JP2010130197A - Imaging apparatus and onboard camera system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an imaging apparatus and an onboard camera system that recognizes an object in a desired light wavelength band without using a filter at low cost. <P>SOLUTION: An imaging apparatus has: an optical system 11; an imaging element 12 that carries out photoelectric conversion of an image obtained via the optical system 11, and outputs an image signal; and a signal processor 13 and a vehicle signal processor 14 that carry out a process to the image signal. The optical system 11 is formed so that the size of a point image of any first light wavelength band λ1 and that of a second light wavelength band λ2 other than the first light wavelength band λ1 are different from each other depending on aberration performance. The light receiving surface of the imaging element 12 is arranged at a position where a light ray of the light wavelength band whose point image becomes smaller among the first and second light wavelength bands λ1 and λ2 makes a focal point. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an imaging device and an in-vehicle camera system that can be mounted on a vehicle such as an automobile.

  An in-vehicle camera system (an in-vehicle imaging system) that is mounted on the front of an automobile and recognizes the red tail lamp of a vehicle ahead is in practical use (see, for example, Patent Document 1).

The prior art is a system that distinguishes the tail lamp of a vehicle from other light sources.
This prior art discloses a technique in which a spectral filter material is incorporated and used in an optical system so that light in various spectral bands can be accurately classified by color.
For example, a method is disclosed that uses a combination of a red spectral filter material and an infrared spectral filter material to distinguish the red color of a typical tail lamp.
JP 2005-534903 A

  However, the above-described method requires at least as many spectral filter materials as the types of colors to be distinguished and their incorporation into the optical system, which increases the cost.

  An object of the present invention is to provide an imaging device and an in-vehicle camera system that can recognize an object in a desired optical wavelength band at low cost without using a filter.

  An image pickup apparatus according to a first aspect of the present invention includes an optical system, an image pickup device that photoelectrically converts an image obtained through the optical system and outputs an image signal, an image processing unit that processes the image signal, And the optical system is formed such that the size of the point image differs depending on the aberration performance between an arbitrary first optical wavelength band and a second optical wavelength band other than the first optical wavelength band, In the imaging device, a light receiving surface is disposed at a position where a light beam in an optical wavelength band in which a point image becomes small is focused out of the first optical wavelength band and the second optical wavelength band.

  Preferably, the image processing unit generates an image signal that has been subjected to a process that reduces image blur, and compares the generated image signal with an image signal that has not been subjected to the process. The object having the color in the light wavelength band is discriminated from the object having the color in the second light wavelength band.

  Preferably, the image processing unit generates a plurality of image signals obtained by performing a process for reducing image blur by changing the degree of the effect, and the image signal obtained by performing the process having a strong effect and the process having a weak effect. By comparing the applied image signal, the color object in the first light wavelength band and the color object in the second light wavelength band are identified.

Preferably, the diameter of the point image distribution variation in which the light beam in the light wavelength band with the smaller point image is connected to the light receiving surface of the image sensor is φa, and the light beam in the other light wavelength band is connected to the light receiving surface of the image sensor. When the diameter of the point image distribution variation is φb, the following relational expression is satisfied.
φb ≧ 1.5 * φa

Preferably, in the optical system, when the Abbe number of the bonded lens portion or the combination portion of the concave and convex lenses having a narrow interval is ν1, the Abbe number of the bonded concave lens is ν1, and the Abbe number of the bonded convex lens is ν2, the following relationship Satisfied.
ν1 ≧ ν2

  Preferably, the first optical wavelength band includes a wavelength band of approximately 600 to 700 nm.

  An in-vehicle camera system according to a second aspect of the present invention includes a vehicle and a camera as an imaging device that is disposed in the vehicle and can image another vehicle that travels in front of the vehicle. Has an optical system, an image sensor that photoelectrically converts an image obtained through the optical system and outputs an image signal, and an image processing unit that processes the image signal. The first optical wavelength band and the second optical wavelength band other than the first optical wavelength band are formed so that the size of a point image differs depending on the aberration performance, and the imaging element includes the first optical wavelength band A light receiving surface is disposed at a position where a light beam in a light wavelength band in which a point image becomes small is focused on the band and the second light wavelength band, and the first light wavelength band has a wavelength band of about 600 to 700 nm. The image processing unit performs processing for reducing image blurring. The image signal is generated, and the generated image signal is compared with the image signal before the processing, so that the object having the color in the first light wavelength band and the color in the second light wavelength band are compared. Identification with the subject is performed, and the tail lamp of the other vehicle is recognized.

