DE102018218986B4 - camera module - Google Patents

Abstract

A camera module (1) configured to be mounted on an inside of a windshield (3) of a vehicle (2) and to image an external environment (5) of the vehicle, the camera module comprising:a plurality of lens units (6030) , respectively having optical axes (Aw, An, At), the optical axes being shifted from each other, wherein an optical image of the external environment enters view angles (θw, θn, θt) respectively around the optical axes, wherein the viewing angles (θw, θn, θt) are different from each other,an imaging system (50) for performing imaging individually through the lens units and for generating an external image of the external environment, anda hood (6040, 9040) defining an imaging space ( 410) which is for guiding the optical image of the external environment in an imaging target area of the imaging system to the lens units and an incidence of light from an outside of the imaging target area chs to the lens units, one of the lens units being a wide-angle unit (6030w) having an angle of view (θw) defined with a wide-angle lens (34w), another of the lens units being a narrow-angle unit (6030n, 6030t, 7030n, 7030t, 8030n, 8030t) having a viewing angle (θn, θt) narrower than that of the wide-angle unit, the hood includes: a base wall portion (41, 9041) to be located to face the windshield across the imaging space, and a side wall portion (6043, 9043) which is raised from the base wall portion on a lateral side of the imaging space and inclined laterally outward corresponding to a viewing angle (θw) of the wide-angle unit from a vicinity of the wide-angle unit to an outer vicinity side, and a narrow-angle exposure window ( 6431n, 6431t) in the side wall portion on the outer periphery side of the wide-angle unit and the which exposes the narrow angle unit to the imaging space.

Description

technical field

The present disclosure relates to a camera module.

background

Conventionally, camera modules installed on the inside of a windshield of a vehicle and configured to image an external environment of the vehicle have been well known. One of the previous camera modules is in JP 5316562 B2 been revealed.

From the U.S. 2017 0 217 382 A1 a camera holding device is known which holds a camera assembly in a predetermined position. In this case, two cameras are arranged laterally spaced.

From the U.S. 2016 0 227 078 A1 discloses a stereo camera for mounting on a windshield that includes a light shield that shields light from outside the field of view.

The U.S. 2017 0 290 170 A1 shows a manufacturing method for a camera and a camera for use in a vehicle, with a plurality of lens elements which have different opening angles.

One type of camera module of the present disclosure is in US Pat JP 5316562 B2 A-in which a light from an external environment enters a vehicle camera through a lens to thereby image the external environment. In recent years, camera modules have been required to image a wide area of an external environment in order to recognize images for advanced driving assistance or self-driving of a vehicle. In order to meet the above requirement, it is conceivable to use a technique to image the external environment through a lens unit having a wide angle of view around an optical axis. However, in the lens unit having the wide angle of view, a depth of field approaches closer when viewed as an occupant of the vehicle. Therefore, there arises a concern that a pixel resolution in an area on the deeper side when viewed as the occupant is deteriorated from the outside environment. Therefore, it is conceivable to use a technique for imaging the external environment by using both a lens unit having a wide angle of view and a lens unit having a narrow angle of view.

In the technique that uses the lenses in combination to enable imaging of the external environment in a wide area, positioning in which angles of view of the respective lens units overlap with each other is required of each of the lens units. However, depending on the positioning relationship of the respective lens units, the optical axes of the lens units are separated from each other in the lateral direction of the vehicle. In this case are as in (a) and (b) in 50 As can be seen, the external images formed by imaging the external environment one by one through the respective lens units are likely to be very much in position coordinates in the lateral direction (hereinafter referred to simply as “position coordinates”) with respect to the optical axes Aw and An of the pixels that reflect the same locations Pw and Pn. The camera module for advanced driving assistance or self-driving requires high image positional accuracy in the lateral direction and raises a problem of vehicle blind spots in the lateral direction instead of those in the vertical direction. For this reason, in a case where the shift in the lateral direction of the position coordinates between the external images formed by the respective lens units increases, there arises a concern that an image positional accuracy in the lateral direction may decrease.

In addition, as described above, a technique that uses the lenses in combination and overlaps the angles of view of the respective lens units with each other enables imaging of the external environment in the wide area. Furthermore, the technique using the lenses in combination overlaps the depths of field of the respective lens units with each other, thereby making it possible to image an object relatively moving in an overlapping region of the external environment continuously. However, in a case where image recognition hardly distinguishes the relatively moving object in an external image formed by imaging the external environment one by one through the respective lens units, there arises a concern that the object in a region where overlapping the depths of field is lost.

Besides, as an angle of view of the lens unit becomes wider, an excessive incidence of light on each of the lens units further increases. For this reason it is conceivable to use a hood. However, the camera module including the hood increases in size depending on a positioning relationship of the respective lens units to result in a concern that the large-size camera module may provide a field of view of the external environment for a vehicle occupant on the inside of the windshield.

In the technology using the lenses in combination, the axial positions of the respective lens units are different in each vehicle. In such a structure in which the axial positions of the respective lens units are determined individually, the positional relationship of these units is likely to vary increasingly in the axial direction of the vehicle. In a case where the axial positions of the respective lens units are individually adjusted to reduce the variation at the time of manufacturing the camera module, productivity may be reduced.

Summary

As described above, it is an object of the present disclosure to provide a camera module having a novel structure capable of imaging the external environment in an image recognizable manner.

Another object of the present disclosure is to provide a camera module for imaging an external environment through multiple lens units with high image positional accuracy in a lateral direction of a vehicle.

Another object of the present disclosure is to provide a camera module for restricting an object from being lost in an external image generated by imaging the external environment through the multiple lens units.

Another object of the present disclosure is to provide a compact camera module that has a hood along with multiple lens units.

Another object of the present disclosure is to provide a camera module that makes it possible to ensure positioning precision of multiple lens units in a vehicle. Another object of the present disclosure is to provide a camera module containing multiple lens units with high productivity. The objects are solved by the features of the independent claims which can be seen below in the fourth and fifth aspects respectively. Advantageous developments are disclosed in the dependent claims.

A technical solution of the present disclosure is described below. It should be noted that reference characters in parentheses described in this column indicate correspondence with specific means described in embodiments that will be described later in detail and do not limit the technical scope of the present disclosure. In particular, the claimed scope of protection includes the sixth, seventh, eighth and ninth embodiments, each with the narrow-angle exposure window 6431n as set out in the associated US Pat 13 until 27 and the claimed scope includes a modification in which the base wall portion is raised at a lateral side of the imaging space and is extended laterally outward. Note that the sixth, seventh, and eighth embodiments are respectively based on the first embodiment, and the ninth embodiment is based on the sixth embodiment.

According to a first aspect, a camera module (1) is configured to be mounted on an inside of a windshield (3) of a vehicle (2) and to image an external environment (5) of the vehicle. The camera module has a plurality of lens units (30, 2030, 3030) each having optical axes (Aw, An, At). The optical axes are shifted from each other. An optical image of the external environment enters view angles (θw, θn, θt) that are around the optical axes, respectively, one by one. The viewing angles (θw, θn, θt) are different from each other. The camera module also has an imaging system (50) to carry out imaging individually through the lens units and to generate an external image of the external environment. According to a definition that a notated set is a set of the lens units in which angles of view (θw, θn, θt) overlap with each other, the lens units belonging to the notated set overlap with each other when viewed in a vertical direction of the vehicle considered.

According to the first aspect, the lens units of the noted set are configured such that the optical axes are shifted from each other, the angles of view around the optical axes are different from each other, and the angles of view overlap with each other. In the notated sets described above, the optical axes in the lateral direction of the vehicle are close in the positioning structure in which the lens units belonging to the notated set overlap with each other when viewed in the vertical direction of the vehicle together. According to the configuration, a large lateral shift of the position coordinates with respect to the optical axes of the pixels reflecting the same portion is not likely to arise in the external images individually formed by the respective lens units belonging to the noted set. Therefore it allows the configuration of improving image positional accuracy in the lateral direction by imaging the external environment through the respective lens units belonging to the noted set.

According to a second aspect, related back to the first aspect, the lens units (30, 2030, 3030) belonging to the noted set include a wide-angle unit (30w, 2030w, 3030w) having an angle of view (θw) that defined with the wide-angle lens (34w). The lens units (30, 2030, 3030) further include a narrow-angle unit (30n, 2030n, 3030n) which has a viewing angle (θn, θt) narrower than that of the wide-angle unit. A far point (Dwf) defining a depth of field (Dw) of the wide-angle unit is on a deeper side beyond a near point (Dnc) defining a depth of field (Dn) of the narrow-angle unit.

According to the second aspect, the optical axes are close to each other in the lateral direction of the vehicle in the positioning structure in which the wide-angle unit with the wide angle of view and the narrow-angle unit with the narrow angle of view, which are the lens units of the noted set, overlap with each other when you put it viewed in the vertical direction of the vehicle. According to the configuration, a large lateral shift of the position coordinates of the pixels reflecting the same portion is not likely to arise in the external images formed by the wide-angle unit and the narrow-angle unit individually. The outside image passes through the narrow-angle unit and the wide-angle unit. The wide-angle unit has the depth-of-field detection in which the far point is fixed on the deeper or more distant side beyond the near-point of the depth-of-field detection of the narrow-angle unit in order to focus the image in a wide area that includes the region of coverage in these depth-of-field detections. In this way, the configuration makes it possible to improve the image positional accuracy in the lateral direction in imaging the external environment.

According to a third aspect, related back to the first aspect, the lens units (30, 2030) belonging to the noted set further include a telescope unit (30t, 2030t) having a field of view (θt) narrower than that of the narrow-angle unit (30n, 2030n). A far point (Dnf) defining a depth of field (Dn) of the narrow-angle unit is on a deeper side beyond a near point (Dtc) defining a depth of field (Dt) of the telescope unit.

According to the third aspect, the lens units belonging to the noted set are the wide-angle unit, the narrow-angle unit, and the telescopic unit. The telescopic unit is narrower in the angle of view than the wide-angle unit and the narrow-angle unit. The optical axes are close to each other in the lateral direction of the vehicle in the positioning structure in which the wide-angle unit, the narrow-angle unit, and the telescopic unit overlap with each other when viewed in the vertical direction of the vehicle. According to the configuration, a large lateral shift of the position coordinates of the pixels reflecting the same portion is not likely to arise in the external images formed by the wide-angle unit, narrow-angle unit, and telescopic unit individually. The narrow angle unit has the depth of field detection in which the far point is fixed on the deeper or more distant side beyond the near point of the depth of field detection of the telescope unit. The wide-angle unit has the depth-of-field detection as described above. The external image passes through the telescope unit, the narrow-angle unit, and the wide-angle unit to focus the image in a wide area that includes the region of overlap of the respective two depth-of-field detections. In this way, the configuration makes it possible to improve the image positional accuracy in the lateral direction in imaging the external environment.

According to a fourth aspect, a camera module (1) is configured to be mounted on an inside of a windshield (3) of a vehicle (2) and to image an external environment (5) of the vehicle. The camera module has a plurality of lens units (6030) each having optical axes (Aw, An, At). The optical axes are different from each other. An optical image of the external environment enters view angles (θw, θn, θt) that are around the optical axes, respectively, one by one. The viewing angles (θw, θn, θt) are different from each other. The camera module also has an imaging system (50) to carry out imaging individually through the lens units and to generate an external image of the external environment. The camera module further includes a hood (6040, 9040) defining an imaging space (410) for directing the optical image of the external environment to the lens units in a target image area of the imaging system and for incident light to confine the lens units from an outside of the image target area. One of the lens units is a wide-angle unit (6030w) which has an angle of view (θw) defined with the wide-angle lens (34w). Another of the lens units is a narrow-angle unit (6030n, 6030t, 7030n, 7030t, 8030n, 8030t) that provides an angle of view (θn, θt) which is narrower than that of the wide-angle unit. The hood includes: a base wall portion (41, 9041) to be located to face the windshield across the imaging space, and a side wall portion (6043, 9043) raised to the base wall portion at a lateral side of the imaging space and correspondingly a viewing angle (θw) of the wide-angle unit from a vicinity of the wide-angle unit to an external vicinity side laterally outward. A narrow-angle exposing window (6431n, 6431t) opens in the side wall portion on the exterior side of the wide-angle unit and exposes the narrow-angle unit to the imaging space.

According to the hood of the fourth aspect, the side wall portions are inclined from the vicinity of the wide-angle unit toward the outer surroundings side. The side wall portions are inclined according to the angle of view of the wide-angle unit on the lateral sides of the imaging space. The imaging space directs the optical image within the target imaging area to the wide-angle unit and the narrow-angle unit under the lens units. In this example, the narrow-angle exposing window opens in any of the side wall portions on the outside of the wide-angle unit to expose the narrow-angle unit to the imaging space. According to the configuration, the angle of view of the narrow-angle unit falls inward of the angle of view of the wide-angle unit, which regulates the inclination of the side wall portions to share the imaging space between both of these units. Therefore, the configuration makes it possible to form the side wall portions where the narrow exposure window opens to be inclined in a required range for the wide-angle unit. In this way, the configuration makes it possible to reduce the size of the camera module containing the hood.

According to a fifth aspect, related to the fourth aspect, the lens units further include a telescopic unit (6030t, 7030t, 8030t) having an angle of view (θt) narrower than that of the narrow-angle unit (6030n, 7030n, 8030n). . A telescope exposure window (6431t) opens in the side wall portion on the outer environment side beyond the wide-angle unit and exposes the telescope unit to the imaging space.

According to the hood of the fifth aspect, the side wall portions are inclined from the vicinity of the wide-angle unit toward the outer surroundings side. The side wall portions are inclined according to the angle of view of the wide-angle unit on the lateral sides of the imaging space. The imaging space directs the optical image within the target imaging range to the wide angle unit and the telescopic unit below the lens units. In this example, the telescope exposing window opens in any of the side wall portions on the outside of the wide-angle unit to expose the telescope unit to the imaging space. According to the configuration, the angle of view of the telescopic unit falls inside the angle of view of the wide-angle unit to share the imaging space between both of these units. The wide angle unit regulates the inclination of the side wall sections. Therefore, the configuration makes it possible to restrict the side wall portions where the telescope exposure window opens and which are inclined within a required range for the wide-angle unit. In this way, the configuration makes it possible to reduce the size of the camera module containing the hood.

According to a sixth aspect, a camera module (1) is configured to be mounted on an inside of a windshield (3) of a vehicle (2) and to image an external environment (5) of the vehicle. The camera module has a plurality of lens units (30, 2030, 3030) each having optical axes (Aw, An, At). The optical axes are shifted from each other. An optical image of the external environment enters view angles (θw, θn, θt) that are around the optical axes, respectively, one by one. The viewing angles (θw, θn, θt) are different from each other. The camera module also has an imaging system (50) to carry out imaging individually through the lens units and to generate an external image of the external environment. According to a definition that a noted set is a set of the lens units in which angles of view (θw, θn, θt) overlap with each other, depths of focus (Dw, Dn, Dt) of the lens units belonging to the noted set overlap with each other, in which a far point (Dwf, Dnf) of another one of the lens units is between a near point (Dnc, Dtc) and a far point (Dnf, Dtf) of one of the lens units in the outer environment, and each of the points far point one and further the other, defines a limit position of image recognition implemented by imaging through the corresponding one of the lens units.

According to the sixth aspect, the lens units of the noted set are configured such that the optical axes are shifted from each other, the blinking angles about the optical axes are different from each other, and the blinking angles overlap with each other. In the external environment, the far point becomes the depth of field detection set by the other of the lens units of the noted set between the near point and the far point of depth of field detection by one of the lens units. The configuration forms the region in which respective depth-of-field detections overlap with one another. The far point of one of the lens units and the far point of the other of the lens units define boundary positions of image recognition implemented by imaging the external environment individually through the respective lens units. The configuration makes it possible to discriminate an image recognition of an object relatively moving in the overlapping region in any of the outside images formed by the respective lens units of the noted set in which the depth-of-field recognitions overlap with each other. Therefore, the configuration makes it possible to restrict an object that is in the region where the respective depth-of-field detections overlap each other from losing in the external image that is a result of imaging the external environment through the respective lens units of the noted set.

According to a seventh aspect, a camera module (1) is configured to be mounted on an inside of a windshield (3) of a vehicle (2) and to image an external environment (5) of the vehicle. The camera module has a plurality of lens units (30, 2030, 3030, 6030, 10030) each having optical axes (Aw, An, At). The optical axes are shifted from each other. An optical image of the external environment enters view angles (θw, θn, θt) that are around the optical axes, respectively, one by one. The viewing angles (θw, θn, θt) are different from each other. The camera module also has an imaging system (50) to carry out imaging individually through the lens units and to generate an external image of the external environment. The camera module further includes a camera cowl (20) attachable to the windshield and accommodating each of the lens units. The camera module further includes a common positioning member (10060) which is provided in common for the lens units and positions each of the lens units with respect to the camera cover in an axial direction.

According to the seventh aspect, in the vehicle, the respective lens units are housed in the camera cowl attached to the windshield. The respective lens units are positioned in the axial direction using the common positioning member common to these units. In this way, the common positioning member makes it possible to reduce a variation in the bilateral axial position ratio of the respective lens units in the vehicle. That is, the configuration makes it possible to ensure positioning accuracy of the respective lens units in the vehicle. Furthermore, the axial positions of the respective lens units can be adjusted in common using the common positioning member. Therefore, productivity can be improved.

According to an eighth aspect, related to the seventh aspect, the common positioning member includes a reference surface portion (10601) adjoining each of the lens units in the axial direction to position each of the lens units on the same plane.

