JP7310960B2 - The camera module - Google Patents

Description

The present disclosure relates to camera modules.

2. Description of the Related Art Conventionally, a camera module mounted inside a windshield of a vehicle and configured to capture an image of the environment outside the vehicle is widely known. As such a camera module, there is one disclosed in Patent Document 1.

Japanese Patent No. 5316562

As one type of camera module that is the subject of the present disclosure, the camera module disclosed in the above-mentioned Patent Document 1 captures an image of the outside world by allowing light from the outside world to enter an in-vehicle camera through a lens.

2. Description of the Related Art In recent years, camera modules are required to capture images of a wide range of the outside world in a manner that enables image recognition, toward advanced driving assistance or automatic driving of vehicles. As a solution to meet these demands, a technique of imaging the outside world through a lens unit with a wide angle of view around the optical axis is conceivable. However, with a lens unit with a wide angle of view, the depth of field approaches the front side of the vehicle as viewed from the occupants of the vehicle, so there is a concern that the pixel resolution will decrease for the range of the external world on the depth side as seen from the occupants. There is Therefore, a technique of capturing an image of the outside world by using both a lens unit with a wide angle of view and a lens unit with a narrow angle of view is conceivable.

In this lens combination technique, each lens unit needs to be arranged so that the angles of view overlap each other in order to be able to capture a wide range of the outside world. However, depending on the arrangement of the lens units, the optical axes of the lens units may be separated from each other in the lateral direction of the vehicle. In this case, as shown in FIG. 50, between the outside world images generated by capturing the outside world individually through each lens unit, the positional coordinates of the pixels in which the same points Pw and Pn appear with respect to the optical axes Aw and An (hereinafter simply (also called positional coordinates) are likely to have large deviations in the lateral direction. Here, camera modules for advanced driving assistance or automatic driving are required to have higher image position accuracy in the lateral direction than in the vertical direction, in which the blind spot of the vehicle is more of a problem. Therefore, if the deviation in the positional coordinates of the external world images generated through each lens unit increases in the horizontal direction, there is a concern that the image positional accuracy in the horizontal direction will decrease.

Also, in the lens combination technique, as described above, by overlapping the angles of view of the respective lens units, it is possible to capture an image of a wide range of the outside world. Furthermore, in the lens combination technology, by overlapping the depth of field of each lens unit, it is possible to continuously capture an object that relatively moves in the overlapping region of the outside world. However, in the external image generated by capturing the external world through each lens unit individually, if it is difficult to distinguish the relatively moving object by image recognition, the object will be lost in the overlapping area between the depths of field. The situation is of concern.

By the way, as the angle of view of the lens unit is widened, the surplus light incident on the lens unit increases. Therefore, it is conceivable to use a hood. However, in the lens combination technology, depending on the positional relationship of each lens unit, the camera module including the hood may become large, and there is a concern that the vehicle occupant's view of the outside world may be obstructed inside the windshield.

Now, in the lens combination technique, the axial position of each lens unit differs from vehicle to vehicle. In the case of such a structure in which the axial position of each lens unit is individually determined, the axial positional relationship between the units in the vehicle tends to vary greatly. Therefore, if the axial position of each lens unit is individually adjusted during manufacture of the camera module so as to reduce the variation, there is a concern that productivity will be lowered.

As described above, one of the objects of the present disclosure is to provide a camera module with a novel structure that captures images of the outside world in a recognizable manner.

Another object of the present disclosure is to provide a camera module that avoids a situation in which an object is lost in an external image resulting from imaging the external environment through a plurality of lens units.

Another object of the present disclosure is to provide a camera module that ensures positioning accuracy of a plurality of lens units in a vehicle. Another object of the present disclosure is to provide a highly productive camera module having a plurality of lens units.

The present disclosure provides a camera module with a novel structure. Therefore, technical means of the present disclosure for solving the problems will be described below. It should be noted that the symbols in parentheses described in this column indicate the correspondence with specific means described in the embodiments described in detail later, and do not limit the technical scope of the present disclosure.

The first aspect disclosed to solve the above problems is
A camera module (1) mounted inside a windshield (3) of a vehicle (2) and configured to capture an image of the environment (5) of the vehicle,
a plurality of lens units (30, 2030, 3030) in which optical images from the outside world individually enter into mutually different angles of view (θw, θn, θt) around optical axes (Aw, An, At) shifted from each other; ,
An imaging system (50) that generates an image of the outside world by imaging through each lens unit individually,
Assuming that a group of lens units whose angles of view (θw, θn, θt) overlap each other is a group of interest,
The depths of field (Dw, Dn, Dt) of the lens units that make up the set of interest are between one near point (Dnc, Dtc) and far point (Dnf, Dtf) in the external world, and the other far point (Dwf , Dnf) are set, so that
Each far point of one and the other in the set of interest defines the limit position of image recognition by imaging through the corresponding lens unit ,
The lens units that make up the group of interest have their corresponding far points as corresponding far points,
The distance Lf from the lens unit to the corresponding far point, the focal length EFL in the lens unit, the minimum object size Sf required for image recognition at the corresponding far point captured through the lens unit, and the image recognition in the imaging system. between the required minimum pixel width Wf and
Lf=EFL·Sf/Wf is individually satisfied.

According to the first aspect, the lens units of the target group are configured such that the different angles of view around the optical axes that are shifted from each other overlap each other. Between the depths of field of the lens units that make up such a set of interest, the other far point is set between the near point and the far point in the external world, thereby forming an overlapping region between these depths. be. Here, one far point and the other far point in the group of interest define the limit position of image recognition by external imaging individually passing through the corresponding lens unit. According to this, in each of the external images generated through the lens units whose depths of field overlap each other in the set of interest, it is possible to image-recognize and discriminate an object that relatively moves in the overlapping region. becomes. Therefore, it is possible to avoid a situation in which an object is lost in an overlap region between depths of field in an external image obtained as a result of imaging the external world through each lens unit of the set of interest.

The second aspect disclosed to solve the above problems is
a camera casing (20) configured to be attachable to a windshield and housing each lens unit;
a common positioning member (10060) common to each lens unit for axially positioning each lens unit with respect to the camera casing.

According to the second aspect, in the vehicle, each lens unit is accommodated in the camera casing attached to the windshield, and is axially positioned by the common positioning member common to these units. As a result, each lens unit can reduce variations in the axial positional relationship in the vehicle by using the common positioning member. That is, it is possible to ensure the positioning accuracy of each lens unit in the vehicle. Moreover, since the axial position of each lens unit can be adjusted collectively by the common positioning member, productivity can be improved.

In the third aspect disclosed to solve the above problems,
The common positioning member has a reference surface portion (10601) that positions each lens unit on the same plane by axially contacting each lens unit.

According to the common positioning member of the third aspect, all the units are positioned on the same plane when the reference surface portion comes into contact with each lens unit in the axial direction in the vehicle. According to this, in each lens unit that can be accurately positioned on the same plane, it becomes difficult for variation itself to occur in the mutual axial positional relationship in the vehicle. That is, each lens unit can be positioned with high precision in the vehicle. In addition, since each lens unit can be easily and collectively positioned in the axial direction by abutting against the reference surface portion on the same plane, it is possible to promote high productivity.