  An in-vehicle camera system according to a third aspect of the present invention includes a vehicle, and a camera as an imaging device that is disposed in the vehicle and can image another vehicle that travels in front of the vehicle. Has an optical system, an image sensor that photoelectrically converts an image obtained through the optical system and outputs an image signal, and an image processing unit that processes the image signal. The first optical wavelength band and the second optical wavelength band other than the first optical wavelength band are formed to have different sizes depending on the aberration performance, and the imaging element includes the first optical wavelength band and the second optical wavelength band. Of the second optical wavelength band, a light receiving surface is disposed at a position where a light beam in the optical wavelength band where the point image becomes small is focused, and the first optical wavelength band includes a wavelength band of approximately 600 to 700 nm, The image processor effectively performs the process of reducing image blur. By generating a plurality of image signals that have been subjected to a change and comparing the image signal that has been subjected to the processing having a strong effect with the image signal that has been subjected to the processing having a weak effect, the color of the first optical wavelength band The subject is discriminated from the subject having the color of the second light wavelength band, and the tail lamp of the other vehicle is recognized.

  According to the present invention, an object in a desired optical wavelength band can be recognized at a low cost without using a filter.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an external view showing an example of an in-vehicle camera system to which an imaging apparatus according to an embodiment of the present invention is applied.
FIG. 2 is a block diagram illustrating a configuration example of the in-vehicle camera system according to the present embodiment.

As shown in FIG. 1, the in-vehicle camera system 10 of the present embodiment includes a camera unit 30 as an imaging device capable of imaging the vehicle 20 and other vehicles traveling in front of the vehicle 20.
The camera part 30 is arrange | positioned at the windshield side of the room mirror 21, for example.

As shown in FIG. 2, the in-vehicle camera system 10 includes an optical system 11, an imaging device 12, a signal processing unit 13, a vehicle signal processing unit 14, and vehicle processing systems 15 and 16.
Among these components, the optical system 11, the image sensor 12, and the signal processing unit 13 form a camera unit 30.
The vehicle signal processing unit 14 and the vehicle processing systems 15 and 16 form an engine control unit (ECU) unit 40 in the vehicle 20.

In the in-vehicle camera system 10 of the present embodiment, the aberration characteristic of the imaging lens of the optical system 11 is changed by an arbitrary first light wavelength band to create the presence or absence of blur depending on the color of the subject, and blur is reduced by image processing. The subject is distinguished based on the color of the subject by taking a difference (comparison) with the object.
More specifically, the aberration characteristic of the imaging lens of the optical system 11 is varied by an arbitrary first light wavelength band (in this embodiment, the wavelength band of the red tail lamp), so that a difference appears in the degree of blur of the captured image. Thus, by taking the difference between the photographed image and the image subjected to processing for reducing blur such as edge enhancement, it is possible to extract only an image of a color in an arbitrary light wavelength band.
In the present embodiment, the method of eliminating the aberration only in the arbitrary first optical wavelength band and blurring the other second optical wavelength band, and conversely, blurring only the arbitrary first optical wavelength band, and the others It is possible to employ a method of eliminating the aberration in the second optical wavelength band.

  The optical system 11 includes an imaging lens 111, and the size of a point image differs depending on aberration performance between an arbitrary first optical wavelength band λ1 and a second optical wavelength band λ2 other than the first optical wavelength band λ1. It is formed as follows.

The image sensor 12 photoelectrically converts an image obtained via the optical system 11 and outputs an image signal S12 to the signal processing unit 13.
In the image pickup device 12, a light receiving surface is disposed at a position where a light beam in an optical wavelength band in which a point image becomes small is focused out of the first optical wavelength band λ1 and the second optical wavelength band λ2.

The diameter of the point image distribution variation in which the light beam in the light wavelength band with the smaller point image is connected to the light receiving surface of the image sensor 12 is φa, and the point image distribution variation in which the light beam in the other light wavelength band is connected to the light receiving surface of the image sensor 12 When the diameter is φb, the following relational expression is satisfied.
φb ≧ 1.5 * φa

  As a result, even if the object is a point image, if there is a blur change of 1.5 times or more, an image that spans two or more pixels on the image plane becomes possible, and detection on the image sensor is possible.