According to the common positioning member of the eighth aspect, in the vehicle, the reference surface portion is adjacent to the respective lens units in the axial direction such that all of the units are positioned on the same plane. According to the configuration, in the vehicle, the respective lens units can be precisely positioned on the same plane. Therefore, there is hardly any variation in the bilateral axial positional relationship of the respective lens units per se. In other words, the respective lens units can be positioned in the vehicle with high accuracy. In addition, the lens units can be easily and commonly positioned in the axial direction by abutting the reference surface portion on the same plane. Therefore, the configuration makes it possible to promote high productivity.

character list

• ist 1 eine Vorderansicht, die ein Fahrzeug darstellt, auf das ein Kameramodul gemäß einer ersten Ausführungsform angewendet wird,
• ist 2 eine Querschnittsansicht, die das Kameramodul, das entlang einer Linie ll-ll in 5 genommen wird, gemäß der ersten Ausführungsform darstellt,
• ist 3 eine perspektivische Ansicht, die ein Kameramodul gemäß der ersten Ausführungsform darstellt,
• ist 4 eine schematische Draufsicht, die einen Abbildungsbereich von jeweiligen Linseneinheiten gemäß der ersten Ausführungsform darstellt,
• ist 5 eine Vorderansicht, die ein Positionierungsverhältnis der jeweiligen Linseneinheiten gemäß der ersten Ausführungsform darstellt,
• sind (a), (b) und (c) in 6 vordere schematische Ansichten, die Außenbilder darstellen, die durch ein Abbilden einer äußeren Umgebung durch die jeweiligen Linseneinheiten gemäß der ersten Ausführungsform erzeugt werden,
• ist 7 eine Querschnittsansicht, die ein Kameramodul, das 2 entspricht, gemäß einer zweiten Ausführungsform darstellt,
• ist 8 eine Querschnittsansicht, die ein Kameramodul, das entlang einer Linie VIII-VIII von 10 genommen ist, gemäß einer dritten Ausführungsform darstellt,
• ist 9 eine Querschnittsansicht, die das Kameramodul, das entlang einer Linie IX-IX in 10 genommen ist, gemäß der dritten Ausführungsform darstellt,
• ist 10 eine Vorderansicht, die ein Positionierungsverhältnis der jeweiligen Linseneinheiten gemäß der dritten Ausführungsform darstellt,
• ist 11 eine schematische Draufsicht, die einen Abbildungsbereich von jeweiligen Linseneinheiten gemäß der vierten Ausführungsform darstellt,
• ist 12 eine schematische Draufsicht, die einen Abbildungsbereich von jeweiligen Linseneinheiten gemäß einer fünften Ausführungsform darstellt,
• ist. 13 eine Querschnittsansicht, die ein Kameramodul, das entlang einer Linie VIII-VIII bzw. XIII-XIII von 18 genommen ist, gemäß einer sechsten Ausführungsform darstellt,
• ist 14 eine Querschnittsansicht, die ein Kameramodul, das entlang einer Linie XIV-XIV von 18 genommen ist, gemäß der sechsten Ausführungsform darstellt,
• ist 15 eine Querschnittsansicht, die das Kameramodul, das entlang einer Linie XV-XV von 18 genommen ist, gemäß der sechsten Ausführungsform darstellt,
• ist 16 eine perspektivische Ansicht, die das Kameramodul gemäß der sechsten Ausführungsform darstellt,
• ist. 17 eine Draufsicht, die eine Haube gemäß der sechsten Ausführungsform darstellt,
• ist 18 eine Vorderansicht, die ein Positionierungsverhältnis der jeweiligen Linseneinheiten gemäß der sechsten Ausführungsform darstellt,
• ist 19 eine Querschnittsansicht, die ein Kameramodul, das 14 entspricht, gemäß einer siebten Ausführungsform darstellt,
• ist 20 eine Querschnittsansicht, die das Kameramodul, das 15 entspricht, gemäß der siebten Ausführungsform darstellt,
• ist 21 eine Draufsicht, die eine Haube gemäß der siebten Ausführungsform darstellt,
• ist 22 eine Querschnittsansicht, die ein Kameramodul, das 14 entspricht, gemäß einer achten Ausführungsform darstellt,
• ist 23 eine Querschnittsansicht, die das Kameramodul, das 15 entspricht, gemäß der achten Ausführungsform darstellt,
• ist 24 eine Draufsicht, die eine Haube gemäß der achten Ausführungsform darstellt,
• ist 25 eine Querschnittsansicht, die ein Kameramodul, das 13 entspricht, gemäß einer neunten Ausführungsform darstellt,
• ist 26 eine perspektivische Ansicht, die das Kameramodul gemäß der neunten Ausführungsform darstellt,
• ist 27 eine Draufsicht, die eine Haube gemäß der neunten Ausführungsform darstellt,
• ist 28 eine vordere schematische Ansicht, die eine Steuerungsfunktion gemäß der neunten Ausführungsform darstellt,
• ist 29 eine schematische Draufsicht, die eine Fahrzeugsteuerungsfunktion gemäß der neunten Ausführungsform darstellt,
• ist 30 eine schematische Draufsicht, die eine Struktur der Haube gemäß der neunten Ausführungsform darstellt,
• ist 31 eine schematische Seitenansicht, die eine Fahrzeugsteuerungsfunktion gemäß der neunten Ausführungsform darstellt,
• ist 32 eine schematische Seitenansicht, die die Struktur der Haube gemäß der neunten Ausführungsform darstellt,
• ist 33 eine Querschnittsansicht, die ein Kameramodul, das 2 entspricht, gemäß einer zehnten Ausführungsform darstellt,
• ist in 34 eine Querschnittsansicht, die eine Modifikation von 7 darstellt,
• ist 35 eine Vorderansicht, die eine Modifikation von 5 darstellt,
• ist 36 eine Vorderansicht, die eine Modifikation von 5 darstellt,
• ist 37 eine Vorderansicht, die eine Modifikation von 5 darstellt,
• ist 38 eine Querschnittsansicht, die eine Modifikation von 8 darstellt,
• ist 39 eine Querschnittsansicht, die eine Modifikation von 9 darstellt,
• ist 40 eine Querschnittsansicht, die eine Modifikation von 7 zeigt,
• ist 41 eine Querschnittsansicht, die eine Modifikation von 27 darstellt,
• ist 42 eine Querschnittsansicht, die eine Modifikation von 27 darstellt,
• ist 43 eine Querschnittsansicht, die eine Modifikation von 8 darstellt,
• ist 44 eine Querschnittsansicht, die eine Modifikation von 9 darstellt,
• ist 45 eine Querschnittsansicht, die eine Modifikation von 34 darstellt,
• ist 46 eine Querschnittsansicht, die eine Modifikation von 7 darstellt,
• ist 47 eine Draufsicht, die eine Modifikation von 17 darstellt,
• ist 48 eine Querschnittsansicht, die eine Modifikation von 2 darstellt,
• ist 49 eine Querschnittsansicht, die eine Modifikation von 2 darstellt, und
• sind (a) und (b) 50 vordere schematische Ansichten, die Außenbilder zeigen, die ein Problem darstellen.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description made with reference to the accompanying drawings. In the drawings:

• is 1 a front view showing a vehicle to which a camera module according to a first embodiment is applied;
• is 2 a cross-sectional view showing the camera module taken along a line ll-ll in 5 is taken, according to the first embodiment,
• is 3 12 is a perspective view showing a camera module according to the first embodiment.
• is 4 12 is a schematic plan view showing an imaging range of respective lens units according to the first embodiment;
• is 5 12 is a front view showing a positioning relationship of the respective lens units according to the first embodiment;
• are (a), (b) and (c) in 6 front schematic views showing external images produced by imaging an external environment through the respective lens units according to the first embodiment,
• is 7 a cross-sectional view showing a camera module, the 2 corresponds, according to a second embodiment,
• is 8th FIG. 12 is a cross-sectional view showing a camera module taken along a line VIII-VIII of FIG 10 is taken, according to a third embodiment,
• is 9 FIG. 12 is a cross-sectional view showing the camera module taken along a line IX-IX in 10 is taken, according to the third embodiment,
• is 10 12 is a front view showing a positioning relationship of the respective lens units according to the third embodiment;
• is 11 12 is a schematic plan view showing an imaging range of respective lens units according to the fourth embodiment;
• is 12 a schematic plan view showing an imaging range of respective lens units according to a fifth embodiment,
• is. 13 FIG. 12 is a cross-sectional view showing a camera module taken along a line VIII-VIII or XIII-XIII of FIG 18 is taken, according to a sixth embodiment,
• is 14 FIG. 12 is a cross-sectional view showing a camera module taken along a line XIV-XIV of FIG 18 is taken, according to the sixth embodiment,
• is 15 FIG. 12 is a cross-sectional view showing the camera module taken along a line XV-XV of FIG 18 is taken, according to the sixth embodiment,
• is 16 12 is a perspective view showing the camera module according to the sixth embodiment;
• is. 17 12 is a plan view showing a hood according to the sixth embodiment;
• is 18 12 is a front view showing a positioning relationship of the respective lens units according to the sixth embodiment;
• is 19 a cross-sectional view showing a camera module, the 14 corresponds, according to a seventh embodiment,
• is 20 a cross-sectional view showing the camera module, the 15 corresponds to, according to the seventh embodiment,
• is 21 12 is a plan view showing a hood according to the seventh embodiment;
• is 22 a cross-sectional view showing a camera module, the 14 corresponds to an eighth embodiment,
• is 23 a cross-sectional view showing the camera module, the 15 corresponds to, according to the eighth embodiment,
• is 24 12 is a plan view showing a hood according to the eighth embodiment;
• is 25 a cross-sectional view showing a camera module, the 13 corresponds, according to a ninth embodiment,
• is 26 12 is a perspective view showing the camera module according to the ninth embodiment.
• is 27 12 is a plan view showing a hood according to the ninth embodiment;
• is 28 a front schematic view showing a control function according to the ninth embodiment,
• is 29 12 is a schematic plan view showing a vehicle control function according to the ninth embodiment.
• is 30 12 is a schematic plan view showing a structure of the hood according to the ninth embodiment;
• is 31 12 is a schematic side view showing a vehicle control function according to the ninth embodiment.
• is 32 a schematic side view showing the structure of the hood according to the ninth embodiment,
• is 33 a cross-sectional view showing a camera module, the 2 corresponds, according to a tenth embodiment,
• is in 34 FIG. 12 is a cross-sectional view showing a modification of FIG 7 represents
• is 35 a front view showing a modification of 5 represents
• is 36 a front view showing a modification of 5 represents
• is 37 a front view showing a modification of 5 represents
• is 38 FIG. 12 is a cross-sectional view showing a modification of FIG 8th represents
• is 39 FIG. 12 is a cross-sectional view showing a modification of FIG 9 represents
• is 40 FIG. 12 is a cross-sectional view showing a modification of FIG 7 shows,
• is 41 FIG. 12 is a cross-sectional view showing a modification of FIG 27 represents
• is 42 FIG. 12 is a cross-sectional view showing a modification of FIG 27 represents
• is 43 FIG. 12 is a cross-sectional view showing a modification of FIG 8th represents
• is 44 FIG. 12 is a cross-sectional view showing a modification of FIG 9 represents
• is 45 FIG. 12 is a cross-sectional view showing a modification of FIG 34 represents
• is 46 FIG. 12 is a cross-sectional view showing a modification of FIG 7 represents
• is 47 a plan view showing a modification of 17 represents
• is 48 FIG. 12 is a cross-sectional view showing a modification of FIG 2 represents
• is 49 FIG. 12 is a cross-sectional view showing a modification of FIG 2 represents, and
• are (a) and (b) 50 front schematic views showing exterior images that pose a problem.

Detailed description

In the following, multiple embodiments of the present disclosure are described with reference to the drawings. The same reference numerals are given to the corresponding elements in the embodiment, and redundant descriptions of them may be omitted. When only a portion of a configuration is described in each embodiment, configurations of other embodiments described above can be applied to the other portions. In addition to the combinations of configurations clearly illustrated in the explanation of the embodiments, as long as problems do not particularly arise in a combination, the configurations of plural embodiments can be partially combined with each other even if not clearly described.

First embodiment

like it in 1 and 2 As can be seen, a camera module 1 according to a first embodiment is mounted on a vehicle 2 and is configured to image an external environment 5 . In the following description, a vertical direction of the vehicle 2 is set to a vertical direction on a horizontal plane, a vehicle width direction of the vehicle 2 is set to a lateral direction in a horizontal direction of the vehicle 2 on the horizontal plane, and a vehicle front-rear direction of the vehicle 2 is set to the horizontal direction set a longitudinal direction.

The camera module 1 is mounted on the inside of a front windshield 3 in the vehicle 2 . The front windshield 3 is located in front of a driver's seat in the vehicle 2. The front windshield 3 divides a passenger compartment 4, which is the inside of the front windshield 3, from the outside environment 5. The more the front windshield 3 approaches the lower side , the further the front windshield 3 is inclined toward the front on the lower side (that is, toward the outside environment 5 side) when viewed as the occupant of the vehicle 2 . The front windshield 3 is made of a light-transmitting material such as glass in order to transmit an optical image incident from a scenery of the external environment 5 into the passenger compartment 4 .

An installation position of the camera module 2 on the front windshield 3 is set to a position that does not significantly obstruct a visual field of an occupant seated on the driver's seat in the passenger compartment 4 . Even more specific, as in 1 is seen, a vertical installation position is set in the vertical direction within a range Xv spaced about 20% from an upper edge of an opening window 6a of a pillar 6, for example. Inside the vehicle 2, the pillar 6 is in a frame shape and holds an outer peripheral edge portion of the front windshield 3. A lateral installation position is set in the lateral direction within a range Xh that is, for example, about 15 cm from a center of the opening window 6a on each of located on both sides. With these settings, the installation position is in a wiping range Xr of a wiper that wipes the front windshield 3 . In addition, the installation position is at a portion where the front windshield 3 is inclined at about 22 to 90 degrees with respect to the front and rear direction, for example.

like it in 2 and 3 As can be seen, the camera module 1 includes a bracket assembly 10, a camera shroud 20, multiple Lin sensor units 30, a hood 40 and an imaging system 50. In 3 the components are partially omitted from the figure.

The bracket assembly 10 includes a bracket main body 11 and mounting pads 12 in combination. The bracket main body 11 is made of a relatively easily moldable material such as a resin, and is formed in a substantially plate-like shape as a whole. The bracket main body 11 is placed along an inner surface 3a of the front windshield 3 . like it in 2 As shown, the mounting pads 12 are fitted and fixed to the bracket main body 11 . Each of the mounting pads 12 is fixed to the inner surface 3a of the front windshield 3 by adhesion. In this way, the camera module 1 including the bracket assembly 10 is mounted inside the front windshield 3 in a state of being positioned with respect to the vehicle 2 .

The camera cover 20 includes a pair of cover members 21 and 22. Each of the cover members 21 and 22 is made of a rigid material having a comparatively high heat radiation property, such as aluminum, and is formed in a hollow shape as a whole.

The inverted cup-shaped upper trim member 21 is located on a lower side of the bracket assembly 10 to direct its opening portion to the lower side opposite to the assembly 10. As shown in FIG. The upper trim member 21 is tightly fitted into the bracket main body 11 . In this manner, the camera cowl 20 is positioned within the front windshield 3 by the bracket assembly 10 . The upper trim member 21 and the front windshield 3 in the above positioning position define an accommodating recess 212 therebetween for accommodating the hood 40.

The dish-shaped lower trim member 22 is located on the lower side of the upper trim member 21 to direct its opening portion toward the upper side that is on the upper trim member 21 side. The lower trim member 22 is fixed to the upper trim member 21 with a screw. In this way, the fairing members 21 and 22 define an accommodating space 25 for accommodating the lens units 30 and the imaging system 50 in cooperation with each other.

The multiple (three in the present embodiment) lens units 30 are located in the accommodating space 25 of the camera case 20. As shown in FIG 2 and 3 As can be seen, front ends of the respective lens units 30 are exposed to the outside of the camera body 20 through a common lens window 211 . The common lens window 211 penetrates through a vertical wall portion 210 of the upper trim member 21 . In this way, angles of view θw, θn and θt, which are different in magnitude from each other, as shown in 4 is set about the respective optical axes Aw, An and At which are shifted from each other in the respective lens units 30. An optical image of the external environment 5 can be incident individually on the respective lens units 30 at the respective view angles θw, θn and θt.

like it in 2 and 3 As can be seen, the hood 40 is formed integrally with the bracket main body 11 by resin molding or the like, for example, to thereby form a part of the bracket assembly 10 . The outline of the hood 40 when viewed from the upper side is in a dish shape symmetrical in the lateral direction with respect to the optical axes Aw, An and At of the respective lens units 30. FIG. The hood 40 has a base wall section 41 and side wall sections 43.

Like it 2 As shown, the base wall portion 41 is accommodated in the accommodation recess 212 between the upper trim member 21 and the front windshield 3 . The base wall portion 41 is in a position where the more the base wall portion 41 approaches the front side, the more the base wall portion 41 is closer to the front windshield 3 on the upper side. A bottom wall surface 41a of the base wall portion 41 spreads in a substantially planar shape corresponding to the inner surface 3a of the front windshield 3 across the imaging space 410 on the optical axes Aw, An and At shown in FIG 2 and 3 are to be seen, lies opposite. According to this condition, the optical image of the external environment 5 within the target imaging range of the imaging system 50 is guided from the imaging space 410 to the respective lens units 30 after passing through the front windshield 3 .

The side wall portions 43 are located at bilaterally symmetrical positions with respect to the optical axes Aw, An and At in the lateral direction to interpose the imaging space 410 therebetween from both lateral sides of the imaging space 410 . The respective side wall portions 43 are raised upward from lateral side edges of the base wall portion 41 and are respectively in formed into a straight plate-like shape. A bilateral distance between the respective side wall portions 43 in the lateral direction gradually widens toward the front. With the configuration, the front ends of the respective lens units 30 are exposed to the imaging space 410 through a portion between rear ends of the respective side wall portions 43 . The height of the respective side wall portions 43 from the base wall portion 41 gradually decreases toward the front. This way you are as it is in 2 As can be seen, the respective side wall portions 43 are in a position to be spaced from the inner surface 3a of the front windshield 3 with a gap 430 in the entire longitudinal region thereof.

With the configuration, the hood 40 defines the imaging space 410 according to the viewing angles θw, θn and θt of the respective lens units 30 to allow the optical image of the external environment 5, which is within the imaging target range, to be incident on the respective lens units 30. In addition, the hood 40 defines the imaging space 410 to prevent incidence of excessive light on the respective lens units 30 from the external environment 5 that is outside the target imaging area, for example incidence of reflected light reflected by the inner surface 3a of the front windshield 3 will, to restrict.