1 is a front view showing a vehicle to which the camera module according to the first embodiment is applied; FIG. FIG. 6 is a cross-sectional view showing the camera module according to the first embodiment, taken along the line II-II of FIG. 5; 1 is a perspective view showing a camera module according to a first embodiment; FIG. 4 is a schematic top view showing an imaging range of each lens unit according to the first embodiment; FIG. 4 is a front view showing the arrangement relationship of each lens unit according to the first embodiment; FIG. It is a front schematic diagram which shows the external world image (a), (b), (c) respectively produced|generated by the external field imaging through each lens unit of 1st Embodiment. FIG. 3 is a cross-sectional view showing a camera module according to a second embodiment, the cross-sectional view corresponding to FIG. 2; FIG. 11 is a cross-sectional view showing the camera module according to the third embodiment, taken along the line VIII-VIII of FIG. 10; FIG. 11 is a cross-sectional view showing the camera module according to the third embodiment, taken along line IX-IX of FIG. 10; FIG. 12 is a front view showing the arrangement relationship of each lens unit according to the third embodiment; FIG. 14 is a schematic top view showing an imaging range of each lens unit according to the fourth embodiment; FIG. 14 is a schematic top view showing an imaging range of each lens unit according to the fifth embodiment; FIG. 19 is a cross-sectional view showing the camera module according to the sixth embodiment, taken along line XIII-XIII of FIG. 18; FIG. 19 is a cross-sectional view showing the camera module according to the sixth embodiment, and is a cross-sectional view taken along line XIV-XIV of FIG. 18; FIG. 19 is a cross-sectional view showing the camera module according to the sixth embodiment, taken along the line XV-XV of FIG. 18; FIG. 11 is a perspective view showing a camera module according to a sixth embodiment; FIG. 11 is a top view showing a hood according to a sixth embodiment; FIG. 21 is a front view showing the arrangement relationship of each lens unit according to the sixth embodiment; FIG. 15 is a cross-sectional view showing the camera module according to the seventh embodiment, the cross-sectional view corresponding to FIG. 14 ; 16 is a cross-sectional view showing the camera module according to the seventh embodiment, the cross-sectional view corresponding to FIG. 15; FIG. FIG. 21 is a top view showing a hood according to a seventh embodiment; 15 is a cross-sectional view showing the camera module according to the eighth embodiment, the cross-sectional view corresponding to FIG. 14; FIG. 16 is a cross-sectional view showing the camera module according to the eighth embodiment, the cross-sectional view corresponding to FIG. 15; FIG. FIG. 21 is a top view showing a hood according to an eighth embodiment; 14 is a cross-sectional view showing the camera module according to the ninth embodiment, and is a cross-sectional view corresponding to FIG. 13. FIG. FIG. 22 is a perspective view showing a camera module according to a ninth embodiment; FIG. 21 is a top view showing a hood according to a ninth embodiment; FIG. 22 is a schematic front view for explaining control functions according to the ninth embodiment; FIG. 21 is a schematic top view for explaining control functions of a vehicle according to a ninth embodiment; FIG. 22 is a schematic top view for explaining the structure of the hood according to the ninth embodiment; FIG. 12 is a schematic side view for explaining control functions of a vehicle according to a ninth embodiment; FIG. 20 is a schematic side view for explaining the structure of the hood according to the ninth embodiment; FIG. 21 is a cross-sectional view showing the camera module according to the tenth embodiment, and is a cross-sectional view corresponding to FIG. 2; FIG. 8 is a cross-sectional view showing a modification of FIG. 7; FIG. 6 is a front view showing a modification of FIG. 5; FIG. 6 is a front view showing a modification of FIG. 5; FIG. 6 is a front view showing a modification of FIG. 5; FIG. 9 is a sectional view showing a modification of FIG. 8; FIG. 10 is a cross-sectional view showing a modification of FIG. 9; FIG. 4 is a cross-sectional view showing a modification of FIG. 3; FIG. 28 is a cross-sectional view showing a modification of FIG. 27; FIG. 28 is a cross-sectional view showing a modification of FIG. 27; FIG. 9 is a sectional view showing a modification of FIG. 8; FIG. 10 is a cross-sectional view showing a modification of FIG. 9; FIG. 35 is a cross-sectional view showing a modification of FIG. 34; FIG. 8 is a cross-sectional view showing a modification of FIG. 7; FIG. 18 is a top view showing a modification of FIG. 17; FIG. 3 is a sectional view showing a modification of FIG. 2; FIG. 3 is a sectional view showing a modification of FIG. 2; It is a front schematic diagram which shows the external world image (a), (b) for demonstrating a subject.

A plurality of embodiments according to the present disclosure will be described below based on the drawings. Note that redundant description may be omitted by assigning the same reference numerals to corresponding components in each embodiment. When only a part of the configuration is described in each embodiment, the configurations of other embodiments previously described can be applied to other portions of the configuration. Moreover, not only the combinations of the configurations explicitly specified in the description of each embodiment, but also the configurations of a plurality of embodiments can be partially combined even if they are not specified unless there is a particular problem with the combination.

(First embodiment)
As shown in FIGS. 1 and 2, a camera module 1 according to the first embodiment is configured to be mounted on a vehicle 2 to capture an image of the outside world 5 . In the following description, the vertical direction of the vehicle 2 on the horizontal plane is set to the up-down direction, the width direction of the horizontal direction of the vehicle 2 on the horizontal plane is set to the lateral direction, and the horizontal direction of the vehicle 2 is set to the horizontal direction. The vehicle length direction is set to the front-rear direction.

The camera module 1 is attached inside the front windshield 3 of the vehicle 2 . The front windshield 3 is positioned in front of the driver's seat in the vehicle 2 . The front windshield 3 separates the inside of the vehicle interior 4 from the outside 5 . The front windshield 3 is inclined toward the front side (that is, the outside world 5 side) as the depth side viewed from the occupant of the vehicle 2 as it goes downward. The front windshield 3 is made of a translucent material such as glass, so that a light image incident from the landscape of the outside world 5 is transmitted into the vehicle interior 4 .

The mounting position of the camera module 1 on the front windshield 3 is set at a position that does not substantially obstruct the view of the passenger seated in the driver's seat in the vehicle interior 4 . Specifically, as shown in FIG. 1, the mounting position in the vertical direction is from the upper edge of the opening window 6a of the pillar 6 that holds the outer peripheral edge of the front windshield 3 in the vehicle 2 in a frame shape. For example, it is set within a range Xv of about 20%. The mounting position in the horizontal direction is set within a range Xh of about 15 cm from the center of the opening window 6a to both sides. According to these settings, the mounting position is located within the wiping range Xr of the wiper that wipes the front windshield 3, and is located at a portion where the front windshield 3 is inclined, for example, by about 22 to 90 degrees with respect to the front-rear direction. Become.

As shown in FIGS. 2 and 3, the camera module 1 includes a bracket assembly 10, a camera casing 20, a plurality of lens units 30, a hood 40 and an imaging system 50. In addition, in FIG. 3, illustration of some components is omitted.

The bracket assembly 10 combines a bracket body 11 and a mounting pad 12 . The bracket main body 11 is made of a relatively easily moldable hard material such as resin, and is formed in a substantially flat plate shape as a whole. The bracket body 11 is arranged along the inner surface 3 a of the front windshield 3 . As shown in FIG. 2, a plurality of mounting pads 12 are fitted and fixed to the bracket body 11 . Each mounting pad 12 is adhesively fixed to the inner surface 3 a of the front windshield 3 . Accordingly, the camera module 1 including the bracket assembly 10 is mounted inside the front windshield 3 while being positioned with respect to the vehicle 2 .

A camera casing 20 is formed by combining a pair of casing members 21 and 22 . Each of the casing members 21 and 22 is made of a hard material having relatively high heat dissipation, such as aluminum, and is hollow as a whole.

The inverted cup-shaped upper casing member 21 is arranged on the lower side of the bracket assembly 10 so that the opening faces the lower side opposite to the assembly 10 . The upper casing member 21 is fitted and fixed to the bracket body 11 . The camera casing 20 is thereby positioned inside the front windshield 3 via the bracket assembly 10 . Further, in this positioning posture, a housing recess 212 for housing the hood 40 is defined between the upper casing member 21 and the front windshield 3 .

The dish-shaped lower casing member 22 is arranged on the lower side of the upper casing member 21 so that the opening faces the upper side on the upper casing member 21 side. The lower casing member 22 is fastened to the upper casing member 21 with screws. Accordingly, the casing members 21 and 22 jointly define a housing space 25 that houses the lens unit 30 and the imaging system 50 .