The signal processing unit 13 performs predetermined processing such as edge extraction on the image signal S12 from the image pickup device 12, and outputs the edge information and the image signal to the vehicle signal processing unit 14 as a signal S13.
The signal processing unit 13 detects, for example, a light source body that is a subject from the captured image signal S12, and performs edge extraction processing of the detected light source body.
The signal processing unit 13 has a function of detecting an area by determining a threshold value of the captured image signal S13 and separating the light source from other subjects.
The signal processing unit 13 has a function of performing exposure control based on the captured image signal.
This exposure control function can also be configured to be performed by the vehicle signal processing unit 14.

  The vehicle signal processing unit 14 receives the output signal S13 from the signal processing unit 13, generates an image signal that has been subjected to processing to reduce image blur, and compares the generated image signal with the image signal before the processing. By doing this (by taking the difference), a subject having a color in the first optical wavelength band λ1 and a subject having a color in the second optical wavelength band λ2 are identified.

Alternatively, the vehicle signal processing unit 14 receives the output signal S13 from the signal processing unit 13, generates a plurality of image signals that are subjected to processing for reducing the blurring of the image with varying degrees of effect, and performs processing with strong effect. By comparing the image signal that has been processed and the image signal that has been processed with a weak effect, the subject having the color in the first optical wavelength band λ1 and the subject having the color in the second optical wavelength band λ2 are identified.
Here, the process of reducing the blur of the image refers to a process such as edge enhancement, for example, and the degree of image degradation can be varied depending on the strength of the effect.

The vehicle signal processing unit 14 determines a subject based on, for example, an edge signal and an image signal from the signal processing unit 13.
The vehicle signal processing unit 14 determines the light source color by determining the contrast of the edge with respect to, for example, the light source that is the subject detected by the signal processing unit 13.

In the present embodiment, the first light wavelength band λ1 is approximately 600 to 700 nm for the light of the red tail lamp used in the vehicle.
In the second optical wavelength region λ2, the second optical wavelength band λ2 other than the first optical wavelength band λ1 is a wavelength band shorter than 600 nm or longer than 700 nm.

The in-vehicle camera system 10 of the present embodiment is configured as an in-vehicle camera system that is mounted on the front portion of the vehicle 20 and used to recognize the red tail lamp of the vehicle ahead.
More specifically, as described above, the optical system 11 including the imaging lens 111 and the imaging element 12 that captures light passing through the optical system 11 are included.
The imaging lens 111 has characteristic chromatic aberration. For example, in the imaging lens 111 and the imaging element 12, light having a wavelength of 600 to 700 nm passing through the imaging lens 111 is focused on the light receiving surface of the imaging element 12. Are arranged to tie.
The signal processing unit 13 detects the light source body, and the vehicle signal processing unit 14 compares the images before and after performing the edge enhancement processing of the image captured by the image sensor 12, and the contrast of the image is not changed. The part is recognized as a red object (light source).

According to the above configuration, a lens designed in the wavelength range of 600 to 700 nm is used as the imaging lens 111, and red is recognized by appropriately adjusting the focus in the range of 600 to 700 nm. It functions as the in-vehicle camera system 10.
In addition, in the imaging lens designed with the wavelength weight of the wavelength, an image having a wavelength of 400 nm to 600 nm is obtained by performing edge enhancement of the image after capturing an image in which the contrast of the red object is high in the system. Edges are enhanced and contrast is increased.
Then, by comparing before and after image processing, it can be recognized that an object whose contrast has not changed is red.

  In the present embodiment, the optical system 11 causes image degradation (blur) of the image captured by the image sensor 12 due to the wavelength characteristics of the object to be captured. For example, for an image having a wavelength characteristic shorter than 600 nm, It is formed so as to cause image degradation as follows.

φ (550) ≧ 1.5φ (600-700)
φ (600-700): Blur amount of point image object in the wavelength range of 600 to 700nm φ (550): Blur amount of point image object including region of wavelength 550nm or less

  This regulates the amount of image degradation (blur) due to the wavelength emitted by the object, and an object having a wavelength characteristic of 550 nm or less and an object having a wavelength characteristic of 600 to 700 nm were photographed with the optical system of this embodiment. It represents the characteristics of the image degradation.