The imaging system 50 includes multiple imaging units 51 combined with a control board 54 and control circuitry 55 . The components 51, 54 and 55 of the imaging system 50 are located in the storage space 25 of the camera cover 20.

The (three in the present embodiment) imaging units 51 are individually positioned on the rear sides of the respective lens units 30 different from each other. In this example, the positions of the respective imaging units 51 are shifted from each other in the longitudinal direction according to focal lengths of the respective lens units 30 corresponding to the view angles θw, θn, and θt, which are different from each other. Each of the imaging units 51 includes an imaging board 510, an image acquiring device 511, and an imaging circuit 512. The imaging board 510 is formed of a rigid circuit board such as a glass epoxy board, and is formed in a substantially rectangular board-like shape. The image acquisition device 511 is configured with a color-type or monochrome-type imager such as a CCD (Charge-Coupled Device) or a CMOS (Complementary-Metal-Oxide-Semiconductor), and is on of the imaging plate 510 mounted. The image acquisition device 511 has plural pixels arranged in a matrix form along the vertical direction and the lateral direction corresponding to the vertical direction and the horizontal direction of the vehicle 2 that is on the horizontal plane, respectively. The imaging circuit 512 includes multiple circuit elements capable of processing an output of the image acquisition device 511 and is mounted on the imaging board 510 .

In each of the imaging units 51 , an optical image transmitted from the outside 5 through the front windshield 3 is formed on the image acquisition device 511 through the corresponding lens unit 30 . In each of the imaging units 51, the image acquisition device 511 captures the optical image formed thereon, and the imaging circuit 512 processes a signal or data output from the image acquisition device 511. FIG.

The control board 54 is formed of a rigid circuit board such as a glass epoxy board, and is formed in a substantially rectangular plate-like shape. The control panel 54 is positioned between the two trim members 21 and 22 . An external connector 542 is mounted on the control board 54 to be exposed outside of the camera case 20 . The external connector 542 is connected to an external circuit such as an ECU outside the camera case 20 . In this example, the external connection element 542 is mounted on a protruding substrate portion 543 . The protruding substrate portion 543 further protrudes rearward from a rear side edge 544 of the control board 54 . Incidentally, although it cannot be seen, the protruding substrate portion 543 and the camera cover 20 are fixed to a base portion of an interior rearview mirror (including an electronic mirror in this case) in the passenger compartment 4 according to an installation position of the camera module 1 in the front Windshield 3 bypass.

The control circuit 55 includes multiple circuit elements including a microcomputer 550 and is mounted on the control board 54 . The control circuit 55 is connected to the imaging circuits 512 of the respective imager units 51 via respective individual flexible boards (FPC, Flexible Printed Circuit) 540 . In this example, multiple through windows 541 are formed in the control board 54 so that the FPCs 540 are inserted through the through windows 541 one by one, respectively. To this Thus, the respective FPCs 540 are connected to the imaging circuits 512 of the respective imaging units 51 located on the upper side of the control board 54, and penetrate the respective FPCs 540 through the through window 541 in the vertical direction to communicate with the control circuit 55 on the lower To be connected to the control plate 54 side.

The control circuit 55 controls the imaging operation of the image acquisition device 511 in each of the imager units 51 in cooperation with the imaging circuit 512 of the imager unit 51. The imaging operation includes an exposure state during imaging. Furthermore, the control circuit 55 performs image processing of the signal or data output from the image acquiring device 511 of each imager unit 51 in cooperation with the imaging circuit 512 of the imager unit 51 . The imaging control function and the image processing function enable the external image to be formed as the imaging result by each lens unit 30 to reflect the external environment 5 in a range of a corresponding one of the angles of view θw, θn and θt of the lens unit 30 . At this time, the outside image is formed to recognize an object such as an obstacle or a structure in the viewing angles θw, θn, or θt reflected in the outside image. With the configuration, the external image is formed through each lens unit 30 with the corresponding imager unit 51 . Besides, at least one of the functions, imaging control function and image processing function, can be provided with only the control circuit 55 or with only the imaging circuit 512 of each imager unit 51 .

The control circuit 55 also includes an image recognition function for recognizing an object reflected in the external image. In the image recognition function, the control circuit 55 discriminates the type of the object, for example, whether the obstacle is a pedestrian, a bicycle, another vehicle, or the like, or whether the structure is a traffic signal, traffic sign, building, or the like. As stated in (a) to (c) in 6 As can be seen, there arise shifts in the position coordinates of pixels reflecting the same positions Pw, Pn and Pt in the external images formed with the respective lens units 30 with respect to the optical axes Aw, An and At, respectively. Through the image recognition function, the control circuit 55 corrects the shifts by executing, for example, alignment processing. At this time, particularly, the control circuit 55 corrects the displacements in a case where the displacements of the position coordinates of, for example, disappeared dots or the like with respect to the respective optical axes Aw, An and At in at least one of the vertical direction and the lateral direction are detected become. The vanished points are the same positions Pw, Pn and Pt.

Detailed structure of the lens unit

Next, a detailed structure of the respective lens units 30 will be described.

like it in 2 , 3 and 5 As shown, the wide-angle unit 30w, which is one of the lens units 30, includes a wide-angle lens mount 32w and a wide-angle lens 34w. The wide-angle lens barrel 32w is formed in a tall shape and is made of a relatively moldable rigid material such as a resin. The wide-angle lens mount 32w is fixed to the upper cover member 21 with a screw or an adhesive. The wide-angle lens 34w is formed in a concave meniscus lens shape and is made of a light-transmitting material such as glass. The wide-angle lens 34w is housed in the wide-angle lens mount 32w along with a rear lens set (not shown) for correcting optical aberration such as chromatic aberration. Therefore, the wide-angle lens mount 32w is positioned so that the inner surface 3a of the front windshield 3 is spaced from the wide-angle lens 34w. The wide-angle lens 34w forms the front end of the wide-angle unit 30w and is located a prescribed distance in front of the rear lens set.

The optical axis Aw of the wide-angle unit 30w shown in 2 , 4 and 5 is set to extend obliquely downward or upward with respect to the longitudinal direction, or to extend along the longitudinal direction. like it in 4 As can be seen, the angle of view θw of the wide-angle unit 30w is set to a relatively large angle of, for example, about 120° using the wide-angle lens 34w. However, the viewing angle θw can be set to an angle wider than 120°. Using the wide-angle lens 34w, the depth of field detection Dw within the angle of view θw of the wide-angle unit 30w is defined by a predetermined range in the external environment 5 . This predetermined range is between a near point Dwc, which is on a nearer side (hereinafter simply referred to as the nearer side) when viewed as the occupant of the vehicle 2, and a far point Dwf on a lower side (hereinafter simply referred to as the deeper or remove denoted tere side) when viewed as the occupant.

like it in 2 , 3 and 5 As shown, the narrow-angle unit 30n, which is another of the lens units 30, includes a narrow-angle lens mount 32n and a narrow-angle lens 34n. the narrow-angle lens barrel 32n is formed in a hollow shape and is made of a relatively moldable rigid material such as a resin. The narrow-angle lens mount 32n is fixed to the upper cover member 21 with a screw or an adhesive. The narrow-angle lens 34n is formed in a concave meniscus lens shape and is made of a light-transmitting material such as glass. The narrow-angle lens 34n is housed in the narrow-angle lens mount 32n along with a rear lens set (not shown) for correcting optical aberration, such as chromatic aberration. Therefore, the narrow-angle lens mount 32n is positioned so that the narrow-angle lens 34n is directly above the wide-angle lens 34w with substantially no longitudinal and lateral shift. The narrow-angle lens 34n forms the front end of the narrow-angle unit 30n on the front of the rear lens set. In the configuration, the more the front windshield 3 approaches the front side on the lower side, the more the front windshield 3 is inclined toward the lower side. The wide-angle unit 30w does not protrude significantly from the upper narrow-angle unit 30n to the lower or far side.

The optical axis on the narrow-angle unit 30n shown in 2 , 4 and 5 is set to extend obliquely downward or upward with respect to the longitudinal direction, or to extend along the longitudinal direction. In addition, the optical axis An of the narrow-angle unit 30n is decentered from the optical axis Aw of the wide-angle unit 30w, particularly in the substantially vertical direction. In this way, the optical axis An is aligned with the optical axis Aw in the lateral position of the vehicle 2 . like it in 4 As can be seen, using the narrow-angle lens 34n, the angle of view θn of the narrow-angle unit 30n is set to an intermediate angle narrower than the angle of view θw of the wide-angle unit 30w. For example, the mean angle is approximately 60°. With these settings, the respective viewing angles θn and θw of the narrow-angle unit 30n and the wide-angle unit 30w overlap with each other. Using the narrow-angle lens 34n, the depth of field detection Dn within the angle of view θn of the narrow-angle unit 30n is defined by a predetermined range in the external environment 5. This predetermined range is between a near point Dnc on the nearer side and a far point Dnf on the deeper or farther side.

More specifically, in the present embodiment, the far point Dwf of the wide-angle unit 30w is set on the lower side behind the near point Dnc of the narrow-angle unit 30n. In addition, in the present embodiment, the near point Dnc of the narrow-angle unit 30n is set on the lower side behind the near point Dwc of the wide-angle unit 30w. Furthermore, in the present embodiment, the far point Dnf of the narrow-angle unit 30n is set on the lower side behind the far point Dwf of the wide-angle unit 30w. With these settings, the far point Dwf of the wide-angle unit 30w is set between the near point Dnc and the far point Dnf of the narrow-angle unit 30n, so that the units 30n and 30w form a region Rnw where the depth-of-field detections Dn and Dw overlap each other.

like it in 2 , 3 and 5 1, a telescope unit 30t, which is yet another one of the lens units 30, includes a telescopic lens mount 32t and a telescopic lens 34t. The telescope lens barrel 32t is formed in a hollow shape and is made of a relatively moldable rigid material such as a resin. The telescopic lens barrel 32t is fixed to the upper cover member 21 with a screw or an adhesive. The telescopic lens 34t is formed in a concave lens shape and is made of a light-transmitting material such as glass. Telescope lens 34t is housed in telescope lens mount 32t along with a rear lens set (not shown) for correcting optical aberration such as chromatic aberration. Therefore, the telescopic lens mount 32t is positioned so that the telescopic lens 34t is directly above the narrow-angle lens 34n with substantially no fore and aft shift. The telescope lens 34t forms the front end of the telescope unit 30t on the front of the rear lens set. With the configuration, the narrow-angle unit 30n does not protrude significantly from the upper telescopic unit 30t to the lower or farther side. In addition, the wide-angle unit 30w does not protrude significantly from the upper telescopic unit 30t to the lower or farther side.

like it in 2 , 4 and 5 As can be seen, the optical axis At of the telescope unit 30t is set to extend obliquely downward or upward with respect to the longitudinal direction or to extend along the longitudinal direction. In addition, the optical axis At of the telescope unit 30t is decentered from both of the respective optical axes Aw and An of the wide-angle unit 30w and the narrow-angle unit 30n in the substantially vertical direction and the vertical direction, respectively, or the optical axis At of the telescope unit 30t is offset centrally therefrom . In this way, the optical axis At is aligned with both of the optical axes Aw and An in the lateral position of the vehicle 2 . like it in 4 As can be seen, using the telescopic lens 34d, the viewing angle θt of the telescopic unit 30t is set to a small angle narrower than both of the respective viewing angles θw and θn of the wide-angle unit 30w and the narrow-angle unit 30n. For example, the angle of view θt is approximately 35°. With these settings, the respective angles of view θt and θn of the telescopic units 30t and narrow-angle unit 30n overlap with each other. In addition, the respective angles of view θt and θw of the telescopic unit 30t and the wide-angle unit 30w also overlap with each other. Using the telescopic lens 34t, the depth of field detection Dt within the angle of view θt of the telescopic unit 30t is defined by a predetermined area in the external environment 5. This predetermined range is between a near point Dtc on the nearer side and a far point Dtf on the deeper or farther side.

More specifically, in the present embodiment, the far point Dnf of the narrow-angle unit 30n is set on the lower side behind the near point Dtc of the telescope unit 30t. In addition, in the present embodiment, the near point Dtc of the telescope unit 30t is set on the far side behind the near point Dnc of the narrow-angle unit 30n, and the near point Dwc and the far point Dwf of the wide-angle unit 30w. Furthermore, in the present embodiment, the far point Dtf of the telescopic unit 30t is set on the lower side behind the far point Dnf of the narrow-angle unit 30n and the far point Dwf of the wide-angle unit 30w. With these settings, the far point Dnf of the narrow-angle unit 30n is positioned between the near point Dtc and the far point Dtf of the telescope unit 30t, so that the units 30t and 30n form the region Rtn where the depth-of-field detections Dt and Dn overlap each other. However, in the present embodiment, the far point Dwf of the wide-angle unit 30w is shifted from the near point Dtc and the far point Dtf of the telescopic unit 30t, so that the depth-of-field detections Dt and Dw of these units 30t and 30w are shifted from each other so as not to align with each other cover.

In the first embodiment described above, the first through fourth notified sets are assumed to be the notated sets in which the respective lens units 30 at least partially overlap each other when viewed in the vertical direction. More specifically, the first noted set includes the wide-angle unit 30w and the narrow-angle unit 30n overlapping each other when viewed in the vertical direction. The second set noted includes the wide-angle unit 30w and the telescopic unit 30t overlapping each other when viewed in the vertical direction. The third set noted includes the narrow-angle unit 30n and the telescopic unit 30t overlapping each other when viewed in the vertical direction. The fourth noted set includes the wide-angle unit 30w, the narrow-angle unit 30n, and the telescopic unit 30t overlapping each other when viewed in the vertical direction.

The respective units 30w, 30n, and 30t as the lens units 30 belonging to the first through fourth notated sets satisfy the following Equation 1 with the respective far points Dwf, Dnf, and Dtf as far points, respectively. In this way, boundary positions of the image recognition implemented by individually imaging the external environment by the units 30w, 30n, and 30t are respectively defined by the corresponding far points Dwf, Dnf, and Dtf. $$\text{lf}=\text{EFL}\cdot \text{Sf/Wf}$$

In this example, Lf in Equation 1 represents the distance from each of units 30w, 30n, and 30t to a corresponding one of far points Dwf, Dnf, and Dtf, respectively. EFL in Equation 1 represents a focal length (in detail, a combined focal point between each of lenses 34w, 34n, 34t and its following lens set) in each of units 30w, 30n, and 30t. Sf in Equation 1 represents a minimum object size required for image recognition at each of corresponding far points Dwf, Dnf, and Dtf of a corresponding one of units 30w, 30n, and 30t. The minimum object size Sf is a minimum dimensional value set for each type of object in each of horizontal and vertical directions. The minimum object size Sf is the minimum dimensional value at, for example, the corresponding far point Dwf, Dnf, or Dtf required for vehicle control with an external circuit. The minimum dimensional value is assumed in advance. wf in Equation 1 represents a minimum pixel width required for image recognition with the image acquisition device 511 of the imaging unit 51 of a corresponding one of the units 30w, 30n, and 30t in the imaging system 50. The minimum pixel width Wf is, for example, a pixel width of a number of pixels equal to or meant in the vertical direction and the lateral direction of the image acquisition device 511, respectively. The minimum pixel width Wf is set to a pixel width of a number of pixels minimum required for image recognition in pattern matching of the external image generated by the image acquisition device 511 .

On the other hand, the respective units 30w, 30n and 30t as the lens units 30 belonging to the first to fourth notated sets satisfy the following Equation 2 with the respective near points Dwc, Dnc and Dtc as the respective near points. In this way, the imaging limit positions at which the image is focused individually by the respective units 30w, 30n and 30t when imaging the external environment are defined by the respective near points Dwc, Dnc and Dtc. $$\text{Lc}={\text{<figure-callout id="2" label="EFL" filenames="DE102018218986B4\_0003.png,DE102018218986B4\_0004.png" state="{{state}}">EFL</figure-callout>}}^2\cdot \text{personal}/\left(\text{FNO}\cdot {\text{D}}_{\text{c}}\right)$$

In this example, Lc in Equation 2 represents the distance from each of the units 30w, 30n and 30t to a corresponding one of the corresponding close points Dwc, Dnc and Dtc. EFL in Equation 2 represents a focal length of each of the units 30w, 30n and 30t as in the example of Equation 1. Pc in Equation 2 represents a pixel pitch of multiple pixels in the image acquisition device 511 of the imager unit 51 corresponding to one of the units 30w, 30n and 30t of the imaging system 50. The pixel pitch Pc is set, for example, to a pitch of an array pitch of the respective pixels that are common to the vertical direction and the lateral direction of the image acquisition device 511, respectively. FNO in Equation 2 represents an F number of each of units 30w, 30n and 30t. The F number is also referred to as an F value. In detail, the F-number is a composite F-number of each of the lenses 34w, 34n, 34t and their subsequent lens set. Dc in the equation represents a diameter of a circle of confusion in the image acquisition device 511 of the imaging unit 51 corresponding to one of the units 30w, 30n, and 30t in the imaging system 50.

operational effects

The operational effects of the first embodiment described above will be described below.

According to the first embodiment, the lens units 30 of the first to fourth noted sets are configured so that at least two of the viewing angles θw, θn, and θt overlap with each other. The viewing angles θw, θn and θt are different from each other and are about the optical axes Aw, An and At. The optical axes Aw, An and At are shifted from each other. According to the first to fourth noted sets described above, in the positioning structure, the lens units 30 configuring the noted sets overlap with each other when viewed in the vertical direction of the vehicle 2 . In the first to fourth notated sets, at least two of the optical axes Aw, An and At are close to each other in the lateral direction of the vehicle 2. According to the configuration, as shown in (a) to (c) in 6 1, the external images are individually formed by the respective lens units 30 belonging to the first through fourth noted sets. In the external images, there is not likely to arise a large shift in the lateral direction of the position coordinates of the pixels reflecting the same portions Pw, Pn and Pt with respect to the respective optical axes Ax, An and At. Therefore, the configuration makes it possible to improve image positional accuracy of imaging the external environment through the respective lens units 30 of the first to fourth noted sets in the lateral direction. Herein, in view of the second noted set in particular, the high image positional accuracy described above can be achieved by the telescopic unit 30t of the angle of view θ and the wide-angle unit 30w of the angle of view θw. The telescope unit 30t has the angle of view θt narrower than the angle of view θw. The telescopic unit 30t is another narrow-angle unit different from the narrow-angle unit 30n.