A plurality of (three in this embodiment) lens units 30 are arranged in the housing space 25 of the camera casing 20 . As shown in FIGS. 2 and 3, the front end of each lens unit 30 is exposed to the outside of the camera casing 20 through a common lens window 211 penetrating the vertical wall 210 of the upper casing member 21 . Accordingly, in each lens unit 30, different angles of view .theta.w, .theta.n, .theta.t as shown in FIG. In each of these lens units 30, light images from the outside world 5 can be individually incident within the respective angles of view .theta.w, .theta.n, and .theta.t.

As shown in FIGS. 2 and 3, the hood 40 constitutes a part of the bracket assembly 10 by being integrally formed with the bracket main body 11 by, for example, resin molding. The overall shape of the hood 40 viewed from above has a dish shape that is symmetrical in the horizontal direction with respect to the optical axes Aw, An, and At of each lens unit 30 . The hood 40 has a base wall portion 41 and side wall portions 43 .

As shown in FIG. 2 , the base wall portion 41 is accommodated within the housing recess 212 between the upper casing member 21 and the front windshield 3 . The base wall portion 41 is disposed in a posture of approaching the upper front windshield 3 toward the front side. As a result, the bottom wall surface 41a of the base wall portion 41 extends in a substantially planar shape facing the inner surface 3a of the front windshield 3 with an imaging space 410 on the optical axes Aw, An, and At shown in FIGS. state. Under this condition, an optical image within the imaging target range of the imaging system 50 in the external world 5 is transmitted through the front windshield 3 and guided from the imaging space 410 to each lens unit 30 .

The side walls 43 sandwich the imaging space 410 from both sides by being provided at symmetrical positions across the optical axes Aw, An, and At in the horizontal direction. Each side wall portion 43 is erected upward from a lateral side edge portion of the base wall portion 41 and has a straight flat plate shape. The distance between the side walls 43 in the horizontal direction gradually widens toward the front. As a result, the front end of each lens unit 30 is exposed in the imaging space 410 through the rear ends of the side walls 43 . The height of each side wall portion 43 from the base wall portion 41 gradually decreases toward the front. As a result, each side wall portion 43 is arranged in such a posture as to form a gap 430 with respect to the inner surface 3a of the front windshield 3 in the entire front-rear direction, as shown in FIG.

With the configuration described so far, the hood 40 is arranged according to the angles of view θw, θn, and θt of each of the lens units 30 so as to allow an optical image to enter each lens unit 30 from within the imaging target range of the external world 5 . defines an imaging space 410 . At the same time, the hood 40 can control the incidence of excess light from outside the imaging target range in the external world 5 to each lens unit 30, for example, the incidence of reflected light from the inner surface 3a of the front windshield 3, and the like, so as to image the imaging space 410. is formed.

The imaging system 50 is formed by combining a plurality of imager units 51 with a control board 54 and a control circuit 55 . These components 51 , 54 , 55 of the imaging system 50 are arranged within the accommodation space 25 of the camera casing 20 .

A plurality of (three in this embodiment) imager units 51 are individually positioned behind different lens units 30 . Here, the positions of the imager units 51 are shifted in the front-rear direction according to the focal lengths of the lens units 30 corresponding to the different angles of view θw, θn, and θt. Each imager unit 51 has an imaging board 510 , an imaging element 511 and an imaging circuit 512 . Here, the imaging board 510 is a rigid board such as a glass epoxy board, and is formed in a substantially rectangular flat plate shape. The imaging device 511 is composed of a color or monochrome imager such as a CCD or CMOS, and is mounted on the imaging board 510 . The imaging element 511 has a plurality of pixels arranged in a matrix along the vertical direction and the lateral direction corresponding to the vertical direction and the horizontal direction of the vehicle 2 on the horizontal plane. The imaging circuit 512 is composed of a plurality of circuit elements capable of processing the output of the imaging device 511 and is mounted on the imaging board 510 .

In each imager unit 51 , a light image transmitted from the outside world 5 through the front windshield 3 is formed on the image sensor 511 through the corresponding lens unit 30 . In each imager unit 51 , the imaging circuit 512 processes the signal or data output from the imaging device 511 by capturing the formed optical image with the imaging device 511 .

The control board 54 is, for example, a rigid board such as a glass epoxy board, and is formed in a substantially rectangular flat plate shape. The control board 54 is positioned between both casing members 21 and 22 . An external connector 542 is mounted on the control board 54 so as to be exposed outside the camera casing 20 . The external connector 542 is connected to an external circuit such as an ECU outside the camera casing 20 . Here, the external connector 542 is mounted on a convex board portion 543 that protrudes further rearward than the rear edge portion 544 of the control board 54 . Although not shown, the convex substrate portion 543 together with the camera casing 20 is the base of the rearview mirror (including an electronic mirror here) in the vehicle interior 4 depending on the mounting position of the camera module 1 on the front windshield 3. are arranged to avoid

The control circuit 55 is composed of a plurality of circuit elements including a microcomputer 550 and mounted on the control board 54 . The control circuit 55 is connected to the imaging circuit 512 of each imager unit 51 by a separate flexible printed circuit (FPC) 540 . Here, the control board 54 is provided with a plurality of through holes 541 so that each of the FPCs 540 can be individually inserted. As a result, each FPC 540 connected to the imaging circuit 512 of each imager unit 51 on the upper side of the control board 54 is controlled by the lower side of the control board 54 by penetrating the corresponding through-hole 541 in the vertical direction. It is connected with circuit 55 .

In cooperation with the imaging circuit 512 of each imager unit 51, the control circuit 55 controls the imaging operation of the imaging device 511 in each imager unit 51, including the exposure state at the time of imaging. Furthermore, in cooperation with the imaging circuit 512 of each imager unit 51 , the control circuit 55 applies image processing to the signal or data output from the imaging element 511 of each imager unit 51 . As a result of imaging through each lens unit 30, the image pickup control function and the image processing function produce an image of the outside world such that the range corresponding to the angle of view θw, θn, and θt of each lens unit 30 is captured in the outside world 5. generated. At this time, the image is generated so that objects such as obstacles or structures within the angles of view θw, θn, and θt appearing in the external image can be recognized. As described above, the imaging of the outside world through each lens unit 30 is realized by the corresponding imager unit 51 . At least one of the imaging control function and the image processing function may be provided only in the control circuit 55 or may be provided only in the imaging circuit 512 of each imager unit 51 .

The control circuit 55 also has an image recognition function for recognizing objects appearing in the external image. In this image recognition function, for example, whether the obstacle is a pedestrian, a bicycle, or another vehicle, or whether the structure is a traffic light, a traffic sign, or a building, the control circuit 55 determines the type of object. determines. Further, in the image recognition function, as shown in FIG. 6, for each pixel in which the same portions Pw, Pn, and Pt appear in the external world images generated through each lens unit 30, the deviation of the position coordinates with respect to the optical axes Aw, An, and At is calculated. , the control circuit 55 corrects by, for example, alignment processing. Specifically, at this time, for example, vanishing points, etc., of the same locations Pw, Pn, and Pt are shifted in at least one of the vertical direction and the horizontal direction with respect to the corresponding optical axes Aw, An, and At. , the deviation will be corrected.

(Detailed structure of lens unit)
Next, the detailed structure of each lens unit 30 will be described.

As shown in FIGS. 2, 3 and 5, a wide-angle unit 30w, which is one of the lens units 30, includes a wide-angle barrel 32w and a wide-angle lens 34w. The wide-angle lens barrel 32w is hollow and made of a relatively easily moldable hard material such as resin. The wide-angle lens barrel 32w is screwed or adhesively fixed to the upper casing member 21 . The wide-angle lens 34w is formed in the shape of a concave meniscus lens made of a translucent material such as glass. The wide-angle lens 34w is accommodated in the wide-angle lens barrel 32w together with a rear-stage lens set (not shown) for correcting optical aberrations such as chromatic aberration. Therefore, the wide-angle lens barrel 32w is positioned so that the inner surface 3a of the front windshield 3 is spaced apart from the wide-angle lens 34w forming the front end of the wide-angle unit 30w on the front side of the rear lens set. .