Moreover, the vehicle-mounted camera system 10 of this embodiment can also be formed as follows.
The imaging lens 111 has chromatic aberration, and the imaging lens 111 and the imaging element 12 are arranged so that light having a wavelength of 400 to 550 nm passing through the imaging lens 111 is focused on the light receiving surface of the imaging element 12. Is done.
The signal processing unit 13 and the vehicle signal processing unit 14 as the image processing unit detect a difference between the images after both processing by performing strong edge enhancement processing and weak edge enhancement processing of the image captured by the image sensor 12. The part where the image difference does not appear is recognized as a red object.

According to this configuration, on the contrary to the above configuration, using a lens designed with a well-balanced wavelength weight of the imaging lens in the range of 400 to 550 nm, and performing focus adjustment in the visible light region of about 400 nm to 550 nm, An image in the red (600 to 700 nm) region is out of focus.
In that case, after the image is taken into the system or in the image signal processing after the image signal is output from the image sensor 12, the edge enhancement of the strong image and the weak edge enhancement are performed, and a wavelength of 600 nm to 700 nm is obtained by taking the difference therebetween. The edge of an object having a dot is emphasized and a difference appears, but an object having a red wavelength of 550 nm or less does not show a difference, and a red object can be recognized.

When the vehicle signal processing unit 15 is informed that the vehicle signal processing unit 14 has recognized the red tail lamp of the preceding vehicle, for example, during night driving, the vehicle processing system 15 automatically switches the headlamp that has been uplined to a normal downlight, etc. Control.
For example, when the vehicle signal processing unit 14 is informed that the red tail lamp of the preceding vehicle has been recognized, the vehicle processing system 16 automatically measures the inter-vehicle distance, and if it recognizes that it is too close, it automatically increases the speed. In addition, control is performed so as to call attention by display or voice.

In the above, the characteristic of the structure of the vehicle-mounted camera system which concerns on this embodiment was demonstrated.
Below, the principle which recognizes the red tail lamp of the vehicle-mounted camera system 10 which concerns on this embodiment is demonstrated.

  FIG. 3 is a diagram for explaining the principle of the present embodiment and represents the characteristics of chromatic aberration.

In FIG. 3, 20 </ b> F indicates a front vehicle, and a red tail lamp 22 </ b> R can be imaged by the camera unit 30 in the front vehicle 20 </ b> F.
Reference numeral 20C denotes an oncoming vehicle, and the headlamp 22H of the oncoming vehicle 20C can be imaged by the camera unit 30.
Using the wavelength characteristics of red (R), green (G), and blue (B), a lens system 111 that focuses with little chromatic aberration only on the red component is designed, and other color components are blurred due to large aberration.
Even if the object point is a point image, there is a blur change of 1.5 times or more, so that an image extending over two pixels or more on the image plane can be detected, and detection on the image sensor is possible.
In the present embodiment, as described above, shape recognition is performed on the shape of an object having a red region wavelength characteristic and an object having a wavelength other than the red region.

FIG. 4 is a diagram for explaining the shape recognition method.
As shown in FIG. 4, the shape is determined by recognizing the difference between the central output value and the peripheral output value.

FIG. 5 is a diagram for explaining recognition processing for a guide light or the like.
Since the difference in wavelength characteristics between the red wavelength of the tail lamp 22R of the front vehicle 20F and the orange of the guide light 50 is about 100 nm at half value, the red wavelength aberration and the orange wavelength can be recognized in this embodiment.

FIG. 6 is a diagram illustrating a configuration example of the optical system.
FIG. 7 is a diagram illustrating a state of image deterioration (blur) with a wavelength of 600 nm to 700 nm.
FIG. 8 is a diagram showing a state of image deterioration (blurring) at a wavelength of 550 nm to 700 nm.

For example, the optical system 11 is formed by five imaging lenses 111-1 to 111-5.
The imaging lenses 111-4 and 111-5 are formed as cemented lenses.