In addition, according to the first to fourth notated sets of the first embodiment, at least two of the optical axes Aw, An and At of the lens units 30 belonging to the notated sets are particularly decentered in the vertical direction. According to the configuration, in the external images respectively formed by the respective lens units 30 configuring the first to fourth noted sets, a shift in particularly the lateral direction of the position coordinates of the pixels reflecting the same positions Pw, Pn and Pt is not likely to arise. Therefore, the configuration ensures high image positional accuracy in imaging the external environment with a small shift correction amount in the lateral direction.

Furthermore, according to the first and third notated sets in the first embodiment, two of the depth-of-field detections overlap Dw, Dn and Dt of the lens units 30 with each other to form the overlapping regions Rnw and Rtn when viewed in the vertical direction. The configuration images the external environment through the respective lens units 30 configuring the first and third noted sets to focus an image in a wide area including the overlapping regions Rnw and Rtn, and enables image positional accuracy in the improve page direction.

According to the first embodiment, the optical axes Aw and An are mutually in the lateral direction with the positioning structure in which the wide-angle unit 30w with the wide blinking angle θw and the narrow-angle unit 30n with the narrow blinking angle θn as the lens units 30 of the first and fourth sets noted with each other cover when viewed in the vertical direction, close. According to the configuration, in the external images formed individually by the wide-angle unit 30w and the narrow-angle unit 30n, a large lateral shift of the position coordinates of the pixels reflecting the same positions Pw and Pn is not likely to arise. In the configuration, the outside image passes through the narrow-angle unit 30n and the wide-angle unit 30w. The wide-angle unit 30w has the depth-of-field detection Dw in which the far point Dwf is set on the deeper or farther side behind the near point Dnc of the depth-of-field detection Dn to display the image in a wide area containing the overlapping region Rnw of these depth-of-field detections focus. In this way, the configuration makes it possible to improve image positional accuracy by imaging the external environment in the lateral direction.

According to the first embodiment, the wide-angle unit 30w, the narrow-angle unit 30n and the telescopic unit 30t, which is narrower than the wide and narrow-angle units at the angle of view θt, overlap as the lens units 30 of the fourth notional set with each other when viewed in the vertical direction. With this positioning structure, the optical axes Aw, An and At are close to each other in the lateral direction. According to the configuration, the external images are formed individually by the wide-angle unit 30w, the narrow-angle unit 30n, and the telescopic unit 30t. In the generated external images, there is not likely to arise a large lateral shift in the position coordinates of the pixels reflecting the same positions Pw, Pn and Pt. The configuration causes the external image to pass through the telescopic unit 30t, the narrow-angle unit 30n with the depth-of-field detection Dn, and the wide-angle unit 30w with the depth-of-field detection Dw as described above to display the image in a wide area covering the overlapping regions Rtn and Rnw of the respective contains two of these depth-of-field detections. In the depth-of-field detection Dn, the far point Dnf is set on the deeper side behind the near point Dtc of the depth-of-field detection Dt. In this way, the configuration makes it possible to improve the image positional accuracy in the lateral direction in imaging the external environment.

According to the first embodiment, in the depth-of-field detectors Dn and Dw of the lens units 30 configuring the first noted set in which the angles of view θn and θw overlap with each other, another far point Dwf is set between a near point Dnc and a far point Dnf in the external environment 5 fixed. In this way, the configuration forms the region Rnw in which the depth-of-field detections Dn and Dw overlap each other. A far point Dnf and the other far point Dwf in the first noted set define boundary positions of the image recognition implemented by imaging the external environment individually through the respective lens units 30 . According to the configuration, in the respective lens units 30, depth-of-field detections Dn and Dw overlap with each other in the first noted set. In any of the external images formed by the respective lens units 30, an object relatively moving in the coverage region Rnw can be distinguished with image recognition. The external image is a result of imaging the external environment through the respective lens units 30 of the first noted set. The configuration makes it possible to restrict an object from being lost in the outside image in the region Rnw where the respective depth-of-field detections Dn and Dw overlap with each other.

In addition, according to the first embodiment, another far point Dnf is set in the depth-of-field detections Dt and Dn of the lens units 30 configuring the third notated set in which the angles of view θt and θn overlap with each other. The far point Dnf is set between a near point Dtc and a far point Dtf in the external environment 5, thereby forming the region Rtn where the depth-of-field detections Dt and Dn overlap with each other. A far point Dtf and the other far point Dnf in the third notated set define boundary positions of image recognition implemented by imaging the external environment individually through the respective lens units 30 . According to the configuration, depth-of-field detections Dt and Dn overlap each other in the third notated set. The configuration with an image recognition makes it possible to identify the object that moving relatively in the coverage region Rtn in any of the external images formed by the respective lens units 30. Therefore, the configuration makes it possible to restrict the object from being lost in the outside image in the region Rtn where the respective depth-of-field detections Dt and Dn overlap with each other. The external image is a result of imaging the external environment through the respective lens units 30 of the third noted set.

Furthermore, according to the first embodiment, the lens units 30 configuring the first and third notated sets satisfy the above Equation 1 with the respective far points Dwf, Dnf, and Dtf as the corresponding far points. According to the configuration, the respective far points Dwf, Dnf, and Dtf in the first and third notated sets can precisely define image recognition boundary positions. The image recognition is implemented by imaging the external environment through the respective lens units 30 . Therefore, in the overlapping regions Rnw and Rtn, reliability of the effect of restraining the loss of an object caused due to an image recognition failure can be secured.

Furthermore, according to the first embodiment, the lens units 30 belonging to the first and third notated sets satisfy the above Equation 2 with the respective near points Dwc, Dnc and Dtc as the corresponding near points. According to the configuration, in the respective close points Dwc, Dnc, and Dtc in the first and third noted sets, it is possible to precisely define imaging boundary positions where the image is focused by imaging the external environment through the respective lens units 30. Therefore, in the overlapping regions Rnw and Rtn, reliability of the effect of restraining the loss of an object caused by imaging failure can be secured.

Second embodiment

like it in 7 As can be seen, a second embodiment is a modification of the first embodiment. In the second embodiment, a positioning relationship of a wide-angle unit 2030w, a narrow-angle unit 2030n, and a telescopic unit 2030t as lens units 2030 is different from that in the embodiment.

The narrow-angle lens 34n forming the front end of the narrow-angle unit 2030n is fixed, without substantial lateral shift, on the upper side of the wide-angle lens 34w forming the front end of the wide-angle unit 2030w. The narrow-angle lens 34n is shifted toward the rear of the wide-angle lens 34w. In this example, the optical axis An of the narrow-angle unit 2030n is decentered from the optical axis Aw of the wide-angle unit 2030w in a substantially vertical direction in particular. The configuration aligns these positions with the optical axis Aw in the lateral direction of the vehicle 2 . In the configuration, the more the front windshield 3 approaches the front, the more the front windshield 3 inclines toward the lower side on the far side. The wide-angle unit 2030w protrudes to the lower or far side behind the upper narrow-angle unit 2030n.

Telescope lens 34t, which forms the front end of telescope unit 2030t, is fixed, without substantial lateral shift, on top of narrow-angle lens 34n. The telescopic lens 34t is shifted to the rear of the narrow-angle lens 34n. In this example, the optical axis At of the telescope unit 2030t is decentered from both the respective optical axes Aw and An of the wide-angle unit 2030w and the narrow-angle unit 2030n in the substantially vertical direction. The configuration aligns these positions with both of the optical axes Aw and An in the lateral direction of the vehicle 2 . In the configuration, the narrow-angle unit 2030n and the wide-angle unit 2030w protrude to the lower or more distant side behind the upper telescope unit 2030t.

In the second embodiment, a vertical wall portion 2210 of the upper cover member 21 protrudes stepwise in the camera cover 20 . As the vertical wall portion 2210 approaches the lower side, the vertical wall portion 2210 gradually protrudes toward the deeper side or farther side on the front side according to the positioning relationship in which the units 2030w, 2030n, and 2030t in are shifted in the longitudinal direction. Each of the units 2030w, 2030n and 2030t individually has the lens window 211 which penetrates through the vertical wall portion 2210 and exposes one of the units to the outside of the camera case 20. FIG.

In the second embodiment described above, the first to fourth notified sets are assumed to be the notated sets in which the respective lens units 2030 at least partially overlap each other when viewed in the vertical direction. More specifically, the first set listed includes the wide-angle unit 2030w and the narrow-angle unit 2030n overlapping with each other when viewed in the vertical direction. The second set noted includes the wide-angle unit 2030w and the telescopic unit 2030t overlapping each other when viewed in the vertical direction. The third set noted includes the narrow-angle unit 2030n and the telescopic unit 2030t overlapping each other when viewed in the vertical direction. The fourth noted set includes the wide-angle unit 2030w, the narrow-angle unit 2030n, and the telescopic unit 2030t overlapping each other when viewed in the vertical direction.

According to the first and fourth notated sets according to the second embodiment as described above, the further the wide-angle unit 2030w approaches the lower side, the further the wide-angle unit 2030w protrudes from the upper narrow-angle unit 2030n to the lower or farther side of the front Windshield 3, which is inclined towards out. According to the configuration, the clearance between each of the wide-angle unit 2030w and narrow-angle unit 2030n and the front windshield 3 is narrowed as much as possible to cause both of the units to reduce excessive light incidence in the viewing angles θw and θn through the clearance . In addition, the wide-angle unit 2030w projects to the lower or far side behind the narrow-angle unit 2030n. The configuration makes it possible to restrict the narrow-angle unit 2030n from intruding on the wide view angle θw of the wide-angle unit 2030w. From this point of view, the configuration makes it possible to improve the image position precision in imaging the external environment in the lateral direction by the wide-angle unit 2030w and the narrow-angle unit 2030n without limitation due to excessive light and interference of both of these units with each other.

In the second and fourth notated sets according to the second embodiment, the more the front windshield 3 approaches the lower side, the more the front windshield 3 inclines toward the lower or far side. The wide-angle unit 2030w protrudes from the upper telescopic unit 2030t toward the lower or more distant side of the front windshield 3. FIG. According to the configuration, the clearance between each of the units, wide-angle unit 2030w and telescopic unit 2030t, and the front windshield 3 is narrowed as much as possible to cause both of the units to reduce excessive light incidence in the viewing angles θw and θt through the clearance to reduce. In addition, the wide-angle unit 2030w protrudes to the lower or more distant side behind the telescopic unit 2030t. Therefore, the configuration makes it possible to restrict the telescope unit 2030 from intruding on the wide view angle θw of the wide-angle unit 2030w. From the above point of view, the configuration makes it possible to improve the image position precision in imaging the external environment in the lateral direction by the wide-angle unit 2030w and the telescopic unit 2030t without being restricted due to excessive light and interference of both of these units with each other. In particular, given the second noted set in particular, the external-environment imaging described above can be performed with the telescope unit 2030t, in which the angle of view θt is narrower than the angle of view θw, and the wide-angle unit 2030w of and with the angle of view θw be reached. Telescope unit 2030t is a different narrow-angle unit than narrow-angle unit 2030n.

According to the third and fourth noted sets according to the second embodiment, the narrow-angle unit 2030n protrudes from the upper telescopic unit 2030t toward the lower or more distant side of the front windshield 3. The more the front windshield 3 approaches the lower side, the more the front windshield 3 inclines toward the lower or farther side. According to the configuration, the clearance between each of the units, narrow-angle unit 2030n and telescopic unit 2030t, and the front windshield 3 is narrowed as much as possible to cause both of the units to reduce excessive light incidence in the viewing angles θn and θt through the clearance . In addition, the narrow-angle unit 2030n protrudes to the lower or more distant side behind the telescopic unit 2030t. Therefore, the configuration makes it possible to restrict the telescopic unit 2030t from intruding on the angle of view θn of the narrow-angle unit 2030n. From the above point of view, the configuration makes it possible to improve the image position precision in imaging the external environment in the lateral direction by the narrow-angle unit 2030n and the telescopic unit 2030t without limitation due to excessive light and interference of both of the units with each other. In particular, in the fourth noted set, penetration of the telescope unit 2030t can be restricted not only to the inside of the wide angle of view θw but also to the inside of the angle of view θn, where the angle of view θn is narrower than the angle of view θw but wider than the angle of view θt of the Telescope unit is 2030t. Therefore, the configuration makes it possible to generate the external-environment mapping by all of the units.

Besides, the wide-angle unit 2030w, the narrow-angle unit 2030n, and the telescopic unit 2030t of the second embodiment are substantially identical to corresponding ones of the first embodiment in the wide-angle unit 30w, the narrow-angle unit 30n, and the telescopic unit 30t except for the configurations described above. More specifically, even in the second embodiment in which the longitudinal positions of the respective units 2030w, 2030n, and 2030t are shifted, the depth-of-field identities Dw, Dn, and Dt are set in the same manner as those in the first embodiment. From the above points of view, the first to fourth notated sets according to the second embodiment make it possible to produce the same operational effects as those in the first to fourth notated sets of the first embodiment.

Third embodiment

like it in 8th until 10 1, a third embodiment is a modification of the first embodiment. In the third embodiment, a positioning relationship of a wide-angle unit 3030w, a narrow-angle unit 3030n, and a telescopic unit 3030t as lens units 3030 is different from that in the first embodiment.

like it in 8th and 10 As can be seen, narrow-angle lens 34n forming the front end of narrow-angle unit 3030n is fixed, without substantial longitudinal displacement, on top of wide-angle lens 34w forming the front end of wide-angle unit 3030w. The narrow-angle lens 34n is inclined to one side (that is, the left side in 10 ) shifted in the longitudinal direction from the wide-angle lens 34w. In this example, the optical axis An of the narrow-angle unit 3030n is decentered from the optical axis Aw of the wide-angle unit 3030w in both the vertical and lateral directions. With the configuration, the wide-angle unit 2030w or 3030w does not protrude significantly from the upper narrow-angle unit 2030n or 3030n toward the lower or far side, and the more the front windshield 3 approaches the lower side, the wider the front windshield 3 inclined toward the front on the deeper or more distant side.

like it in 9 and 10 As can be seen, the telescope lens 34t forming the front end of the telescope unit 3030t is fixed, without substantial longitudinal displacement, on the upper side of the wide-angle lens 34w. However, the telescopic lens 34t is to the other side from the wide-angle lens 34w in the lateral direction (that is, the right side in 10 , which faces the narrow-angle unit 3030n) toward. In this example, the optical axis At of the telescope unit 3030t is decentered from the optical axis Aw of the wide-angle unit 3030w in both the vertical direction and the lateral direction. In addition, the optical axis At of the telescope unit 30t is decentered from the optical axis An of the narrow-angle unit 3030n in the substantially lateral direction in particular. In this way, the configuration aligns the optical axis At with the optical axis An in the vertical position of the vehicle 2 . In the configuration, the wide-angle unit 3030w does not protrude significantly from the upper telescopic unit 3030t and the side narrow-angle unit 3030n toward the lower or farther side.

In the third embodiment described above, the first and second notion sets are assumed to be the notion sets in which the respective lens units 3030 at least partially overlap with each other when viewed in the vertical direction. The third notated set is assumed to be the notated set in which the lens units 3030 overlap each other when viewed in the lateral direction. More specifically, the first noted set includes the wide-angle unit 3030w and the narrow-angle unit 3030n overlapping each other when viewed in the vertical direction. The second set noted includes the wide-angle unit 3030w and the telescopic unit 3030t overlapping each other when viewed in the vertical direction. The third set noted includes the narrow-angle unit 3030n and the telescopic unit 3030t overlapping each other when viewed in the lateral direction.

In the first and second notated sets according to the third embodiment, the respective two of the optical axes Aw, An and At of the lens units 3030 overlap with each other when viewed in the vertical direction and are decentered in both the vertical direction and the lateral direction . The configuration restricts the lateral shift of the position coordinates of the pixels reflecting the same locations Pw, Pn, and Pt in the respective external images formed by the respective lens units 3030. FIG. In addition, although the physical size in the vertical direction increases due to the lateral shift restriction, the configuration makes it possible to ensure the degree of freedom of positioning for reducing, for example, the increase in physical size, with the respective lens units 3030 configuring the first and second notated sets . Therefore, the configuration makes it possible to ensure high image positional accuracy in the lateral direction while the field of view is not required flat occupants in the vehicle 2 in the lateral direction is ensured. In particular, given the second noted set in particular, the telescopic unit 3030t of the angle of view θt narrower than the angle of view θw and the wide-angle unit 3030w of the angle of view θw ensure the field of view and the above-described ensure accuracy, with telescope unit 3030t being a different narrow-angle unit than narrow-angle unit 3030n.

Furthermore, according to the third embodiment, the narrow-angle unit 3030n belongs to the first notated set and the telescopic unit 3030t belongs to the second notated set. The narrow-angle unit 3030n and the telescopic unit 3030t belong to the third notated set, distinct from the first notated set and the second notated set. The narrow-angle unit 3030n and the telescopic unit 3030t overlap with each other when viewed in the lateral direction. In addition, the optical axes An and At of the two units are decentered from each other in the lateral direction. The configuration makes it possible to enhance the effect of ensuring the occupant's field of vision while restraining as much as possible the increase in physical size in the vertical direction caused by the lateral shift restriction.