The optical axis Aw of the wide-angle unit 30w shown in FIGS. 2, 4, and 5 is set so as to be inclined downward or upward toward the front in the front-rear direction, or to extend along the front-rear direction. . As shown in FIG. 4, the angle of view θw of the wide-angle unit 30w is set to a relatively large angle of, for example, about 120° by adopting the wide-angle lens 34w. good. The depth of field Dw within the angle of view θw of the wide-angle unit 30w is defined by the adoption of the wide-angle lens 34w. It is defined within a predetermined range sandwiched by the far point Dwf on the depth side (hereinafter simply referred to as the depth side) as seen from the passenger.

As shown in FIGS. 2, 3 and 5, another one of the lens units 30, the narrow-angle unit 30n, comprises a narrow-angle lens barrel 32n and a narrow-angle lens 34n. The narrow-angle lens barrel 32n is hollow and made of a relatively easily moldable hard material such as resin. The narrow-angle lens barrel 32n is screwed or adhesively fixed to the upper casing member 21. As shown in FIG. The narrow-angle lens 34n is formed in the shape of a concave meniscus lens made of a translucent material such as glass. The narrow-angle lens 34n is accommodated in the narrow-angle lens barrel 32n together with a rear-stage lens set (not shown) for correcting optical aberrations such as chromatic aberration. Therefore, the narrow-angle lens barrel 32n is arranged so that the narrow-angle lens 34n, which forms the front end of the narrow-angle unit 30n on the front side of the rear-stage lens set, is arranged directly above the wide-angle lens 34w with substantially no front-to-rear or lateral displacement. is positioned. With such a configuration, the wide-angle unit 30w does not substantially protrude further toward the depth side than the upper narrow-angle unit 30n, with the front side of the front windshield 3 being inclined toward the lower side as the depth side.

The optical axis An of the narrow-angle unit 30n shown in FIGS. 2, 4, and 5 is set so as to be inclined downward or upward toward the front in the front-rear direction, or to extend along the front-rear direction. there is At the same time, the optical axis An of the narrow-angle unit 30n is decentered from the optical axis Aw of the wide-angle unit 30w substantially only in the vertical direction, so that the lateral position of the vehicle 2 is aligned with the optical axis Aw. As shown in FIG. 4, the narrow-angle lens 34n employs a narrow-angle lens 34n to set the angle of view θn of the narrow-angle unit 30n to a medium angle narrower than the angle of view θw of the wide-angle unit 30w, for example, about 60°. With these settings, the angles of view θn and θw of the narrow-angle unit 30n and the wide-angle unit 30w overlap each other. The depth of field Dn within the angle of view θn of the narrow-angle unit 30n is within a predetermined range sandwiched between the near point Dnc on the near side and the far point Dnf on the depth side in the external world 5 by adopting the narrow-angle lens 34n. stipulated.

Here, particularly in this embodiment, the far point Dwf of the wide-angle unit 30w is set on the depth side of 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 depth side of the near point Dwc of the wide-angle unit 30w. Furthermore, in this embodiment, the far point Dnf of the narrow-angle unit 30n is set on the depth side of the far point Dwf of the wide-angle unit 30w. With these settings, the far point Dwf of the wide-angle unit 30w is positioned between the near point Dnc and the far point Dnf of the narrow-angle unit 30n, so that the units 30n and 30w are located at the depths of field Dn and Dw. A region Rnw to be overlapped is formed.

As shown in FIGS. 2, 3 and 5, yet another one of the lens units 30, the telephoto unit 30t, comprises a telescope tube 32t and a telephoto lens 34t. The telescope tube 32t is hollow and made of a relatively easily moldable hard material such as resin. The telescope tube 32t is screwed or adhesively fixed to the upper casing member 21. As shown in FIG. The telephoto lens 34t is made of a translucent material such as glass and formed into a concave lens shape. Telephoto lens 34t is accommodated in telescope tube 32t along with a rear lens set (not shown) for correcting optical aberrations such as chromatic aberration. Therefore, the telescope tube 32t is positioned so that the telephoto lens 34t, which forms the front end of the telephoto unit 30t, is placed directly above the narrow-angle lens 34n with substantially no front-to-back or sideways deviation. ing. With such a configuration, the narrow-angle unit 30n does not substantially protrude to the depth side from the upper telephoto unit 30t, and the wide-angle unit 30w does not substantially protrude to the depth side from the upper telephoto unit 30t.

As shown in FIGS. 2, 4, and 5, the optical axis At of the telephoto unit 30t is set so as to be inclined downward or upward toward the front in the front-back direction, or to extend along the front-back direction. ing. At the same time, the optical axis At of the telephoto unit 30t is eccentric from both the optical axes Aw and An of the wide-angle unit 30w and the narrow-angle unit 30n substantially only in the vertical direction. , An. As shown in FIG. 4, the angle of view .theta.t of the telephoto unit 30t is set to a small angle, for example, about 35.degree. It is With these settings, the angles of view θt and θn of the telephoto unit 30t and the narrow-angle unit 30n overlap each other, and the angles of view θt and θw of the telephoto unit 30t and the wide-angle unit 30w also overlap each other. there is The depth of field Dt within the angle of view θt of the telephoto unit 30t is defined within a predetermined range sandwiched between the near point Dtc on the near side and the far point Dtf on the depth side in the external world 5 by employing the telephoto lens 34t. ing.

Here, particularly in this embodiment, the far point Dnf of the narrow angle unit 30n is set on the depth side of the near point Dtc of the telephoto unit 30t. In addition, in this embodiment, the near point Dtc of the telephoto unit 30t is set on the depth side of the near point Dnc of the narrow angle unit 30n and the near point Dwc and far point Dwf of the wide angle unit 30w. Furthermore, in this embodiment, the far point Dtf of the telephoto unit 30t is set on the depth side of 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 telephoto unit 30t, so that the units 30t and 30n can be positioned over the depths of field Dt and Dn. A region Rtn to be overlapped is formed. However, in the present embodiment, the far point Dwf of the wide-angle unit 30w is separated from the near point Dtc and the far point Dtf of the telephoto unit 30t, so that the depths of field Dt and Dw of the units 30t and 30w are different from each other. They are shifted and do not overlap.

From the description so far, in the first embodiment, the first to fourth target groups are assumed as groups of interest in which at least part of each lens unit 30 overlaps with each other in the vertical direction. Specifically, the first group of interest is composed of a wide-angle unit 30w and a narrow-angle unit 30n that overlap each other in the vertical direction. The second set of interest is composed of a wide-angle unit 30w and a telephoto unit 30t that overlap each other in the vertical direction. The third group of interest is composed of a narrow-angle unit 30n and a telephoto unit 30t that overlap each other in the vertical direction. The fourth set of interest is composed of a wide-angle unit 30w, a narrow-angle unit 30n, and a telephoto unit 30t, which overlap each other in the vertical direction.

Now, the units 30w, 30n, and 30t as the lens units 30 constituting the first to fourth groups of interest are defined by the following equation 1 with the corresponding far points Dwf, Dnf, and Dtf as the corresponding far points. Fill individually. As a result, the limit positions of image recognition by imaging the external world individually through the units 30w, 30n, and 30t are defined by the corresponding far points Dwf, Dnf, and Dtf, respectively.
Lf=EFL·Sf/Wf (Formula 1)

Here, Lf in Equation 1 represents the distance from each unit 30w, 30n, 30t to the corresponding far points Dwf, Dnf, Dtf. EFL in Equation 1 represents the focal length of each unit 30w, 30n, 30t (more specifically, the combined focal point of each lens 34w, 34n, 34t and its subsequent lens set). Sf in Equation 1 means the minimum object size required for image recognition at the corresponding far points Dwf, Dnf, Dtf of each unit 30w, 30n, 30t. This minimum object size Sf is presumed in advance in each of the horizontal and vertical directions for each type of object as object sizes at corresponding far points Dwf, Dnf, and Dtf required for vehicle control in an external circuit, for example. set to the minimum value among the dimension values Wf in Equation 1 means the minimum pixel width necessary for image recognition in the imaging device 511 of the imager unit 51 corresponding to each unit 30w, 30n, and 30t in the imaging system 50 . This minimum pixel width Wf is, for example, a pixel width corresponding to the number of pixels that are common in the vertical direction and the horizontal direction of the image sensor 511, and is the minimum pixel width for image recognition by pattern matching in the external image generated through the image sensor 511. The pixel width and the like for the required number of pixels are set.