In the optical system 11, a bonded lens portion or a combination portion of concave and convex lenses having a narrow interval, in the example of FIG. 6, the imaging lenses 111-4 and 111-5 have an Abbe number of the cemented lens, and the imaging lens 111-4 is bonded. When the Abbe number of the concave lens is ν1 and the Abbe number of the cemented convex lens of the imaging lens 111-5 is ν2, the following relationship is satisfied.
ν1 ≧ ν2

  In a normal optical system, the Abbe number relationship is formed so as to be reversed. However, in the present embodiment, the relationship of ν1 ≧ ν2 can be provided so that the functions in the present embodiment can be sufficiently expressed. It has become.

  FIGS. 7 and 8 show the state of image degradation (blurring) between a point image object in the 600 to 700 nm region and a point image object including the 550 nm region. Can be recognized.

FIG. 9 is a flowchart for explaining an operation example of the in-vehicle camera system 10 according to the present embodiment.
Next, the operation of the configuration of FIG. 2 will be described with reference to the flowchart of FIG.

After the operation of the camera is started, image capture is started after predetermined processing (ST1).
Based on the image signal S12 captured by the optical system 11 and the image sensor 12, exposure control is performed by the signal processing unit 13 (ST2).
Thereby, a stable image can be obtained.
After the exposure control, the light source body is detected (ST3).
In the detection of the light source body, the signal processing unit 13 detects an area by determining the threshold value of the captured image signal S12, and separates the light source body from other subjects.
When the light source body is detected, the signal processing unit 13 performs edge detection processing to detect the edge of the light source body (ST4).

Next, in the vehicle signal processing unit 14, the contrast of the edge is determined for the detected edge of the light source body, and the light source color is determined (ST5).
If the light source color is red, the edge output is greater than or equal to the threshold value, and if the light source color is less than or equal to the threshold value, it is determined as a light source body of other colors.
After the determination of the light source is completed, the process returns to the exposure control routine to capture a new image and the image determination is repeated (ST6, ST7).

The vehicle processing system 15 that has received the determination result from the vehicle signal processing unit 14 is up-line when it is notified that the vehicle signal processing unit 14 has recognized the red tail lamp of the preceding vehicle, for example, during night driving. Controls such as automatically switching the headlamp to a normal downlight.
Alternatively, for example, when the vehicle signal processing unit 14 is informed that the red tail lamp of the preceding vehicle has been recognized, the vehicle processing system 16 automatically measures the inter-vehicle distance and automatically recognizes that it is too close. Control is performed to suppress the speed and call attention by display or voice.

As described above, according to the present embodiment, the optical system 11, the image sensor 12 that photoelectrically converts an image obtained via the optical system 11 and outputs an image signal, and the signal processing unit that processes the image signal 13 and the vehicle signal processing unit 14.
The optical system 11 is formed so that aberration performance differs between an arbitrary first optical wavelength band λ1 and a second optical wavelength band λ2 other than the first optical wavelength band λ1, and the imaging element 12 includes The light receiving surface is arranged at a position where the light beam in the optical wavelength band in which the point image becomes small is focused out of the first optical wavelength band λ1 and the second optical wavelength band λ2.
Thus, in the present embodiment, the aberration characteristic of the imaging lens 111 is varied by an arbitrary light wavelength band to create the presence / absence of blur depending on the color of the subject, and by taking the difference from the blur reduced by image processing Since the distinction is made according to the color of the subject, an increase in cost can be avoided.
That is, according to the present embodiment, it is possible to realize an imaging device and an in-vehicle camera system that can recognize an object in a desired optical wavelength band at a low cost without using a filter.

1 is an external view illustrating an example of an in-vehicle camera system to which an imaging device according to an embodiment of the present invention is applied. It is a block diagram which shows the structural example of the vehicle-mounted camera system which concerns on this embodiment. It is a figure for demonstrating the principle of this embodiment, Comprising: The characteristic of chromatic aberration is represented. It is a figure for demonstrating a shape recognition method. It is a figure for demonstrating recognition processing, such as a guide light. It is a figure which shows the structural example of an optical system. It is a figure which shows the mode of image degradation (blurring) with a wavelength of 600 nm-700 nm. It is a figure which shows the mode of image degradation (blurring) with a wavelength of 550 nm-700 nm. It is a flowchart for demonstrating the operation example of the vehicle-mounted camera system 10 which concerns on this embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Car-mounted camera system, 11 ... Optical system, 12 ... Image sensor, 13 ... Signal processing part, 14 ... Vehicle signal processing part, 15, 16 ... Vehicle processing system, 20 ... Vehicle, 30 ... Camera part, 40 ... ECU part.