Besides, the wide-angle unit 3030w, the narrow-angle unit 3030n, and the telescopic unit 3030t according to the third embodiment are substantially identical to the corresponding wide-angle unit 30w, the narrow-angle unit 30n, and the telescopic unit 30t of the first embodiment except for the configurations described above. More specifically, in the third embodiment, the narrow-angle unit 3030n and the telescopic unit 3030t are aligned side by side on the upper side of the wide-angle unit 3030w. Even in the configuration, the depth of field detections Dw, Dn and Dt are set in the same manner as those in the first embodiment. From the above points of view, the first and second notated sets according to the third embodiment make it possible to produce the same operational effects as those in the first and second notated sets of the first embodiment.

Fourth embodiment

like it in 11 As can be seen, a fourth embodiment is a modification of the first embodiment. In the fourth embodiment, the setting of the depth of field detection Dw for a wide-angle unit 4030w of the lens units 30 is different from that in the first embodiment.

The far point Dwf of the wide angle unit 4030w defines the depth of field detection Dw within the wide view angle θw. The far point Dwf is set on the lower or farther side behind the near point Dtc of the telescope unit 30t. The near point Dtc defines the depth of field detection Dt within the viewing angle θt narrower than the viewing angle θw. In addition, the far point Dwf of the wide-angle unit 4030w is set on the nearer side from the far point Dtf of the telescopic unit 30t. With these settings, the far point Dwf of the wide-angle unit 4030w is positioned between the near point Dtc and the far point Dtf of the telescope unit 30t. In this way, the units 30t and 4030w form the region Rtw in which the depth-of-field detections Dt and Dw overlap with each other. Specifically, in the fourth embodiment described above, the second notated set includes the wide-angle unit 4030w and the telescopic unit 30t overlapping with each other when viewed in the vertical direction, as in the first embodiment.

Furthermore, according to the second noted set, in the fourth embodiment, the respective depth of field detections Dt and Dw of the lens unit 30 overlap with each other when viewed in the vertical direction, and these form an overlapping region Rtw. The configuration focuses the image in a wide area including the coverage region Rtw and images the external environment through the respective lens units 30 belonging to the second noted set. In this way, the configuration makes it possible to improve image positional accuracy in the lateral direction.

According to the fourth embodiment, the wide-angle unit 4030w having the wide angle of view θw and the telescopic unit 30t having the narrow angle of view θw, which are the lens units 30 of the second notated set, overlap with each other when viewed in the vertical direction. With the positioning structure, the optical axes Aw and An are close to each other in the lateral direction. According to the configuration, in the external images formed by the wide-angle unit 4030w and the telescopic unit 30t, a large shift in the lateral direction of the position coordinates of the pixels reflecting the same portions Pw and Pt is not likely to arise. In the depth of field detection Dw, the far point Dwf is set on the deeper side behind the near point Dtc of the depth of field detection Dt. Therefore, the configuration allows the outside image to be viewed through the telescope unit 30t and the to focus wide-angle unit 4030w in a wide range that includes the coverage region Rtw of these depth-of-field detections. In this way, the configuration makes it possible to improve image positional accuracy in imaging the external environment in the lateral direction. As described above, in the fourth embodiment, the telescopic unit 2030t is a narrow-angle unit different from the narrow-angle unit 30n. The second set noted includes the telescope unit 2030t, in which the angle of view θt is narrower than the angle of view θw, and the wide-angle unit 4030w of angle of view θw. The second set notated makes it possible to generate the external-environment mapping described above.

Besides, the wide-angle unit 4030w of the fourth embodiment is substantially identical to the wide-angle unit 30w of the first embodiment except for the configurations described above. Therefore, the first to fourth notated sets according to the fourth embodiment make it possible to produce the same operational effects as those in the first to fourth notated sets of the first embodiment.

Fifth embodiment

like it in 12 As can be seen, a fifth embodiment is a modification of the fourth embodiment. In the fifth embodiment, the setting of the depth of field detection Dw for a wide-angle unit 5030w of the lens units 30 is different from that in the fourth embodiment.

The wide angle unit 5030w defines the depth of field detection Dw within the wide angle of view θw. The narrow-angle unit 30n defines the depth-of-field detection Dn within the viewing angle θn narrower than the viewing angle θw. The near point Dwc of the wide-angle unit 5030w is set on the lower side behind the near point Dnc of the narrow-angle unit 30n. In addition, the far point Dwf of the wide-angle unit 5030w is set on the nearer side from the far point Dnf of the narrow-angle unit 30n. With these settings, both the near point Dwc and the far point Dwf of the wide-angle unit 5030w are positioned between the near point Dnc and the far point Dnf of the narrow-angle unit 30n. In this way, the units 30n and 5030w form the region Rnw in which the depth-of-field detections Dn and Dw overlap with each other. Specifically, in the fifth embodiment described above, the second notated set includes the wide-angle unit 5030w and the telescopic unit 30t overlapping with each other when viewed in the vertical direction, as in the fourth embodiment.

The wide-angle unit 5030w of the fifth embodiment is substantially identical to the wide-angle unit 4030 of the fourth embodiment except for the configurations described above. Therefore, the first to fourth notated sets according to the fifth embodiment make it possible to produce the same operational effects as those in the first to fourth notated sets according to the fourth embodiment.

Sixth embodiment

like it in 13 until 18 1, a sixth embodiment is a modification of the first embodiment. In the sixth embodiment, a positioning relationship of a wide-angle unit 6030w, a narrow-angle unit 6030n, and a telescopic unit 6030t as lens units 6030 is different from that in the first embodiment.

like it in 13 , 14 , 16 and 18 As can be seen, narrow-angle lens 34n forming the front end of narrow-angle unit 6030n is fixed in place without substantial vertical displacement from wide-angle lens 34w forming the front end of wide-angle unit 6030w. The narrow-angle lens 34n differs from the wide-angle lens 34w on the front end and one side (i.e., a left side in 18 ) shifted in the lateral direction than the outer environment 5 side. In this example, the optical axis An of the narrow-angle unit 6030n is decentered substantially in the lateral direction from the optical axis Aw of the wide-angle unit 6030w.

like it in 15 , 16 and 18 As can be seen, telescope lens 34t, which forms the front end of telescope unit 6030t, is fixed without significant vertical displacement from wide-angle lens 34w. The telescopic lens 34t is shifted from the wide-angle lens 34w toward the front end on the outer environment 5 side. The telescopic lens 34t is further from the wide-angle lens 34w to the other side (that is, the right side in 18 ) shifted in the lateral direction. In this example, the optical axis At of the telescope unit 6030t is decentered substantially in the lateral direction from both the optical axis Aw of the wide-angle unit 6030w and the optical axis An of the narrow-angle unit 6030n.

In the sixth embodiment described above, a vertical wall portion 6210 of an upper cover member 21 of the camera cover 20 shown in FIG 13 until 16 you can see, formed to satisfy a positioning relationship in which the respective units 6030w, 6030n and 6030t are shifted from each other in the longitudinal direction as described above. Specifically, the further the vertical wall portion 6210 approaches both its right and left lateral sides from its central portion in the lateral direction, the more the vertical wall portion 6210 protrudes obliquely toward the front on the outer environment 5 side (that is, the deeper or ., far side described in the first embodiment). The lens windows 6211w, 6211n and 6211t are individually formed for each of the units. The lens windows 6211w, 6211n and 6211t penetrate through the vertical wall portion 6210 and expose the units 6030w, 6030n and 6030t to the outside of the camera case 20, respectively. In this example, the vertical positions of the lens windows 6211w, 6211n and 6211t corresponding to the respective units 6030w, 6030n and 6030t are aligned with each other. In addition, the longitudinal positions of the lens windows 6211n and 6211t corresponding to the narrow-angle unit 6030n and the telescopic unit 6030t are respectively aligned with each other in a state shifted from the longitudinal position of the lens window 6211w corresponding to the wide-angle unit 6030w.

In the sixth embodiment described above, the first to fourth notified sets are assumed to be the notated sets in which the respective lens units 6030 overlap with each other when viewed in the lateral direction. More specifically, the first noted set includes the wide-angle unit 6030w and the narrow-angle unit 6030n overlapping each other when viewed in the lateral direction. The second set noted includes the wide-angle unit 6030w and the telescopic unit 6030t overlapping each other when viewed in the lateral direction. The third set noted includes the 6030n narrow-angle unit and the 6030t telescopic unit, which overlap when viewed in the lateral direction. The fourth set noted includes the wide-angle unit 6030w, the narrow-angle unit 6030n, and the telescopic unit 6030t, which overlap with each other when viewed in the lateral direction.

Incidentally, the wide-angle unit 6030w, the narrow-angle unit 6030n, and the telescopic unit 6030t according to the sixth embodiment described above are substantially identical to the corresponding wide-angle unit 30w, narrow-angle unit 30n, and telescopic unit 30t of the first embodiment except for the configurations described above. More specifically, even in the sixth embodiment in which the longitudinal positions of the respective units 6030w, 6030n, and 6030t are shifted, the depth-of-field identities Dw, Dn, and Dt are set in the same manner as those in the first embodiment.

Therefore, the first and third notated sets according to the sixth embodiment make it possible to produce the operational effects in the same manner as those in the first and third notated sets of the first embodiment, except for image positional accuracy in the lateral direction. In addition, as the operational effects inherent in the sixth embodiment, the first to fourth noted sets make it possible to ensure the image positional accuracy in the lateral direction by correcting the shift in the positional coordinates. In particular, given the second noted set in particular, the telescope unit 6030t of view angle θt and the wide-angle unit 6030w of view angle θw allow the accuracy to be ensured as described above, with the telescope unit 6030t another narrow-angle unit than the narrow-angle unit 6030n and has the viewing angle θt narrower than the viewing angle θw.

like it in 13 until 17 As can be seen, in the sixth embodiment, according to the positioning relationship of the respective lens units 6030, a pair of side wall portions 6043 in each structure is different from that in the first embodiment. The pair of side wall portions 6043 are provided on both of lateral sides of an imaging space 410 . In a hood 6040, the imaging space 410 is on the upper side of the base wall portion 41.

Each of the side wall portions 6043 is provided symmetrically with respect to the optical axis Aw of the wide-angle unit 6030w. The wide-angle unit 6030w is located at a center of the lens units 6030 aligned in the lateral direction. Each of the side wall portions 6043, which is in a straight plate-like shape, is inclined toward the outer lateral side with respect to the optical axis Aw of the unit 6030w in accordance with the wide viewing angle θw of the unit 6030w when the side wall portion 6043 extends from the vicinity of the wide-angle unit 6030w toward the front side on the outer environment 5 side. In each of the side wall portions 6043, a trapezoidal inner wall planar surface 6043a is formed to spread out along a narrowing line of the viewing angle θw outside the viewing angle θw as shown in FIG 17 can be seen, when viewed in the vertical direction (ie, when viewed in the horizontal plane) of the vehicle 2, which is on the horizontal plane is. In this way, the respective angles of view θn and θt of the narrow-angle unit 6030n and the telescopic unit 6030t, which are narrower than the angle of view θw of the wide-angle unit 6030w, are partially within the angle of view θw inside the imaging space 410 when viewed in the vertical direction.

like it in 13 , 16 and 17 can be seen, a wide-angle exposure window 6431w opens between rear ends of the side wall portions 6043 on the front of the lens window 6211w of the vertical wall portion 6210. The front end of the wide-angle unit 6030w on the outer environment 5 side penetrates from the inside of the lens window 6211w into the inside of the wide-angle exposure window 6431w. The front end of the wide-angle unit 6030w is still outside the imaging space 410. In this way, the wide-angle exposing window 6431w exposes the wide-angle unit 6030w to the imaging space 410. FIG.

like it in 13 until 17 As can be seen, a narrow-angle exposure window 6431n opens on the front of the lens window 6211n of the vertical wall portion 6210 in a first side wall portion 6432. The first side wall portion 6432 is part of a side wall portion 6043 on one side in the lateral direction. The vertical position of the narrow-angle exposure window 6431n is aligned with the wide-angle exposure window 6431w. The front end of the narrow-angle unit 6030n on the outside environment 5 side penetrates from the inside of the lens window 6211n into the inside of the narrow-angle exposure window 6431n. The front end of narrow-angle unit 6030n is still outside of imaging space 410. In this way, narrow-angle exposure window 6431n exposes narrow-angle unit 6030n to imaging space 410. FIG.

like it in 15 until 17 As can be seen, a telescope exposure window 6431t opens on the front of the lens window 6211t of the vertical wall portion 6210 in a second side wall portion 6433. The second side wall portion 6433 is part of the side wall portion 6043 on the other side in the lateral direction. The vertical position of the telescopic exposure window 6431t is aligned with the wide-angle exposure window 6431w and the narrow-angle exposure window 6431n. In addition, the longitudinal position of the telescopic exposure window 6431t is aligned with the narrow-angle exposure window 6431n in a state where the longitudinal direction is shifted from the wide-angle exposure window 6431w. In this example, the front end of the telescope unit 6030t on the outer environment 5 side penetrates from the inside of the lens window 6211t into the inside of the telescope exposure window 6431t. The front end of the telescope unit 6030t is still outside the imaging space 410. In this way, the telescope exposure window 6431t exposes the telescope unit 6030t to the imaging space 410 on the front of the wide-angle unit 6030w on the side of the outer environment 5 and right next to the narrow-angle unit 6030n.

The hood 6040 according to the sixth embodiment is substantially identical to the hood 40 of the first embodiment except for the configurations described above. Therefore, according to the hood 6040 of the sixth embodiment, on the lateral side of the imaging space 410, for guiding an optical image within the imaging target range to the units 6030w and 6030n of the lens units 6030, the first side wall portion 6432 is corresponding to the angle of view θw of the wide-angle unit 6030w of of the vicinity of the wide-angle unit 6030w is inclined toward the outer surroundings side. The first side wall section 6432 is one of the pair of side wall sections 6043. The units 6030w and 6030n belong to the first and fourth notated sets. More specifically, in the hood 6040 of the sixth embodiment, the first side wall portion 6432 is in an inclined state that spreads along the angle of view θw of the wide-angle unit 6030w. In this example, in the first side wall portion 6432, the narrow-angle exposing window 6431n on the outside environment side opens from the wide-angle unit 6030w to expose the narrow-angle unit 6030n to the imaging space 410. FIG. According to the configuration, the angle of view θn of the narrow-angle unit 6030n falls inside the angle of view θw of the wide-angle unit 6030w, which regulates the inclination of the first side wall portion 6432 to divide the imaging space 410 between both of these units. Therefore, a formation range of the first side wall portion 6432 in which the narrow-angle exposure window 6431n opens in the inclined state is limited to a required range for the wide-angle unit 6030w. In this way, the configuration enables the camera module 1 including the hood 6040 to be reduced in size.

In the first and fourth noted sets according to the sixth embodiment, the front end of the narrow-angle unit 6030n on the external environment 5 side is outside the imaging space 410. Therefore, the narrow-angle unit 6030n is unlikely to intrude into the inside of the angle of view θw of the wide-angle unit 6030w. In this way, the narrow interferes angle unit 6030n is unlikely to affect the imaging of the normal optical image of the external environment 5 in the imaging target area. In particular, the narrow-angle unit 6030n is not likely to interfere with or interfere with the outside-environment mapping, which can avoid a loss of an object in the first noted set.

According to the sixth embodiment, the front end of the narrow-angle unit 6030n of the first, third, and fourth notated sets penetrates the inside of the narrow-angle exposure window 6431n. The front end of the narrow-angle unit 6030n is still outside of the imaging space 410. According to the configuration, the narrow-angle unit 6030n can be brought closer to the front windshield 3 to prevent excess light from entering the viewing angle θn through the clearance between the element 6030n and the element 3 to restrict. Therefore, an excessive incidence of light is not likely to disturb the imaging of the normal optical image of the external environment 5 in the imaging target area. In particular, excessive light incidence is not likely to interfere with exterior-to-environment imaging, which can avoid loss of an object in the first set noted.

In addition, according to the hood 6040 of the sixth embodiment, on the lateral side of the imaging space 410 for guiding an optical image within the imaging target range to the respective units 6030w and 6030t of the lens units 6030, the second side wall portion 6433 is formed according to the angle of view θw of the wide-angle unit 6030w from the vicinity of the Wide-angle unit 6030w tilted toward the external environment side. The respective 6030w and 6030t units belong to the second and fourth notated sets. The second side wall portion 6433 is one of the pair of side wall portions 6043. More specifically, in the hood 6040 of the sixth embodiment, the second side wall portion 6433 is in an inclined state spreading along the viewing angle θw of the wide-angle unit 6030w. In this example, in the second side wall portion 6433, a telescope exposure window 6431 opens on the outside environment side from the wide-angle unit 6030w to expose the telescope unit 6030t to the imaging space 410. FIG. According to the configuration, the angle of view θt of the telescopic unit 6030t falls inside the angle of view θw of the wide-angle unit 6030w, which regulates the inclination of the second side wall portion 6433 to divide the imaging space 410 between both of these units. Therefore, a formation range of the second side wall portion 6433 for opening the telescope exposure window 6431t in the inclined state is limited to a required range for the wide-angle unit 6030w. In this way, the configuration enables the camera module 1 including the hood 6040 to be reduced in size.

In the second and fourth noted sets according to the sixth embodiment, the front end of the telescope unit 6030t on the outer environment 5 side is outside the imaging range 410. Therefore, the telescope unit 6030t is unlikely to penetrate inside the angle of view θw of the wide-angle unit 6030w. In this way, the telescope unit 6030t is not likely to interfere with or interfere with the imaging of the normal optical image of the external environment 5 within the imaging target range.

According to the sixth embodiment, the front end of the telescope unit 6030t of the second to fourth noted sets penetrates the inside of the telescope exposure window 6431t. The front end of the telescopic unit 6030t is still outside the imaging space 410. According to the configuration, the telescopic unit 6030t can be brought closer to the front windshield 3 to prevent excess light from entering the angle of view θt through the clearance between the element 6030t and the element 3 to restrict. Therefore, an excessive incidence of light is not likely to disturb the imaging of the normal optical image of the external environment 5 within the imaging target range.