On the other hand, each of the units 30w, 30n, and 30t as the lens units 30 constituting the first to fourth groups of interest uses the corresponding near points Dwc, Dnc, and Dtc as the corresponding near points, respectively, and expresses the following formula 2 individually. Fulfill. As a result, the imaging limit positions at which an image of the outside world is focused through the individual units 30w, 30n, and 30t are defined by the near points Dwc, Dnc, and Dtc, respectively.
Lc= ^EFL2 ·Pc/(FNO·Dc) (Formula 2)

Here, Lc in Equation 2 represents the distance from each unit 30w, 30n, 30t to corresponding near points Dwc, Dnc, Dtc. EFL in Equation 2 represents the focal length of each unit 30w, 30n, and 30t, as in Equation 1. Pc in Equation 2 represents the pixel pitch of a plurality of pixels in the imaging element 511 of the imager unit 51 corresponding to each unit 30w, 30n, and 30t in the imaging system 50. This pixel pitch Pc is set, for example, to the arrangement pitch of each pixel that is common in the vertical direction and the horizontal direction of the imaging device 511 . FNO in Equation 2 represents the F-number (also called F-number; more specifically, the combined F-number of each lens 34w, 34n, 34t and its subsequent lens set) in each unit 30w, 30n, 30t. Dc in the formula represents the diameter of the circle of confusion in the imaging element 511 of the imager unit 51 corresponding to each of the units 30w, 30n, and 30t in the imaging system 50 .

(Effect)
The effects of the above-described first embodiment will be described below.

According to the first embodiment, at least two of the different angles of view θw, θn, and θt around the optical axes Aw, An, and At, which are shifted from each other, overlap each other. lens units 30 are configured respectively. In the first to fourth groups of interest, at least two of the optical axes Aw, An, and At are aligned in the lateral direction of the vehicle 2 due to the arrangement structure in which the lens units 30 constituting the lens units 30 overlap each other in the vertical direction of the vehicle 2. to approach. According to this, as exemplified in FIG. 6, in the external world images generated individually through the respective lens units 30 constituting the first to fourth groups of interest, pixels in which the same portions Pw, Pn, and Pt appear Positional coordinates with respect to the corresponding optical axes Aw, An, and At of . Therefore, it is possible to improve the image position accuracy in the lateral direction by imaging the external world through each of the lens units 30 of the first to fourth groups of interest. Here, looking only at the second group of interest in particular, a telephoto unit 30t having a narrower angle of view θt than the angle of view θw and a wide-angle unit 30w having the angle of view θw, as narrow-angle units other than the narrow-angle unit 30n, It can be said that such high image position accuracy can be realized.

Further, according to the first to fourth target groups of the first embodiment, at least two of the optical axes Aw, An, and At of the lens unit 30 constituting the lens unit 30 are eccentric only in the vertical direction. According to this, in the outside world images generated through the respective lens units 30 constituting the first to fourth groups of interest, the positional coordinates of the pixels in which the same portions Pw, Pn, and Pt appear are shifted in the lateral direction. it gets harder. Therefore, it is possible to ensure high image position accuracy by taking an image of the external environment with a small amount of correction in the horizontal direction.

Further, according to the first and third groups of interest of the first embodiment, each two of the depths of field Dw, Dn, and Dt of the lens units 30 that overlap in the vertical direction have overlapping regions Rnw and Rtn. will form. According to this, by imaging the external environment through the lens units 30 that respectively constitute the first and third groups of interest, a wide range including the overlap regions Rnw and Rtn is focused, and the image position in the horizontal direction is adjusted. Accuracy can be improved.

Further, according to the first embodiment, as the lens units 30 of the first and fourth groups of interest, the wide-angle unit 30w having a wide angle of view θw and the narrow-angle unit 30n having a narrow angle of view θn are vertically overlapped. , the optical axes Aw and An are adjacent to each other in the horizontal direction. According to this, between the outside world images generated through the wide-angle unit 30w and the narrow-angle unit 30n, the positional coordinates of the pixels in which the same portions Pw and Pn appear are less likely to be greatly shifted in the horizontal direction. Therefore, by passing through the narrow-angle unit 30n and the wide-angle unit 30w with the depth of field Dw in which the far point Dwf is set on the depth side of the near point Dnc of the depth of field Dn, both depths of field By focusing in a wide range including the overlap region Rnw between them, it is possible to improve the image position accuracy in the horizontal direction by capturing the outside world.

Further, according to the first embodiment, the wide-angle unit 30w, the narrow-angle unit 30n, and the telephoto unit 30t having a narrower angle of view θt than the wide-angle unit 30w and the narrow-angle unit 30n as the lens unit 30 of the fourth set of interest are arranged so as to overlap each other in the vertical direction. , the optical axes Aw, An, and At are adjacent to each other in the horizontal direction. According to this, in the outside world images generated through the wide-angle unit 30w, the narrow-angle unit 30n, and the telephoto unit 30t, there is no large deviation in the horizontal direction of the positional coordinates of the pixels in which the same points Pw, Pn, and Pt appear. hard to come by. Therefore, a telephoto unit 30t, a narrow-angle unit 30n with a depth of field Dn whose far point Dnf is set on the depth side of the near point Dtc of the depth of field Dt, and a wide-angle unit with the above-described depth of field Dw. 30w, it is possible to focus in a wide range including overlapping areas Rtn and Rnw between two of the depths of field, thereby improving the image position accuracy in the horizontal direction by imaging the external environment. can.

Now, according to the first embodiment, the depths of field Dn and Dw of the lens units 30 forming the first group of interest in which the angles of view θn and θw overlap each other have one near point Dnc and far point Dnc in the external world 5 . By setting the other far point Dwf between Dnf, an overlapping region Rnw between the depths Dn and Dw is formed. Here, one and the other far points Dnf and Dwf in the first set of interest define the limit positions of image recognition by external imaging through the corresponding lens units 30 individually. According to this, in each of the external images generated through the lens units 30 in which the depths of field Dn and Dw overlap in the first set of interest, an object relatively moving in the overlap region Rnw is recognized as an image. It is possible to determine by Therefore, in the external world image resulting from the external world imaging through each lens unit 30 of the first group of interest, it is possible to avoid a situation in which an object is lost in the overlap region Rnw between the depths of field Dn and Dw. can be done.

Further, according to the first embodiment, the depths of field Dt and Dn of the lens units 30 forming the third set of interest in which the angles of view θt and θn overlap each other, the near point Dtc and the far point By setting the other far point Dnf between Dtf, an overlapping region Rtn between the depths Dt and Dn is formed. Here, the one and the other far points Dtf and Dnf in the third set of interest define the limit positions of image recognition by external imaging through the corresponding lens units 30 individually. According to this, in each of the external images generated through the lens units 30 in which the depths of field Dt and Dn overlap in the third set of interest, an object relatively moving in the overlapping region Rtn is image-recognized. It is possible to determine by Therefore, in the external world image resulting from the external world imaging through each lens unit 30 of the third group of interest, it is possible to avoid the situation where the object is lost in the overlap region Rtn between the depths of field Dt and Dn. can be done.

