.根据权利要求1所述的后视成像系统,其中所述视频相机的所述广角水平视场至少是135度。
23.根据权利要求1所述的后视成像系统,其中所述视频相机的竖直视场至少是70度。
24.根据权利要求1所述的后视成像系统,其中所述至少一个视频相机包括多个相机,并且其中从所述车辆向后的所述广角水平视场(FoV)源自所述多个相机。
25.根据权利要求1所述的后视成像系统,其中至少一个相机安装在所述车辆的后部。
26.根据权利要求1所述的后视成像系统,其中至少一个相机安装在所述车辆的壳体内。
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