Claims (8)

Optical system,
An image sensor that photoelectrically converts an image obtained through the optical system and outputs an image signal;
An image processing unit for processing the image signal,
The optical system
It is formed so that the size of a point image differs depending on the aberration performance between an arbitrary first optical wavelength band and a second optical wavelength band other than the first optical wavelength band,
The image sensor is
An imaging device in which a light receiving surface is disposed at a position where a light beam in a light wavelength band in which a point image becomes small is focused in the first light wavelength band and the second light wavelength band. The image processing unit
By generating an image signal that has been subjected to processing that reduces image blur, and comparing the generated image signal with an image signal that has not been subjected to the processing, an object having a color in the first optical wavelength band and the The imaging apparatus according to claim 1, wherein the imaging apparatus performs identification from an object having a color in the second light wavelength band. The image processing unit
By generating a plurality of image signals obtained by changing the degree of effect of processing for reducing image blur and comparing the image signal subjected to the processing having a strong effect with the image signal subjected to the processing having a weak effect The imaging apparatus according to claim 1, wherein a subject having a color in the first light wavelength band and a subject having a color in the second light wavelength band are identified. The diameter of the point image distribution variation in which the light beam in the light wavelength band with the smaller point image is connected to the light receiving surface of the image sensor is φa, and the point image distribution variation in which the light beam in the other light wavelength band is connected to the light receiving surface of the image sensor. The imaging apparatus according to any one of claims 1 to 3, wherein the following relational expression is satisfied when the diameter of the lens is φb.
φb ≧ 1.5 * φa In the optical system, the Abbe number of the bonded lens portion or the combination portion of the concave and convex lenses having a narrow interval satisfies the following relationship when the Abbe number of the cemented concave lens is ν1 and the Abbe number of the cemented convex lens is ν2. Item 5. The imaging device according to any one of Items 1 to 4.
ν1 ≧ ν2 The imaging device according to any one of claims 1 to 5, wherein the first optical wavelength band includes a wavelength band of approximately 600 to 700 nm. A vehicle,
A camera as an imaging device that is arranged in the vehicle and capable of imaging other vehicles traveling on the front side of the vehicle;
The camera
Optical system,
An image sensor that photoelectrically converts an image obtained through the optical system and outputs an image signal;
An image processing unit for processing the image signal,
The optical system
It is formed so that the size of a point image differs depending on the aberration performance between an arbitrary first optical wavelength band and a second optical wavelength band other than the first optical wavelength band,
The image sensor is
A light receiving surface is disposed at a position where a light beam in a light wavelength band in which a point image becomes small in the first light wavelength band and the second light wavelength band is focused,
The first optical wavelength band includes a wavelength band of approximately 600 to 700 nm,
The image processing unit
By generating an image signal that has been subjected to processing that reduces image blur, and comparing the generated image signal with an image signal that has not been subjected to the processing, an object having a color in the first optical wavelength band and the An in-vehicle camera system that recognizes a tail lamp of the other vehicle by identifying a subject having a color in the second light wavelength band. A vehicle,
A camera as an imaging device that is arranged in the vehicle and capable of imaging other vehicles traveling on the front side of the vehicle;
The camera
Optical system,
An image sensor that photoelectrically converts an image obtained through the optical system and outputs an image signal;
An image processing unit for processing the image signal,
The optical system
It is formed so that the size of a point image differs depending on the aberration performance between an arbitrary first optical wavelength band and a second optical wavelength band other than the first optical wavelength band,
The image sensor is
A light receiving surface is disposed at a position where a light beam in a light wavelength band in which a point image becomes small in the first light wavelength band and the second light wavelength band is focused,
The first optical wavelength band includes a wavelength band of approximately 600 to 700 nm,
The image processing unit
By generating a plurality of image signals obtained by changing the degree of effect of processing for reducing image blur and comparing the image signal subjected to the processing having a strong effect with the image signal subjected to the processing having a weak effect A vehicle-mounted camera system that distinguishes between a subject having a color in the first light wavelength band and a subject having a color in the second light wavelength band and recognizes the tail lamp of the other vehicle.

Images