Further, according to the first embodiment, the lens units 30 that make up the first and third groups of interest satisfy the above equation 1 with the corresponding far points Dwf, Dnf, and Dtf as the corresponding far points. According to this, each of the far points Dwf, Dnf, and Dtf in the first and third groups of interest can accurately define the limit position of image recognition by imaging the outside world through the corresponding lens unit 30 . Therefore, in the overlap regions Rnw and Rtn, it is possible to secure the reliability of the effect of avoiding the loss of the object caused by the image recognition failure.

Further, according to the first embodiment, the lens units 30 that constitute the first and third groups of interest satisfy the above-described formula 2 with the corresponding near points Dwc, Dnc, and Dtc as the corresponding near points. According to this, each of the near points Dwc, Dnc, and Dtc in the first and third groups of interest can accurately define the imaging limit position in which the outside world is captured through the corresponding lens unit 30 and is in focus. . Therefore, in the overlap regions Rnw and Rtn, it is possible to secure the reliability of the effect of avoiding the loss of the object due to the poor image formation.

(Second embodiment)
As shown in FIG. 7, the second embodiment is a modification of the first embodiment. In the second embodiment, the arrangement of a wide-angle unit 2030w, a narrow-angle unit 2030n, and a telephoto unit 2030t as the lens unit 2030 is different from that in the first embodiment.

The narrow-angle lens 34n that forms the front end of the narrow-angle unit 2030n is arranged above the wide-angle lens 34w that forms the front end of the wide-angle unit 2030w without any lateral displacement. there is Here, the optical axis An of the narrow angle unit 2030n is eccentric from the optical axis Aw of the wide angle unit 2030w substantially only in the vertical direction, so that the lateral position of the vehicle 2 is aligned with the optical axis Aw. With such a configuration, the wide-angle unit 2030w protrudes toward the depth side more than the upper narrow-angle unit 2030n, with the front side of the front windshield 3 inclined toward the bottom as the depth side.

The telephoto lens 34t, which forms the front end of the telephoto unit 2030t, is arranged above the narrow-angle lens 34n without substantially lateral displacement, but is shifted rearward from the narrow-angle lens 34n. Here, the optical axis At of the telephoto unit 2030t is eccentric from both the optical axes Aw and An of the wide-angle unit 2030w and the narrow-angle unit 2030n substantially only in the vertical direction, so that the lateral position of the vehicle 2 is shifted to both the optical axes Aw and An of the narrow-angle unit 2030n. , An. Under such a configuration, the narrow-angle unit 2030n and the wide-angle unit 2030w protrude further toward the depth side than the upper telephoto unit 2030t.

In the second embodiment, as described above, the units 2030w, 2030n, and 2030t are displaced in the front-rear direction. It protrudes stepwise to the depth side. Therefore, lens windows 211 that penetrate the vertical wall portion 2210 and expose the units 2030w, 2030n, and 2030t to the outside of the camera casing 20 are individually provided for each of the units.

From the description so far, in the second embodiment, the first to fourth target groups are assumed as the groups of interest in which at least some of the lens units 2030 overlap each other in the vertical direction. Specifically, the first set of interest is composed of a wide-angle unit 2030w and a narrow-angle unit 2030n that overlap each other in the vertical direction. The second group of interest is composed of a wide-angle unit 2030w and a telephoto unit 2030t that overlap each other in the vertical direction. The third set of interest is composed of a narrow-angle unit 2030n and a telephoto unit 2030t that overlap each other in the vertical direction. The fourth group of interest is composed of a wide-angle unit 2030w, a narrow-angle unit 2030n, and a telephoto unit 2030t, which overlap each other in the vertical direction.

According to the first and fourth target groups of the second embodiment, the wide-angle unit 2030w protrudes more than the upper narrow-angle unit 2030n on the depth side where the front windshield 3 is inclined toward the lower side. becomes. According to this, the distance between each of the wide-angle unit 2030w and the narrow-angle unit 2030n and the front windshield 3 is narrowed as much as possible, and the excess light incident on the angles of view θw and θn through this distance is blocked by both units. can be suppressed by Further, the wide-angle unit 2030w projects further to the depth side than the narrow-angle unit 2030n, thereby preventing the narrow-angle unit 2030n from entering the wide angle of view θw of the wide-angle unit 2030w. As a result, the wide-angle unit 2030w and the narrow-angle unit 2030n can be used to capture an image of the outside world with improved horizontal image positional accuracy without being hindered by excess light or interference between the two units.

Further, according to the second and fourth target groups of the second embodiment, the wide-angle unit 2030w protrudes more than the upper telephoto unit 2030t on the depth side where the front windshield 3 is inclined toward the lower side. . According to this, the distance between each of the wide-angle unit 2030w and the telephoto unit 2030t and the front windshield 3 is narrowed as much as possible, and excess light incident within the angles of view θw and θt through the distance is directed to both units. can be suppressed. In addition, the wide-angle unit 2030w projects further to the depth side than the telephoto unit 2030t, thereby preventing the telephoto unit 2030t from entering the wide angle of view θw of the wide-angle unit 2030w. As a result, the wide-angle unit 2030w and the telephoto unit 2030t can be used to capture an image of the outside world with improved lateral image positional accuracy without being hindered by excess light or interference between the two units. Here, looking only at the second set of interest, a telephoto unit 2030t having a narrower angle of view θt than the angle of view θw and a wide-angle unit 2030w having the angle of view θw as narrow-angle units other than the narrow-angle unit 2030n, It can be said that such external imaging can be realized.

Further, according to the third and fourth target groups of the second embodiment, on the depth side where the front windshield 3 is inclined toward the lower side, the narrow angle unit 2030n protrudes more than the upper telephoto unit 2030t. Become. According to this, the distance between each of the narrow-angle unit 2030n and the telephoto unit 2030t and the front windshield 3 is narrowed as much as possible, and excess light incident on the angles of view θn and θt through this distance is blocked by both units. can be suppressed by Further, the narrow-angle unit 2030n projects further to the depth side than the telephoto unit 2030t, thereby preventing the telephoto unit 2030t from entering the angle of view θn of the narrow-angle unit 2030n. As a result, the narrow-angle unit 2030n and the telephoto unit 2030t can be used to capture an image of the outside world with high image position accuracy in the horizontal direction without being hindered by excess light or interference between the two units. Here, especially in the fourth group of interest, it is avoided that the telephoto unit 2030t enters not only the wide angle of view θw but also the angle of view θn narrower than the angle of view θw but wider than the angle of view θt of the telephoto unit 2030t. Therefore, such external imaging can be realized through the entire unit.

The wide-angle unit 2030w, the narrow-angle unit 2030n, and the telephoto unit 2030t of the second embodiment are substantially the same as the wide-angle unit 30w, the narrow-angle unit 30n, and the telephoto unit 30t of the first embodiment, respectively, except for the points described above. are identical. In particular, even in the second embodiment in which the units 2030w, 2030n, and 2030t are displaced in the front-rear direction, the depths of field Dw, Dn, and Dt are set in the same manner as in the first embodiment. For these reasons, in the second embodiment, the first to fourth target groups can exhibit the same effects as the first to fourth target groups in the first embodiment.

(Third Embodiment)
The third embodiment, as shown in FIGS. 8-10, is a modification of the first embodiment. In the third embodiment, a wide-angle unit 3030w, a narrow-angle unit 3030n, and a telephoto unit 3030t as the lens unit 3030 are arranged differently from the first embodiment.

As shown in FIGS. 8 and 10, the narrow-angle lens 34n that forms the front end of the narrow-angle unit 3030n is arranged above the wide-angle lens 34w that forms the front end of the wide-angle unit 3030w without substantial front-back displacement. It is shifted to one side in the horizontal direction (that is, left side in FIG. 10) from the wide-angle lens 34w. Here, the optical axis An of the narrow angle unit 3030n is eccentric in both the vertical direction and the horizontal direction from the optical axis Aw of the wide angle unit 3030w. With such a configuration, the wide-angle unit 2030w does not substantially protrude further toward the depth side than the upper narrow-angle unit 2030n, with the front side of the front windshield 3 that slopes toward the bottom as the depth side.