In particular, given the second noted set in particular, reducing a size and imaging the normal optical image in the telescope unit 6030t in which the angle of view θt through the telescope exposure window 6431t is narrower than the angle of view θw, as described above, can be achieved . The 6030t telescope unit is a different narrow-angle unit than the 6030n narrow-angle unit. Telescopic exposure window 6431t is a different narrow-angle exposure window than narrow-angle exposure window 6431n.

Seventh embodiment

like it in 19 until 21 As shown, a seventh embodiment is a modification of the first embodiment. In the seventh embodiment, the positioning position of a narrow-angle unit 7030n and a telescopic unit 7030t as the lens units 6030 is different from that in the sixth embodiment.

like it in 19 and 21 is seen penetrating the front end of the narrow-angle unit 7030n on the outside environment 5 side from the inside of a lens window 6211n and the inside of the narrow-angle exposure window 6431n further into the imaging space 410. In this way, the narrow-angle exposure window 6431n exposes the narrow-angle unit 7030n to the imaging space 410. FIG. Additionally located as it is in 21 As can be seen, a viewing angle θn of the narrow-angle unit 7030n, which is narrower than the viewing angle θw of the wide-angle unit 6030w, is entirely within the viewing angle θw inside the imaging space 410 when viewed in the vertical direction.

like it in 19 and 21 As can be seen, the narrow-angle unit 7030n has a reflection restricting portion 7036n in its entire peripheral area and in its entire end face area at a portion including at least the front end of the narrow-angle unit 7030n. The narrow-angle unit 7030n invades and is exposed in the imaging space 410 . The reflection restricting portion 7036n is formed by, for example, applying a black coating or paint to the narrow-angle lens barrel 32n of the narrow-angle unit 7030n. Besides, for example, when the narrow-angle lens barrel 32n itself is made of a black material, the reflection restricting portion 7036n is not necessarily provided.

like it in 20 and 21 As can be seen, the front end of the telescope unit 7030t on the outer environment 5 side penetrates further into the imaging space 410 from the inside of a lens window 6211t and the inside of the telescope exposure window 6431t. In this way, the telescope exposure window 6431t exposes the telescope unit 7030t to the imaging space 410 on the front of the wide-angle unit 6030w on the outer environment 5 side and right next to the narrow-angle unit 7030n. Additionally located as it is in 21 As can be seen, a field of view θt of the telescopic unit 7030t, which is narrower than the field of view θw of the wide-angle unit 6030w, is entirely within the field of view θw inside the imaging space 410 when viewed in the vertical direction.

like it in 20 and 21 As can be seen, the telescope unit 7030t has a reflection restricting portion 7036t in its entire peripheral area and in its entire end face area at a portion including at least the front end of the telescope unit 7030t penetrating and exposed in the imaging space 410. The reflection restricting portion 7036t is formed by applying, for example, a black coating or paint to the telescope lens barrel 32t of the telescope unit 7030t. Besides, for example, when the telescopic lens frame 32t itself is made of a black material, the reflection restricting portion 7036t is not necessarily provided.

In the seventh embodiment described above, as in the sixth embodiment, the first to fourth notified sets are assumed to be the notated sets in which the respective lens units 6030 overlap with each other when viewed in the lateral direction. In particular, the first set noted includes the wide-angle unit 6030w and the narrow-angle unit 7030n overlapping each other when viewed in the lateral direction. The second set noted includes the wide-angle unit 6030w and the telescopic unit 7030t overlapping each other when viewed in the lateral direction. The third set noted includes the narrow-angle unit 7030n and the telescopic unit 7030t overlapping each other when viewed in the lateral direction. The fourth set noted includes the wide-angle unit 6030w, the narrow-angle unit 7030n, and the telescopic unit 7030t, which overlap when viewed in the lateral direction.

According to the seventh embodiment described above, the front end of the narrow-angle unit 7030n of the first, third, and fourth notated sets enters the imaging space 410 from the inside of the narrow-angle exposure window 6431n. According to the configuration, the clearance between the narrow-angle unit 7030n and the front windshield 3 is narrowed as much as possible, and the effect of reducing excessive light incidence into the viewing angle θn through the clearance can be enhanced. Therefore, the imaging of the normal optical image of the external environment 5 in the imaging target area, in particular, the external environment imaging that can avoid a loss of an object in the first noted set can be achieved without being disturbed by an excessive incidence of light.

Furthermore, according to the seventh embodiment, the front end of the narrow-angle unit 7030n of the first and fourth notated sets invades the imaging space 410. FIG. At the front end of the narrow-angle unit 7030n, reflection of light can be regulated by the reflection restricting portion 7036n. The configuration makes it possible to restrict reflected light reflected on the front end of the narrow-angle unit 7030n in the imaging space 410 from entering the inside of the angle of view θw of the wide-angle unit 6030w. Therefore can the imaging of the normal optical image of the external environment 5 into the imaging target area, particularly the external environment imaging that can avoid a loss of an object in the first noted set can be achieved without being disturbed by the reflected incident light.

According to the seventh embodiment, the front end of the telescope unit 7030t of the second to fourth noted sets enters the imaging space 410 from the inside of the telescope exposure window 6431t. According to the configuration, the clearance between the telescope unit 7030t and the front windshield 3 is narrowed as much as possible, and the effect of reducing excessive light incidence into the angle of view θt through the clearance can be enhanced. Therefore, imaging of the normal optical image of the external environment 5 can be achieved within the imaging target range without being disturbed by an incidence of excessive light.

Furthermore, according to the seventh embodiment, the front end of the telescope unit 7030t of the second and fourth notated sets penetrates into the imaging space 410. FIG. At the front end of the telescope unit 7030t, reflection of light can be regulated by the reflection restricting portion 7036t. The configuration makes it possible to restrict an incidence of light reflected on the front end of the telescope unit 7030t in the imaging space 410 into the inside of the angle of view θw of the wide-angle unit 6030w. Therefore, imaging of the normal optical image of the external environment 5 can be achieved within the imaging target range without being disturbed by incident reflected light.

In particular, given the second set noted in particular, the normal optical image can be imaged as described above with the telescope unit 7030t in which the angle of view θt is narrower than the angle of view θw. The 7030t telescope unit is a different narrow-angle unit than the 7030n narrow-angle unit.

Besides, the narrow-angle unit 7030n and the telescopic unit 7030t according to the seventh embodiment are substantially identical to the narrow-angle unit 6030n and the telescopic unit 6030t of the sixth embodiment except for the configurations described above. Therefore, according to the seventh embodiment, the first to fourth notated sets make it possible to produce the same operational effects as those in the first to fourth notated sets according to the sixth embodiment, except for the operational effects related to the positioning structure outside the mapping space 410.

Eighth embodiment

As in 22 until 24 As shown, an eighth embodiment is a modification of the first embodiment. In the eighth embodiment, the positioning position of a narrow-angle unit 8030n and a telescopic unit 8030t as lens units 6030 is different from that in the sixth embodiment.

like it in 22 and 24 As can be seen, the front end of the narrow-angle unit 8030n penetrates into the lens window 6211n on the outside 5 side. In addition, the front end of the narrow-angle unit 8030n is outside the imaging space 410 and is inside behind the narrow-angle exposure window 6431n. In this way, the narrow-angle exposure window 6431n exposes the narrow-angle unit 8030n to the imaging space 410. FIG. Additionally located as it is in 24 can be seen, a viewing angle θn of the narrow-angle unit 8030n, which is narrower than the viewing angle θw of the wide-angle unit 6030w, partially within the viewing angle θw inside the imaging space 410 when viewed in the vertical direction.

like it in 23 and 24 As can be seen, the front end of the telescope unit 8030t on the outer environment 5 side penetrates into the lens window 6211t. In addition, the front end of the telescope unit 8030t is outside the imaging space 410 and is inside behind the telescope exposure window 6431t. In this way, the telescope exposure window 6431t exposes the telescope unit 8030t to the imaging space 410 on the front of the wide-angle unit 6030w on the outer environment 5 side and right next to the narrow-angle unit 8030n. Additionally located as it is in 24 can be seen, the angle of view θt of the telescopic unit 8030t, which is narrower than the angle of view θw of the wide-angle unit 6030w, partially within the angle of view θw inside the imaging space 410 when viewed in the vertical direction.

In the eighth embodiment described above, as in the sixth embodiment, the first to fourth notified sets are assumed to be the notated sets in which the respective lens units 6030 overlap with each other when viewed in the lateral direction. More specifically, the first set noted includes the wide-angle unit 6030w and the narrow-angle unit 8030n overlapping each other when viewed in the lateral direction. The second set noted includes the wide-angle unit 6030w and the telescopic unit 8030t overlapping each other when viewed in the lateral direction. The third set listed contains the narrow angles unit 8030n and the telescopic unit 8030t overlapping each other when viewed in the lateral direction. The fourth set noted includes the wide-angle unit 6030w, the narrow-angle unit 8030n, and the telescopic unit 8030t, which overlap with each other when viewed in the lateral direction.

The narrow-angle unit 8030n and the telescopic unit 8030t according to the eighth embodiment described above are substantially identical to the narrow-angle unit 6030n and the telescopic unit 6030t of the sixth embodiment except for the configurations described above. Therefore, according to the eighth embodiment, the first to fourth notated sets make it possible to produce the same operational results as those in the first to fourth notated sets according to the sixth embodiment, except for the operational effects related to the entry structure into the exposure windows 6431n and 6431t.

Ninth embodiment

like it in 25 until 32 As can be seen, a ninth embodiment is a modification of the sixth embodiment. In the ninth embodiment, in a hood 9040 placed in 25 until 27 can be seen, a pair of side wall portions 9043, which are provided on both sides of the imaging space 410, and a base wall portion 9041, which is provided on a deeper side of the imaging space 410, in a structure different from those in the sixth embodiment and are these in FIG Structured connection with the control functions of the vehicle 2.

In the ninth embodiment, the control functions of the vehicle 2 are adjusted according to a situation of the external environment 5 shown in 28 and 29 is installed in the control circuit 55 or in an external circuit such as an ECU connected to the external connector 542 . In this example, one of the control functions is collision limitation control of the vehicle 2 against a front obstacle 5a (for example, a pedestrian, a bicycle, another vehicle, or the like) that is an object in the external environment 5 . One of the control functions is a specific control Cs of the vehicle 2. A specific example of the specific control Cs is an autonomous emergency braking system (AEB, Autonomous Emergency Breaking) that automatically controls a vehicle speed of the vehicle 2 when an emergency control condition in which a time to to a collision (TTC, Time To Collision) is in the vicinity of several seconds or less, thereby forcibly slowing down the vehicle 2, or the like. In addition, one of the control functions is running control of the vehicle 2 in a traveling lane. One of the control functions is a control Ca of the vehicle 2 other than the specific control Cs. A specific example of the other controller Ca is a lane keeping assistant (LKA, Lane Keeping Assistent) that automatically controls the position of the vehicle 2 in the width direction of the traveling lane to avoid displacement of the vehicle 2 from a lane marking 5b, such as a lane line, a yellow lane line on a road surface or the like in the outer environment 5 .

like it in 27 until 30 As can be seen, a horizontal field of view of the external environment 5 required for the specific control Cs of the vehicle 2 falls within the target imaging range of the camera module 1 mounted on the front windshield 3 . The horizontal viewing angle range is defined by a first taper angle θ1 with the optical axis Aw of the wide-angle unit 6030w bisecting it when viewed in the vertical direction (that is, in a horizontal plane view) of the vehicle 2 on the horizontal plane. In this example, the first taper angle θ1 is smaller than a horizontal viewing angle range of the viewing angle θw of the wide-angle unit 6030w defined around the optical axis Aw. For example, the first taper angle θ1 is set to an angle of 100° or more. For example, the first taper angle θ1 is set to an angle at which the front obstacle 5a preceding the vehicle 2 by 13 m or more can be imaged when the TTC is 2.4 seconds or more.

like it in 31 and 32 As can be seen, a vertical field of view of the external environment 5 required for the specific control Cs of the vehicle 2 falls within the target imaging range of the camera module 1 mounted on the front windshield 3 . The vertical viewing angle range is defined by a sum of a first depression angle ψd1 and a first elevation angle ψe1 in the horizontal view (ie, side view) of the vehicle 2 that is on the horizontal plane. In this example, the sum of the first depression angle ψd1 and the first elevation angle ψe1 is smaller than the vertical viewing angle range of the viewing angle θw of the wide-angle unit 6030w. For example, the first depression angle ψd1 is set to an angle of 6° or less, or so. For example, the first depression angle ψd1 is set to an angle at which the front obstacle 5a preceding the vehicle 2 by 13 m or more can be imaged when the TTC is 2.4 seconds or more.

like it in 28 1, a single imaging range Us specialized for the specific control Cs is determined according to the horizontal view angle range and the vertical view angle range of the external environment 5 required for the specific control Cs. like it in 27 , 28 , 30 and 32 can be seen, a first lower light beam L1 is assumed to be a light beam entering the wide-angle unit 6030w at the first taper angle θ1 and at the first depression angle _Ψ d1 from both right and left ends Use of a lowermost portion of the single imaging area Us. According to the above assumption, points at which the first lower light rays L1 assigned to the specific control Cs imaginarily cross the inner surface 3a of the front windshield 3 of the vehicle 2 are determined as the first imaginary crossing points I1 shown in 27 , 30 and 32 are defined. like it in 27 As can be seen, each of the first imaginary intersections I1 is assigned to an upper side of an intermediate portion between the front end and the rear end of the side wall portion 9043. In this way, each of the side wall portions 9043 is configured as follows.

The respective side wall portions 9043 define inner wall surfaces 9043a on the wide-angle unit 6030w side on the rear side of the first imaginary intersections I1 in the vehicle 2. The inner wall surfaces 9043a have small margins of both right and left taper lines of the first taper angle θ1, respectively on the outside. The right and left taper lines of the first taper angle θ1 substantially overlap with the first lower light beams L1, respectively. The respective side wall portions 9043 define the inner wall surfaces 9043a on the outer periphery 5 side of the first imaginary intersections I1 on the front side in the vehicle 2. The inner wall surfaces 9043a have slight clearances from both the right and left taper lines of the first taper angle θ1, respectively on the outside. In this example, the inner wall surfaces 9043a of the side wall portion 9043 are continuous in a single plane by setting these angles of inclination with respect to the optical axis Aw of the wide-angle unit 6030w to be substantially equal to each other. In this way, in the vehicle 2, the respective side wall portions 9043 extend from the vicinity of the wide-angle unit 6030w to the first imaginary intersections I1, and they extend from the first imaginary intersections I1 to the exterior environment 5 side. In addition, the respective side wall portions 9043 are in a state where the inner wall surfaces 9043a are inclined along the taper lines at the first taper angle θ1 and out of the first taper angle θ1, which corresponds to the angle of view θw of the wide-angle unit 6030w when viewed in the vertical direction. In the inclined state, the respective side wall portions 9043 invade the inside of the viewing angle θw when viewed in the vertical direction.

The respective side wall portions 9043 function as the first side wall portion 6432 and the second side wall portion 6433 in which the exposure windows 6431n and 6431t open, respectively. In this example, according to the ninth embodiment, the exposure windows 6431n and 6431t are respectively opened in inclined portions of the side wall portions 9043 on the wide-angle unit 6030w side of the first imaginary intersection points I1. That is, the exposure windows 6431n and 6431t are opened on the first side wall portion 6432 and the second side wall portion 6433, respectively.

In contrast, how it falls in 27 until 30 can be seen, the horizontal viewing angle range required for the other control Ca of the vehicle 2 into the imaging area of the external environment 5. The horizontal viewing angle range is defined by a second taper angle θ2 with the optical axis Aw of the wide-angle unit 6030w, which is a bisector , when viewed in the vertical direction of the vehicle 2, which is on the horizontal plane. In this example, the second taper angle θ2 is still smaller than the first taper angle θ1, which is smaller than the horizontal viewing angle range of the viewing angle θw of the wide-angle unit 6030w. For example, the second taper angle θ2 is set to an angle of 50° or more and less than 100°. For example, the second taper angle θ2 is set to an angle at which the lane marker 5b can be imaged on a road surface ahead of the vehicle 2 by 8.5 m or more.

like it in 31 and 32 As can be seen, the vertical viewing angle range required for the other control Ca of the vehicle 2 falls within the imaging target range of the outside environment 5. The vertical viewing angle range is determined by a sum of a second depression angle ψd2 and a second elevation angle ψe2 in the horizontal view of the vehicle 2 on the horizontal plane. In this example, the sum is from the second depression elevation angle ψd2 and the second elevation angle ψe2 smaller than the vertical angle of a viewing area of the viewing angle θw of the wide-angle unit 6030w. For example, the second depression angle ψd2 is set to an angle of 6° or more and 12° or less. For example, the second depression angle ψd2 is set to an angle at which the lane marker 5b can be imaged on the road surface ahead of the vehicle 2 by 8.5 m or more. The second depression angle ψd2 is larger than the first depression angle ψd1.

like it in 28 1, a single imaging range Ua specialized for the other control Ca is determined according to the horizontal view angle range and the vertical view angle range of the external environment 5 required for the other control Ca. like it in 28 , 29 , 30 and 32 As can be seen, second lower light rays L2 are assumed to be light rays entering the wide-angle unit 6030w at the second taper angle θ2 and at the second depression angle ψd2 from both right and left ends Uae of a lowermost portion of the single imaging area Ua. According to the above assumption, points at which the second lower light beams L2 assigned to the other control Ca imaginarily cross the inner surface 3a of the front windshield 3 of the vehicle 2 become second imaginary crossing points I2 shown in 27 , 30 and 32 are defined. like it in 27 As can be seen, an upper portion of the front end of the base wall portion 9041 is associated with the second imaginary intersections I2, to thereby produce the following configuration of the base wall portion 9041 and the side wall portions 9043.