As shown in FIGS. 9 and 10, the telephoto lens 34t, which forms the front end of the telephoto unit 3030t, is arranged above the wide-angle lens 34w without substantial front-to-rear displacement. (that is, the right side of FIG. 10, which is the side opposite to the narrow angle unit 3030n). Here, the optical axis At of the telephoto unit 3030t is eccentric both vertically and horizontally from the optical axis Aw of the wide-angle unit 3030w. At the same time, the optical axis At of the telephoto unit 30t is decentered from the optical axis An of the narrow angle unit 3030n substantially only in the lateral direction, so that the vertical position of the vehicle 2 is aligned with the optical axis An. With such a configuration, the wide-angle unit 3030w does not substantially protrude further to the depth side than the telephoto unit 3030t on the upper side and the narrow-angle unit 3030n on the side.

From the description so far, in the third embodiment, the first and second target groups are assumed as the groups of interest in which at least some of the lens units 3030 overlap each other in the vertical direction, and the lens units 3030 in the horizontal direction. A third set of interest is assumed as a set of interest in which 3030 overlap each other. Specifically, the first group of interest is composed of a wide-angle unit 3030w and a narrow-angle unit 3030n that overlap each other in the vertical direction. The second set of interest is composed of a wide-angle unit 3030w and a telephoto unit 3030t that overlap each other in the vertical direction. The third set of interest consists of a narrow angle unit 3030n and a telephoto unit 3030t that overlap each other in the lateral direction.

According to the first and second groups of interest of the third embodiment, two of the optical axes Aw, An, and At of the lens units 3030 that overlap each other in the vertical direction are aligned in both the vertical direction and the horizontal direction. becomes eccentric. According to this, in the external world images generated through the lens units 3030 constituting the first and second groups of interest, the horizontal deviation of the position coordinates of the pixels in which the same portions Pw, Pn, and Pt are reflected is suppressed. Also, it is possible to secure a degree of freedom in arrangement for the purpose of, for example, reducing an increase in physical size in the vertical direction due to the suppression. Therefore, it is possible to ensure high image position accuracy in the lateral direction while ensuring the visibility of any occupant in the vehicle 2 in the vertical direction. Here, looking only at the second set of interest, a telephoto unit 3030t having a narrower angle of view θt than the angle of view θw and a wide-angle unit 3030w having the angle of view θw, as narrow-angle units other than the narrow-angle unit 3030n, It can be said that such compatibility between securing visibility and securing accuracy can be realized.

According to the third embodiment, the narrow-angle unit 3030n of the first attention group and the telephoto unit 3030t of the second attention group not only overlap in the horizontal direction as a third attention group separate from them, but also The optical axes An and At are eccentric only in the horizontal direction. According to this, it is possible to enhance the effect of securing the passenger's field of view while reducing as much as possible an increase in physical size in the vertical direction due to the suppression of lateral displacement.

The wide-angle unit 3030w, the narrow-angle unit 3030n, and the telephoto unit 3030t of the third embodiment are substantially the same as the wide-angle unit 30w, the narrow-angle unit 30n, and the telephoto unit 30t of the first embodiment, respectively, except for the points described above. are identical. In particular, even in the third embodiment in which the narrow-angle unit 3030n and the telephoto unit 3030t are arranged side by side above the wide-angle unit 3030w, the depths of field Dw, Dn, and Dt are set as in the first embodiment. is similar to For these reasons, in the third embodiment, the first and second groups of interest can exhibit the same effects as those of the first and second groups of interest in the first embodiment.

(Fourth embodiment)
As shown in FIG. 11, the fourth embodiment is a modification of the first embodiment. In the fourth embodiment, the setting of the depth of field Dw of the wide-angle unit 4030w of the lens unit 30 is different from that in the first embodiment.

The far point Dwf of the wide-angle unit 4030w, which defines the depth of field Dw within the wide angle of view θw, is the near point of the telephoto unit 30t, which defines the depth of field Dt within the angle of view θt narrower than the angle of view θw. It is set on the depth side of the point Dtc. In addition, the far point Dwf of the wide-angle unit 4030w is set closer to the viewer than the far point Dtf of the telephoto 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 telephoto unit 30t, so that the depths of field Dt and Dw of the units 30t and 4030w overlap each other. A region Rtw is formed. In the fourth embodiment, the second set of interest in particular is composed of a wide-angle unit 4030w and a telephoto unit 30t that overlap each other in the vertical direction, as in the first embodiment.

According to the second set of interest of the fourth embodiment, the depths of field Dt and Dw of the lens units 30 overlapping in the vertical direction form an overlapping region Rtw. According to this, it is possible to focus in a wide range including the overlap region Rtw and improve the image position accuracy in the horizontal direction by imaging the external environment through each lens unit 30 that constitutes the second set of interest. .

According to the fourth embodiment, as the lens unit 30 of the second set of interest, the wide-angle unit 4030w having a wide angle of view θw and the telephoto unit 30t having a narrow angle of view θt overlap each other in the vertical direction. , At are laterally adjacent to each other. According to this, between the outside world images generated through the wide-angle unit 4030w and the telephoto unit 30t, it is difficult for the positional coordinates of the pixels in which the same portions Pw and Pt are displayed to largely shift in the lateral direction. Therefore, by passing through the telephoto unit 30t and the wide-angle unit 4030w with a depth of field Dw in which the far point Dwf is set on the depth side of the near point Dtc of the depth of field Dt, both depths of field By focusing on a wide range including the overlap region Rtw, the image position accuracy in the horizontal direction can be improved by imaging the outside world. As described above, in the fourth embodiment, a telephoto unit 2030t having a narrower angle of view θt than the angle of view θw and a wide-angle unit 4030w having the angle of view θw are provided as narrow-angle units other than the narrow-angle unit 30n. It can be said that such imaging of the external world can be realized by the two attention sets.

The wide-angle unit 4030w of the fourth embodiment is substantially the same as the wide-angle unit 30w of the first embodiment except for the points described above. Therefore, in the fourth embodiment, the first to fourth target groups can exhibit the same effects as the first to fourth target groups in the first embodiment.

(Fifth embodiment)
As shown in FIG. 12, the fifth embodiment is a modification of the fourth embodiment. In the fifth embodiment, the setting of the depth of field Dw of the wide-angle unit 5030w of the lens unit 30 is different from that in the fourth embodiment.

The near point Dwc of the wide-angle unit 5030w that defines the depth of field Dw within the wide angle of view θw is the near point Dwc of the narrow-angle unit 30n that defines the depth of field Dn within the angle of view θn narrower than the angle of view θw. It is set on the depth side of the near point Dnc. In addition, the far point Dwf of the wide-angle unit 5030w is set closer to the viewer than the far point Dnf of the narrow-angle unit 30n. With these settings, 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, so that the units 30n and 5030w have the depth of field Dn. , Dw form an overlapping region Rnw. In the fifth embodiment, the second group of interest in particular is composed of a wide-angle unit 5030w and a telephoto unit 30t that overlap each other in the vertical direction, as in the fourth embodiment.

The wide-angle unit 5030w of the fifth embodiment is substantially the same as the wide-angle unit 4030w of the fourth embodiment except for the points described above. Therefore, in the fifth embodiment, the first to fourth target groups can exhibit the same effects as the first to fourth target groups in the fourth embodiment.

(Sixth embodiment)
The sixth embodiment, as shown in FIGS. 13-18, is a modification of the first embodiment. In the sixth embodiment, a wide-angle unit 6030w, a narrow-angle unit 6030n, and a telephoto unit 6030t as the lens unit 6030 are arranged differently from the first embodiment.

As shown in FIGS. 13, 14, 16, and 18, the narrow-angle lens 34n forming the front end of the narrow-angle unit 6030n is arranged substantially flush with the wide-angle lens 34w forming the front end of the wide-angle unit 6030w. , the front side as the outside world 5 side and one lateral side (that is, the left side in FIG. 18) are displaced from the wide-angle lens 34w. Here, the optical axis An of the narrow angle unit 6030n is decentered from the optical axis Aw of the wide angle unit 6030w substantially only in the horizontal direction.