In the vehicle 2, on the wide-angle unit 6030 side, that is, on the rear side behind the second imaginary intersection I2, the base wall portion 9041 forms a bottom wall surface 9041a. The base wall portion 9041 forms the bottom wall surface 9041a in an entire inside area and predetermined outside areas. The entire inside area and one of the predetermined outside areas interpose a corresponding one of the right and left taper lines of the second taper angle θ2. The right and left taper lines of the second taper angle θ2 substantially overlap with the respective second lower light beams L2. In this way, the base wall portion 9041 extends from the vicinity of the wide-angle unit 6030w toward the second imaginary intersections I2 and extends inside and outside the second imaginary intersections I2 in the vehicle 2. In the base wall portion 9041, the bottom wall surface 9041a extends to the small outside portions of the taper lines of the first taper angle θ1 in the outside portions of the second imaginary intersections I2. In addition, the inner wall surfaces 9043a of the respective side wall portions 9043 respectively extend to the small outside portions of the taper lines of the first taper angle θ1 in the outside portions of the second imaginary intersections I2. With the configuration, the base wall portion 9041 and the respective side wall portions 9043 are formed to extend laterally outward beyond the second imaginary intersections I2.

The hood 9040 according to the ninth embodiment is substantially identical to the hood 6040 of the first embodiment except for the configuration. According to the hood 9040 of the ninth embodiment, in the vehicle 2, the side wall portions 9043 spread from the vicinity of the wide-angle unit 6030w toward the imaginary intersections I1. According to the configuration, even in a case where the hood 9040 is formed small, incidence of the lower light beams L1 crossing the front windshield 3 at the imaginary intersections L1 at the taper angle θ1 is unlikely to be blocked by the side wall portion 9043. The taper angle θ1 defines the horizontal viewing angle range in the imaging target area, the horizontal viewing angle range being smaller than the viewing angle θw of the wide-angle unit 6030w. Therefore, the configuration makes it possible to reduce the size of the camera module 1 including the hood 9040 that ensures the taper angle θ1 capable of capturing the normal optical image.

According to the hood 9040 of the ninth embodiment, the side wall portions 9043 of the vehicle 2 spread along the taper angle θ1 outside the taper angle θ1 on the wide-angle unit 6030w side of the imaginary intersections I1. According to the configuration, the hood 9040 that ensures the taper angle θ1 can be formed in a limited size. The configuration makes it possible to promote size reduction of the camera module 1 including the hood 9040 that ensures the taper angle θ1 capable of capturing the normal optical image.

According to the hood 9040 of the ninth embodiment, in the vehicle 2, the side wall portions 9043 spread along the draft angle θ1 toward the outside of the draft angle θ1 on the side that is not likely to affect the draft angle θ1. The Verjun The angle of inclination θ1 is ensured by the side wall portions 9043 extending from the wide-angle unit 6030w toward the imaginary intersections I1, that is, on the outside 5 side behind the imaginary intersections I1. The side wall portions 9043 are raised on the base wall portion 9041 in a wide region on the outer periphery 5 side behind the imaginary intersections I1. The side wall portions 9043 and the base wall portion 9041 are allowed in cooperation to block light before the light is reflected on the front windshield 3 and to prevent the light from entering the inside of the taper angle θ1 if it is reflected on the front windshield 3. to restrict. Therefore, the configuration makes it possible to improve the effect of restraining reflected light from superimposing on the front windshield 3 to the normal optical light and deteriorating imaging, without greatly hindering size reduction of the camera module 1 having the hood 9040 to ensure the taper angle θ1 and capable of imaging the normal optical image.

In addition, according to the hood 9040 of the ninth embodiment described above, the side wall portions 9043 hardly block an incidence of the lower light rays L1 crossing the front windshield 3 at the imaginary intersections I1 at the taper angle θ1 within the imaging target range. The taper angle θ1 is required for the specific control Cs of the vehicle 2 . Therefore, the configuration makes it possible to reduce the size of the camera module 1 including the hood 9040 capable of imaging the normal optical image within the taper angle θ1 required for the specific control Cs.

According to the hood 9040 of the ninth embodiment, in the vehicle 2, the side wall portions 9043 spread from the vicinity of the wide-angle unit 6030w toward the first imaginary intersection points I1. The first imaginary intersections I1 are the imaginary intersections I1. According to the configuration, even in a case where the hood 9040 is formed small, the side wall portions 9043 hardly block an incidence of the first lower light beams L1 shining on the front windshield 3 at the first imaginary intersections I1 in the first depression angle ψd1 and the taper angle cross θ1. Also, in the vehicle 2, the base wall portion 9041 spreads from the vicinity of the wide-angle unit 6030 toward the second imaginary intersections I2. According to the configuration, the base wall portion 9041 and the side wall portions 9043 hardly block an incidence of the second lower light beams L2 crossing the front windshield 3 at the second imaginary intersections I2 at the second taper angle θ2 and the second depression angle ψd2. The second taper angle θ2 is smaller than the first taper angle θ1. The second depression angle ψd2 is larger than the first depression angle ψd1. From the above points of view, the configuration makes it possible to reduce the size of the camera module 1 having the hood 9040. The hood 9040 is able to capture not only the normal optical image within the first draft angle θ1 required for the specific control Cs of the vehicle 2 but also the normal optical image within the second draft angle θ2 required for the other control Ca of the vehicle 2 is required to be detected.

Furthermore, according to the hood 9040 of the ninth embodiment, in the vehicle 2, the side wall portions 9043 and the base wall portion 9041 spread to the second imaginary intersections I2 on the side where the side wall portions 9043 and the base wall portion 9041 are unlikely to interfere with the first taper angle θ1 out of. The first taper angle θ1 is ensured by the side wall portions 9043 and the base wall portion 9041 extending from the wide-angle unit 6030w toward the first imaginary intersections I1, that is, on the outside 5 side behind the first imaginary intersections I1. The side wall portions 9043 and the base wall portion 9041 cooperate, making it possible to block light before it is reflected on the front windshield 3 and penetrate the light into the inside of the first taper angle θ1 and penetrate it into the inside of the second taper angle θ2 if reflected on the front windshield 3. Therefore, the configuration makes it possible to capture the normal optical image within the first taper angle θ1 required for the specific control Cs and to capture the normal optical image within the second taper angle θ2 required for the other control Ca.

According to the ninth embodiment, in the collision restraint control of the vehicle 2 against the front obstacle 5a as the specific control Cs, the relatively large first taper angle θ1 can be secured and the desired collision restraint function can be obtained. On the other hand, in the travel control of the vehicle 2 in the traveling lane, which is the control Ca other than the specific control Cs, the configuration allows the relatively large second Depressing angle _Ψ d2 of the second lower light beam L2 incident on the second taper angle θ2. In this case, the second taper angle θ2 can be relatively small. The configuration makes it possible to show a desired driving control function.

Besides, in the ninth embodiment including the narrow-angle unit 6030n and the telescopic unit 6030t together with the wide-angle unit 6030w described above, the same operational effects as those of the first to fourth noted sets of the sixth embodiment can be produced.

Tenth embodiment

like it in 33 As shown, a tenth embodiment is a modification of the first embodiment. In the tenth embodiment, a common positioning member 10060 common to respective lens units 30 is added to the camera module 1. FIG.

The common positioning member 10060 is formed in a plate-like shape and is made of a rigid material such as metal or resin. The common positioning member 10060 is fixed to the upper panel member 21 of the camera panel 20 . The camera cover 20 accommodates respective lens units 10030 and the imaging system 50 in the accommodation space 25 using a screw or an adhesive, or by press-fitting. In this example, as in the first embodiment, the camera cowl 20 is mounted inside the front windshield 3 by the bracket assembly 10 so that the common positioning member 10060 is positioned in the vehicle 2 .

The common positioning member 10060 has plural (three in the present embodiment) insertion holes 10600w, 10600n and 10600t which individually correspond to the respective lens units 10030, in other words, individually to the respective units 10030w, 10030n and 10030t. The respective insertion holes 10600w, 10600n and 10600t respectively penetrate through the common positioning member 10060 in a cylindrical hole shape aligned with optical axes Aw, An and At of the respective units 10030w, 10030n and 10030t. In other words, the respective insertion holes 10600w, 10600n, and 10600t penetrate through the common positioning member 10060 in the axial direction. The axial direction crosses each of the lateral direction and the vertical direction. Lens barrels 10032w, 10032n and 10032t of the respective units 10030w, 10030n and 10030t are respectively formed in cylindrical shapes having outer diameters. The outside diameters complement the diameters of the respective insertion holes 10600w, 10600n, and 10600t, respectively.

The common positioning member 10060 has a reference surface portion 10601 in which the respective insertion holes 10600w, 10600n and 10600t are opened on its rear surface opposite to the outside environment 5 . The reference surface portion 10601 is formed in a flat surface shape and is substantially perpendicular to the optical axes Aw, An and At of the respective units 10030w, 10030n and 10030t. The reference surface portion 10601 spreads along a single plane at a position where the respective units 10030w, 10030n, and 10030t overlap each other when viewed in the vertical direction. In this example, the lens barrels 10032w, 10032n, and 10032t of the respective units 10030w, 10030n, and 10030t are respectively integrated with flanges 10038w, 10038n, and 10038t in annular plate-like shapes at positions overlapping with the reference surface portion 10601 in the axial direction. In the respective units 10030w, 10030n, and 10030t, the flanges 10038w, 10038n, and 10038t have abutment surface portions 10380w, 10380n, and 10380t on their front surfaces on the outer environment 5 side, respectively. The abutment surface portions 10380w, 10380n, and 10380t are in flat surface shapes Substantially perpendicular to the respective optical axes Aw, An and At.

In the configuration, the lens barrels 10032w, 10032n, and 10032t of the respective units 10030w, 10030n, and 10030t are respectively coaxially fitted into the insertion holes 10600w, 10600n, and 10600t along the axes, respectively. In addition, the lens barrels 10032w, 10032n, and 10032t of the respective units 10030w, 10030n, and 10030t are respectively in surface contact with the abutment surface portions 10380w, 10380n, and 10380t of the respective flanges 10038w, 10038n, and 10038t on the common reference surface portion in the 106011 axial direction. In this way, the respective units 10030w, 10030n, and 10030t are positioned on the same plane with respect to the camera body 20 along the reference surface portion 10601 in the axial direction. In addition, the units 10030w, 10030n, and 10030t are respectively fitted into the insertion holes 10600w, 10600n, and 10600t to be positioned in the lateral direction and in the vertical direction as well.

The lens mounts 10032w, 10032n and 10032t of the respective units 10030w, 10030n and 10030t are in the same way as above is positioned and fixed to the common positioning member 10060 with the respective flanges 10038w, 10038n and 10038t using screws. Alternatively, the lens barrels 10032w, 10032n, and 10032t of the units 10030w, 10030n, and 10030t are respectively attached to the insertion holes 10600w, 10600n, and 10600t using an adhesive or by press-fitting.

According to the tenth embodiment described above, in the vehicle 2, the respective lens units 10030 are housed in the camera cowl 20 attached to the front windshield 3 to be positioned in the axial direction using the common positioning member 10060 common to these units . In other words, according to the first embodiment, the units 10030w, 10030n, and 10030t as the lens units 10030 belonging to the first to fourth noted sets are positioned using the common positioning member 10060 with respect to the camera body 20 in the axial direction. In this way, the common positioning member 10060 makes it possible to reduce a variation in a mutual axial positional relationship of the respective units 10030w, 10030n, and 10030t in the vehicle 2. In other words, the positioning accuracy of the respective units 10030w, 10030n, and 10030t in the vehicle 2 can be secured. Furthermore, the axial positions of the respective units 10030w, 10030n and 10030t can be adjusted together using the common positioning member 10060. Therefore, productivity can be improved.

According to the common positioning member 10060 of the tenth embodiment, the reference surface portion 10601 abuts the respective units 10030w, 10030n, and 10030t in the axial direction in the vehicle 2 to thereby position all of the units. Specifically, in the tenth embodiment, all of the units 10030w, 10030n, and 10030t are positioned on the same plane by adjoining the reference surface portion 10601. According to the configuration, the respective units 10030w, 10030n, and 10030t are allowed to be precisely positioned on the same plane. Therefore, the configuration hardly causes a variation in the mutual axial positional relationship in the vehicle 2 per se. In other words, the respective units 10030w, 10030n, and 10030t can be positioned in the vehicle 2 with high accuracy. In addition, the respective units 10030w, 10030n, and 10030t can be easily and collectively positioned in the axial direction by being adjacent to the reference surface portion 10601 on the same plane. Therefore, the configuration makes it possible to promote high productivity.

Besides, the respective units 10030w, 10030n, and 3030t according to the tenth embodiment are substantially identical to the units 30w, 30n, and 30t of the first embodiment except for the configurations described above. Therefore, according to the tenth embodiment, the same operational effects as those of the first to fourth notated sets in the first embodiment can be produced. In particular, according to the tenth embodiment, the depth of field detections Dw, Dn, and Dt can be accurately set by positioning the respective units 10030w, 10030n, and 10030t in the axial direction. Therefore, the configuration makes it possible to ensure reliability of the effect of restraining a loss of an object in the overlapping regions Rnw and Rtn. Specifically, according to the tenth embodiment, the respective units 10030w, 10030n, and 10030t are fitted into the insertion holes 10600w, 10600n, and 10600t penetrating through the common positioning member 10060 in the axial direction, respectively, to thereby be positioned in the lateral direction. Therefore, according to the tenth embodiment, the configuration makes it possible to ensure reliability of the effect of improving image positional accuracy in the lateral direction in the outside-vicinity mapping.

Other embodiments

The multiple embodiments have been described above. However, the present disclosure should not be interpreted to be limited to the embodiments, and can be applied to various embodiments and combinations without departing from the spirit of the present disclosure. Represent in the following description 34 , 45 and 46 representative examples of modifications related to the second embodiment 35 until 37 , 40 , 48 and 49 representative examples of modifications related to the first embodiment 38 , 39 , 43 and 44 representative examples of modifications related to the third embodiment. In the following description ask 41 and 42 typically represents modifications of the ninth embodiment 47 typically represents a modification of the sixth embodiment.

Specifically, in Modification 1 related to the first to fifth and tenth embodiments, positioning positions of at least At least two types of units from the wide-angle units 30w, 2030w, 3030w, 4030w, 5030w and 10030w, the narrow-angle units 30n, 2030n, 3030n and 10030n and the telescopic units 30t, 2030t, 3030t and 10030t can be replaced with each other. In a specific example given in 34 In this case, as can be seen, the positioning positions of the wide-angle unit 2030w and the telescopic unit 2030t in the second embodiment are replaced with each other. In this example, due to focal lengths corresponding to view angles θw, θn, and θt (more specifically, combined focal lengths of lenses 34w, 34n, 34t and their subsequent lens sets), the distance between each of the front ends of telescope unit 2030t and front end of the narrow-angle unit 2030n, and the corresponding imaging unit 51 longer than the distance between the front end of the wide-angle unit 2030w and the corresponding imaging unit 51. Therefore, in the specific example shown in FIG 34 As can be seen, the telescopic unit 2030t and the narrow-angle unit 2030n protrude to the lower or farther side more than the wide-angle unit 2030w to be able to reduce the size of the camera module 1 in the longitudinal direction.

In Modification 2 of the first to tenth embodiments, the telescopic units 30t, 2030t, 3030t, 6030t, 7030t, 8030t, and 10030t may not be provided. In this case, even in a case where the narrow-angle lens 34n of the narrow-angle units 30n, 2030n, 3030n, 6030n, 7030n, 8030n, and 10030n is replaced with the telescopic lens 34t of the telescopic units 30t, 2030t, 3030t, 6030t, 7030t, 8030t, and 10030t , the same operational effects as those of the first to tenth embodiments are produced.

In Modification 3 related to the first, second, fourth, fifth, and tenth embodiments, the positioning positions of the telescopic units 30t, 2030t, and 10030t may be other than the upper side of the narrow-angle units 30n, 2030n, and 10030n. In a specific example given in 35 until 37 In this case, as can be seen, the telescopic unit 30t is located on one side of at least one of the wide-angle unit 30w and the narrow-angle unit 30n in the lateral direction. In this way, the telescopic unit 30t overlaps with at least one of the wide-angle unit 30w and the narrow-angle unit 30n in the lateral direction.

In Modification 4 related to the third to fifth and tenth embodiments, according to the second embodiment, the wide-angle units 3030w, 4030w, 5030w and 10030w can be positioned to the deeper or farther side than at least one of the units, upper narrow-angle units 3030n, 10030n and telescopic units 3030t, 10030t. In a specific example given in 38 and 39 In this case, as can be seen, the wide-angle unit 3030w protrudes to the lower or more distant side than both the narrow-angle unit 3030n and the telescopic unit 3030t.

In Modification 5 related to the first, third, fourth, fifth and tenth embodiments, the lens window 211 can be individually in each of the units 30w, 30n, 30t, 3030w, 3030n, 3030t, 4030w, 5030w, 10030w, 10030n and 10030t be provided according to the second embodiment. In Modification 6 related to the second embodiment, the lens window 211 may be provided in common with all of the units 2030w, 2030n, and 2030t according to the first embodiment.

In Modification 7 related to the first, fourth, fifth and tenth embodiments, the optical axes Aw, An and At of the respective units are 30w, 30n, 30t, 4030w, 5030w, 10030w, 10030n and 10030t as shown in FIG 40 is decentered from each other particularly in the lateral direction, so that these units can overlap each other when viewed in the lateral direction. In that case, the operational effects other than those related to the image positional accuracy in the lateral direction can be produced in the same manner as those in the first embodiment. In addition, image positional accuracy in the lateral direction can be secured by correcting the shift in position coordinates.

In Modification 8 related to the second, third, and sixth to tenth embodiments, the depth of field detection Dw of the wide-angle units 2030w, 3030w, 6030w, and 10030w according to the fourth embodiment can be fixed. In Modification 9 related to the second, third, and sixth to tenth embodiments, the depth of field detection Dw of the wide-angle units 2030w, 3030w, 6030w, and 10030w according to the fifth embodiment can be fixed.

In Modification 10 related to the sixth to ninth embodiments, the positioning positions of the narrow-angle units 6030n, 7030n, 8030n and the telescopic units 6030t, 7030t, and 8030t may be replaced with each other. In Modification 11 related to the sixth to ninth embodiments, the front end of the wide-angle unit 6030w can be inserted from the inside of the lens window 6211w and the inside of the wide-angle exposure window 6431w into Figs Image space 410 invade. In Modification 12 related to the sixth to ninth embodiments, the front end of the wide-angle unit 6030w can enter the inside of the lens window 6211w in a state where it is outside the imaging space 410 and outside the wide-angle exposure window 6431w.

In Modification 13 according to the sixth to ninth embodiments, at least two of the optical axes Aw, An and At of the respective units 6030w, 6030n, 6030t, 7030n, 7030t, 8030n and 8030t can be decentered from each other in both the lateral and vertical directions and in the be shifted in the vertical direction. In Modification 14 according to the ninth to seventeenth embodiments, the specific control Cs may be other than the collision limit control of the vehicle 2 . In Modification 15 according to the ninth embodiment, as long as the other control Ca is different from the specific control Cs, the other control Ca may be other than the travel control of the vehicle 2 in a traveling lane. In Modification 16 according to the ninth embodiment, the other control Ca cannot be executed. In that case, the second taper angle θ2 is not defined. Therefore, the second imaginary intersection point I2 cannot be defined imaginarily. For example, the base wall portion 9041 can be formed along the second depression angle ψd2 as specified.

In Modification 17 according to the first to tenth embodiments, at least one-side wall portions 43, 6043, and 9043 may be raised upright from the base wall portions 41 and 9041 at an acute or obtuse angle. In Modification 18 according to the first to tenth embodiments, the side wall portion 43, 6043, and 9043 may be formed in a bent plate shape or in a curved plate shape on at least one side. In a specific example given in 41 In this case, as can be seen, the side wall portions 9043 are bent at positions corresponding to the first imaginary intersection points I1 to have bent portions 9043b and straight portions 9043c, respectively. In this example, the bent portions 9043b are formed such that these inner wall surfaces 9043ab are spread along the taper lines of the viewing angle θ1 on the outside of the first taper angle θ1 on the wide-angle unit 6030w side of the first imaginary intersections I1 as in the ninth embodiment. The first taper angle θ1 corresponds to the angle of view θw of the wide-angle unit 6030w. The exposure windows 6431n and 6431t are opened in the bend portions 9043b. On the other hand, the straight portion 9043c is different from that in the ninth embodiment on the outer periphery 5 side behind the first imaginary intersections I1. Inner wall surfaces 9043ac spread out substantially parallel to the optical axis Aw of the wide-angle unit 6030w within the taper lines of the first taper angle θ1.

In modification 19 related to the ninth embodiment, as shown in FIG 42 can be seen, the exposure windows 6431 n and/or 6431 t in at least one of the bending portions on the outer periphery 5 side from the first imaginary intersection point I1. The exposure windows 6431n and/or 6431t open/opens on at least one side wall portion 9043. 42 12 shows a specific example in which Modification 19 is applied to the side wall portions 9043 on both sides.

In Modification 20 related to the third to fifth embodiments, the common positioning member 10060 and the flanges 10038w, 10038n, 10038t according to the tenth embodiment may be provided so that the respective units 30n, 30t, 3030w, 3030n, 3030t, 4030w and 5030w overlap each other in at least one of the vertical direction and the lateral direction and are positioned on the same plane using the reference surface portion 10601. In a specific example given in 43 and 44 In that case, as can be seen, the respective units 3030w, 3030n and 3030t are positioned on the same plane at the overlapping position in the vertical direction or the lateral direction.

In Modification 21 related to the second and sixth to ninth embodiments, the common positioning member 10060 and the flanges 10038w, 10038n, 10038t according to the tenth embodiment can be provided so that the respective units 2030w, 2030n, 2030t, 6030w, 6030n , 6030t, 7030n, 7030t, 8030n and 8030t are positioned on the same plane using the reference surface portion 10601 as far as these units overlap with each other in at least one of the vertical direction and lateral direction. In a specific example given in 45 In that case, as can be seen, the respective units 2030w, 2030n and 2030t are positioned on the same plane at the overlapping positions in the vertical direction in combination with Modification 1 described above.

In Modification 22 related to the first to ninth embodiments, the common positioning member 10060 and the flanges 10038w, 10038n, 10038t modified from the tenth embodiment may be provided so that the respective units 30w, 30n, 30t, 2030w, 2030n, 2030t, 3030w, 3030n, 3030t, 4030w, 5030w, 6030w, 6030n, 6030t, 7030n, 7030t, 8030n and 8030t are positioned on a reference surface section at levels different from each other. In a specific example given in 46 and 47 As can be seen, in the case the respective units 2030w, 2030n, 2030t, 6030w, 6030n and 6030t are individually in the axial direction on the planes different from each other, respectively using reference surface sections 10601w, 10601n and 10601t divided are positioned.

In Modification 23 related to the first to ninth embodiments, the common positioning member 10060 modified from the tenth embodiment may be provided so that the respective units 30w, 30n, 30t, 2030w, 2030n, 2030t, 3030w, 3030n, 3030t, 4030w, 5030w, 6030w, 6030n, 6030t, 7030n, 7030t, 8030n and 8030t are respectively fixed and positioned at the insertion holes 10600w, 10600n and 10600t using screws. In a specific example given in 48 In that case, as can be seen, positioning in the axial direction is achieved by screwing the respective units 30w, 30n and 30t into the insertion holes 10600w, 100600n and 10600t, respectively.

In Modification 24 according to the first to tenth embodiments, at least part of the functions of the control circuit 55 can be generated by an external circuit such as an ECU that is outside the camera body 20 . In Modification 25 according to the first to tenth embodiments, at least one through window 541 may not be formed on the control board 54. In that case, the FPC 540 inserted through the through window 541 is replaced with an FPC 1540 winding around an outer peripheral side of the rear side edge 544 of the control plate 54, as shown in FIG 49 you can see. 49 FIG. 14 shows a specific example in which only the FPC 1540 connected to the telescope unit 30t and the corresponding imager unit 51 is wound around the outer peripheral side of the rear side edge 544. FIG.

In Modification 26 according to the first to tenth embodiments, the clip main body 11 can be fixed to the front windshield 3 with an adhesive without providing the mounting pad 12 . In Modification 27 according to the first to tenth embodiments, the mounting pad 12 held with the camera cowl 20 can be fixed to the front windshield 3 with an adhesive without providing the bracket main body 11 .

In Modification 28 according to the first to tenth embodiments, the hood 40, 6040 and 9040 may be formed separately from the bracket main body 11. In Modification 29 related to the first to fifth and tenth embodiments, the hood 6040 modified from the sixth embodiment can be replaced with the hood 40 to have the units 30w, 30n, 30t, 2030w, 2030n, 2030t , 3030w, 3030n, 3030t, 4030w, 5030w, 10030w, 10030n and 10030t are not respectively exposed from the exposure windows 6431w, 6431n and 6431t but from the portion between the rear ends of the respective side wall portions 6043. In Modification 30 referring to the first to fifth and tenth embodiments, the hood 9040 modified from the ninth embodiment can be replaced with the hood 40 to have the units 30w, 30n, 30t, 2030w, 2030n, 2020t, 3030w, 3030n, 3030t, 4030w , 5030w, 10030w, 10030n and 10030t are not respectively exposed from the exposure windows 6431w, 6431n and 6431t but from the portion between the rear ends of the respective side wall portions 9043.

In Modification 31 according to the seventh and eighth embodiments, the hood 6040 can be replaced with the hood 9040 of the ninth embodiment. In Modification 32 according to the first to fifth and tenth embodiments, the hood 40 may not be provided. In Modification 33 according to the first to tenth embodiments, plural convex ribs or plural concave grooves may be provided to extend along the lateral direction in the hoods 40, 6040, and 9040.

In Modification 34 according to the first to tenth embodiments, extension directions of at least two of the optical axes Aw, An and At of the respective units 30w, 30n, 30t, 2030w, 2030n, 2020t, 3030w, 3030n, 3030t, 4030w, 5030w, 6030w, 6030n , 6030z, 7030n, 7030t, 8030n, 8030t, 10030w, 10030n and 10030t may be inclined relative to each other. In addition to the above, in Modification 35 according to the first to tenth embodiments, the camera module 1 may be mounted inside a rear windshield of the vehicle 2, and in this case a context in the first to tenth embodiments is reversed.

In another modification, the camera module includes multiple lens units 30, 2030, 3030, 10030 each having optical axes Aw, An, At. The optical axes are shifted from each other. An optical image of the external environment enters view angles θw, θn, θt formed around the optical axes, respectively, one by one. Viewing angles θw, θn, θt are different from each other. The camera module also contains a Imaging system 50 for performing imaging individually through the lens units and generating an external image of the external environment. According to a definition that a notated set is a set of the lens units in which angles of view θw, θn, θt overlap with each other, at least two of the lens units belonging to the notated set overlap with each other when viewed in a lateral direction of the vehicle considered.

In another modification claimed in independent claim 2, the camera module includes multiple lens units 6030 each having optical axes Aw, An, At. The optical axes are shifted from each other, an optical image of the external environment enters view angles θw, θn, θt, which are around the optical axes, respectively, one by one. The camera module further includes an imaging system 50 to perform imaging individually through the lens units and to generate an external image of the external environment. The camera module further includes a hood 6040, 9040, which defines an imaging space 410, which is there to direct the optical image of the external environment to the lens units in an imaging target area of the imaging system and to allow light to fall on the lens units from an outside of the to limit imaging target range. One of the lens units is defined as a first lens unit 6030w having a viewing angle θw wider than or equal to that of the rest of the plurality of lens units. The hood includes: a base wall portion 41, 9041 to be fixed to face the windshield across the imaging space, and a side wall portion 6043, 9043 raised from the base wall portion on a lateral side of the imaging space and extended laterally outward corresponding to a viewing angle θw of the wide angle unit from a vicinity of the first angle unit toward an outer vicinity side. A narrow angle exposure window 6431n, 6431t opens in the sidewall portion and exposes one of the rest of the plurality of lens units to the imaging space.

In another modification, the camera module includes multiple lens units 30, 2030, 3030, 6030, 10030 each having optical axes Aw, An, At. The optical axes are shifted from each other, an optical image of the external environment enters view angles θw, θn, θt, which are around the optical axes, respectively, one by one. Viewing angles θw, θn, θt are different from each other. The camera module further includes an imaging system 50 to perform imaging individually through the lens units and to generate an external image of the external environment. According to a definition that a notated set is a set of the lens units in which angles of view θw, θn, θt overlap with each other. Depth of field detections Dw, Dn, Dt of the lens units belonging to the noted set overlap with each other, in which a far point Dwf, Dnf of another of the lens units between a near point Dnc, Dtc and a far point Dnf, Dtf of one of the lens units in the external environment. Each of the points, far point from one and far point from the other, defines a limit position of image recognition implemented by imaging through the corresponding one of the lens units.

In another modification, the camera module includes multiple lens units 30, 2030, 3030, 6030, 10030 each having optical axes Aw, An, At. The optical axes are shifted from each other, an optical image of the external environment enters view angles θw, θn, θt, which are around the optical axes, respectively, one by one. The camera module further includes an imaging system 50 to perform imaging individually through the lens units and to generate an external image of the external environment. The camera module also includes a camera cowl 20 which is attachable to the windshield and houses each of the lens assemblies. The camera module further includes a common positioning member 10060 which is a single piece and is provided in common for the lens units and positioning each of the lens units with respect to the camera body in an axial direction.

In another modification, angles of view θw, θn, θt of at least two of the lens units belonging to the noted set overlap each other at a distance of ten meters from the camera module.

In another modification, the camera module includes multiple lens units 30, 2030, 3030, 10030 each having optical axes Aw, An, At. The optical axes are different from each other.

Each of the wide-angle exposure window 6431w, narrow-angle exposure window 6431n, and telescopic exposure window 6431t is an opening.

Claims (14)

Camera module (1) configured to be mounted on an inside of a windshield (3) of a vehicle (2) and to image an external environment (5) of the vehicle, the camera module having: a plurality of lens units (6030) each having optical axes (Aw, An, At), the optical axes being shifted from each other, forming an optical image of the external environment individually at angles of view (θw, θn, θt) respectively by are the optical axes, penetrates with the angles of view (θw, θn, θt) being different from each other, an imaging system (50) for performing imaging through the lens units one by one and for forming an external image of the external environment, and a hood (6040 , 9040) defining an imaging space (410) for directing the optical image of the external environment in an imaging target area of the imaging system to the lens units and for restricting an incidence of light on the lens units from an outside of the imaging target area, one of the lens units being a wide-angle unit (6030w) having an angle of view (θw) defined with a wide-angle lens (34w), another of the lens n units is a narrow-angle unit (6030n, 6030t, 7030n, 7030t, 8030n, 8030t) having a viewing angle (θn, θt) narrower than that of the wide-angle unit, the hood includes: a base wall portion (41, 9041) locally is set to face across the imaging space of the windshield, and a side wall portion (6043, 9043) raised from the base wall portion on a lateral side of the imaging space and corresponding to a viewing angle (θw) of the wide-angle unit from a vicinity of the wide-angle unit to a side one external environment is inclined laterally outward, and a narrow-angle exposing window (6431n, 6431t) opens in the side wall portion on the external environment side from the wide-angle unit and this exposes the narrow-angle unit to the imaging space. Camera module (1) configured to be mounted on an inside of a windshield (3) of a vehicle (2) and to image an external environment (5) of the vehicle, the camera module having: a plurality of lens units (6030) each having optical axes (Aw, An, At), the optical axes being shifted from each other, forming an optical image of the external environment individually at angles of view (θw, θn, θt) respectively by the optical axes are, penetrates, an imaging system (50) for performing imaging individually through the lens units and for generating an external image of the external environment, and a hood (6040, 9040) defining an imaging space (410) operative to direct the optical image of the external environment in an imaging target area of the imaging system to the lens units and to allow incidence of light from an outside of the imaging target area onto the Restrict lens units, where one of the lens units is defined as a first angle unit (6030w) having an angle of view (θw) that is wider than or equal to that of the rest of the plurality of lens units, the hood contains: a base wall portion (41, 9041) to be located to face the windshield across the imaging space, and a side wall portion (6043, 9043) raised from the base wall portion on a lateral side of the imaging space and extended laterally outward corresponding to a viewing angle (θw) of a wide angle unit from a vicinity of the first angle unit to an outer vicinity side, and a narrow angle exposure window (6431n, 6431t) opens in the side wall portion and this exposes one of the rest of the plurality of lens units to the imaging space. Camera module according to claim 1 or 2 , wherein an end of a narrow-angle unit (6030n, 6030t, 8030n, 8030t) on the external environment side is outside the imaging space. Camera module according to claim 3 , wherein the end of the narrow-angle unit (6030w, 6030t) on the outside environment side enters the narrow-angle exposing window. Camera module according to claim 1 or 2 wherein an end of a narrow-angle unit (7030w, 7030t) on the outside environment side enters the imaging space from an inside of the narrow-angle exposing window. Camera module according to claim 5 wherein the end of the narrow-angle unit on the outer environment side includes a reflection restricting portion (7036n, 7036t) for restricting light reflection. Camera module according to one of Claims 1 until 6 , wherein the lens units further include a telescope unit (6030t, 7030t, 8030t) having an angle of view (θt) narrower than that of a narrow angle unit (6030n, 7030n, 8030n) and a telescope exposure window (6431t) located in the Side wall portion on the outside environment side opens behind the wide-angle unit and this exposes the telescope unit to the imaging space. Camera module according to claim 7 wherein the side wall portion includes a pair of side wall portions on both lateral sides of the imaging space, the narrow-angle exposure window opens in one of the side wall portions, and the telescopic exposure window opens in another of the side wall portions. Camera module according to one of Claims 1 until 8th wherein the side wall portion (6043) is located to spread along a viewing angle (θw) of the wide-angle unit. Camera module according to one of Claims 1 until 8th , wherein according to a definition that an imaginary intersection (11) is a point at which a lower ray of light (L1) imaginarily crosses the windshield, that the lower ray of light (L1) at a taper angle (θ1) within the imaging target range in the wide-angle unit incident , and that the taper angle defines a horizontal viewing angle range smaller than a viewing angle (θw) of the wide-angle unit, the side wall portion (9043) is located to spread from the vicinity of the wide-angle unit toward the imaginary intersection point. Camera module according to claim 10 , where the taper angle defines the horizontal viewing angle range that is within the imaging target range and required for a specific control (Cs) of the vehicle. Camera module according to claim 11 , wherein according to a definition that a first imaginary intersection (11) is the imaginary intersection, which is a point at which a first lower light ray (L1) imaginarily crosses the windshield, that the first lower light ray (L1) at a first taper angle (θ1) and at a first depression angle (ψd1) incident on the wide-angle unit, and that the first taper angle (θ1) is the taper angle that defines the horizontal viewing angle range required for the specific control, and according to a definition that a second imaginary intersection (I2) is a point at which a second lower ray of light (L2) imaginarily crosses the windshield, causing the second lower ray of light (L2) to enter the wide-angle unit at a second angle of taper (θ2) and at a second angle of depression (ψd2). and that the second taper angle (θ2) has a horizontal angle of view range that is in the imaging target range and which is required for control (Ca) other than the specific control of the vehicle, the second taper angle is smaller than the first taper angle, the second depression angle is larger than the first depression angle, the side wall portion (9043) is localized to to spread from the vicinity of the unit wide angle toward the first imaginary intersection point, and the base wall portion (9041) is located to spread from the vicinity of the unit wide angle toward the second imaginary intersection point. Camera module according to one of Claims 1 until 12 , where according to a definition that a set of the lens units in which viewing angles (θw, θn, θt) overlap each other is a noted set, depth-of-field identifiers (Dw, Dn, Dt) of the lens units belonging to the noted set, overlap each other in which a far point (Dwf, Dnf) of another one of the lens units is between a near point (Dnc, Dtc) and a far point (Dnf, Dtf) of one of the lens units in the outer environment, and each of the points , far point one and far point the other, define a limit position of image recognition implemented by imaging through the corresponding one of the lens units. Camera module according to Claim 13 , wherein angles of view of at least two of the lens units belonging to the set noted overlap each other within a distance of ten meters from the camera module.

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