As shown in FIGS. 15, 16, and 18, the telephoto lens 34t, which forms the front end of the telephoto unit 6030t, is arranged substantially flush with the wide-angle lens 34w. The side (ie, the right side in FIG. 18) is displaced from the wide-angle lens 34w. Here, the optical axis At of the telephoto unit 6030t is decentered substantially only in the horizontal direction from 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, the vertical wall portion 6210 of the upper casing member 21 of the camera casing 20 shown in FIGS. It is Specifically, the vertical wall portion 6210 obliquely protrudes toward the front side (that is, the depth side described in the first embodiment) as the outside world 5 side toward the left and right sides from the center portion in the horizontal direction. Therefore, lens windows 6211w, 6211n, and 6211t that penetrate the vertical wall portion 6210 and expose the units 6030w, 6030n, and 6030t to the outside of the camera casing 20 are individually provided for each of these units. Here, the vertical positions of the lens windows 6211w, 6211n, 6211t corresponding to the respective units 6030w, 6030n, 6030t are aligned with each other. At the same time, the front-rear positions of the lens windows 6211n and 6211t corresponding to the narrow-angle unit 6030n and the telephoto unit 6030t are aligned with each other while being deviated from the front-rear position of the lens window 6211w corresponding to the wide-angle unit 6030w. there is

From the above description, in the sixth embodiment, the first to fourth attention groups are assumed as the groups of interest in which the lens units 6030 overlap each other in the horizontal direction. Specifically, the first group of interest is composed of a wide-angle unit 6030w and a narrow-angle unit 6030n that overlap each other in the horizontal direction. The second set of interest consists of a wide-angle unit 6030w and a telephoto unit 6030t that overlap each other in the lateral direction. The third set of interest consists of a narrow angle unit 6030n and a telephoto unit 6030t that overlap each other in the lateral direction. The fourth group of interest is composed of a wide-angle unit 6030w, a narrow-angle unit 6030n, and a telephoto unit 6030t, which overlap each other in the horizontal direction.

The wide-angle unit 6030w, the narrow-angle unit 6030n, and the telephoto unit 6030t of the sixth embodiment are the same as the wide-angle unit 30w, the narrow-angle unit 30n, and the telephoto unit 30t of the first embodiment, respectively. are substantially the same. Here, even in the sixth embodiment in which the units 6030w, 6030n, and 6030t are displaced in the longitudinal direction, the depths of field Dw, Dn, and Dt are set in the same manner as in the first embodiment.

Therefore, according to the first and third target groups of the sixth embodiment, it is possible to exhibit the same effects as those of the first and third target groups of the first embodiment, except for the image position accuracy in the horizontal direction. can. Furthermore, according to the first to fourth groups of interest, as a function and effect unique to the sixth embodiment, the image position accuracy in the horizontal direction can be ensured by correcting the displacement of the position coordinates. Looking only at the second set of interest, a telephoto unit 6030t having a narrower angle of view θt than the angle of view θw and a wide-angle unit 6030w having the angle of view θw, which are different from the narrow-angle unit 6030n, It can be said that such precision assurance can be realized.

As shown in FIGS. 13 to 17, in the sixth embodiment, a pair of hoods 6040 are provided on both sides of the imaging space 410 above the base wall portion 41 according to the arrangement of the lens units 6030. Each structure of the side wall portion 6043 is different from that of the first embodiment.

Each side wall portion 6043 is provided symmetrically with respect to the optical axis Aw of the wide-angle unit 6030w positioned in the center of the lens units 6030 arranged in the horizontal direction. Each straight flat plate-shaped side wall portion 6043 directs the light of the wide-angle unit 6030w toward the outer side according to the wide angle of view θw of the wide-angle unit 6030w as it goes toward the front side as the outside world 5 side from the periphery of the wide-angle unit 6030w. It is inclined with respect to the axis Aw. The trapezoidal inner wall surface 6043a of each side wall portion 6043 is tapered at the same angle θw outside the angle of view θw as shown in FIG. It is formed so as to spread along a line. As a result, the angles of view θn and θt of the narrow-angle unit 6030n and the telephoto unit 6030t, which are narrower than the angle of view θw of the wide-angle unit 6030w, are partially inside the angle of view θw when viewed in the vertical direction within the imaging space 410. It's settled.

As shown in FIGS. 13, 16 and 17, a wide-angle exposure window 6431w is opened between the rear ends of the side walls 6043 in front of the lens window 6211w in the vertical wall 6210. As shown in FIGS. The front end portion of the wide-angle unit 6030w on the outside world 5 side is out of the imaging space 410 and enters from the lens window 6211w to the wide-angle exposure window 6431w. Thereby, the wide-angle exposure window 6431 w exposes the wide-angle unit 6030 w toward the imaging space 410 .

As shown in FIGS. 13 to 17, in the first side wall portion 6432 which is the side wall portion 6043 on one side in the horizontal direction, a narrow-angle exposure window 6431n is opened in front of the lens window 6211n in the vertical wall portion 6210. there is The narrow-angle exposure window 6431n is vertically aligned with respect to the wide-angle exposure window 6431w. Here, the front end portion of the narrow-angle unit 6030n on the outside 5 side is outside the imaging space 410 and enters from the lens window 6211n to the narrow-angle exposure window 6431n. Thereby, the narrow-angle exposure window 6431 n exposes the narrow-angle unit 6030 n toward the imaging space 410 .

As shown in FIGS. 15 to 17, a second side wall portion 6433, which is the side wall portion 6043 on the other side in the horizontal direction, has a telephoto exposure window 6431t opening in front of the lens window 6211t in the vertical wall portion 6210. . The telephoto exposure window 6431t is vertically aligned with respect to the wide-angle exposure window 6431w and the narrow-angle exposure window 6431n. At the same time, the telephoto exposure window 6431t is shifted in the front-rear direction with respect to the wide-angle exposure window 6431w, and is aligned with the narrow-angle exposure window 6431n in the front-rear direction. Here, the front end portion of the telephoto unit 6030t on the outside world 5 side is out of the imaging space 410 and enters from the lens window 6211t to the telephoto exposure window 6431t. Accordingly, the telephoto exposure window 6431t exposes the telephoto unit 6030t toward the imaging space 410 on the front side, which is closer to the outside world 5 than the wide-angle unit 6030w, and right beside the narrow-angle unit 6030n.

The hood 6040 of the sixth embodiment is substantially the same as the hood 40 of the first embodiment except for the points described above. Therefore, according to the hood 6040 of the sixth embodiment, the wide-angle side of the imaging space 410 that guides the optical image from within the imaging target range to the units 6030w and 6030n constituting the first and fourth groups of interest in the lens unit 6030. A first side wall portion 6432 on one side of the pair of side wall portions 6043 is inclined according to the angle of view θw of the wide-angle unit 6030w toward the outside world from the periphery of the unit 6030w. Especially in the hood 6040 of the sixth embodiment, the first side wall portion 6432 is arranged in an inclined state that spreads along the angle of view θw of the wide-angle unit 6030w. Here, in the first side wall portion 6432, a narrow-angle exposure window 6431n is opened on the outside side of the wide-angle unit 6030w so as to expose the narrow-angle unit 6030n toward the imaging space 410. FIG. According to this, the angle of view θn of the narrow-angle unit 6030n is contained inside the angle of view θw of the wide-angle unit 6030w that determines the inclination of the first side wall portion 6432, and the imaging space 410 can be shared between the two units. Therefore, it is possible to reduce the size of the camera module 1 including the hood 6040 by limiting the formation range of the first side wall portion 6432 that opens the narrow-angle exposure window 6431n in the tilted state to the range necessary for the wide-angle unit 6030w. can.

In addition, in the first and fourth target sets of the sixth embodiment, the front end portion of the narrow-angle unit 6030n on the side of the external world 5 is arranged outside the imaging space 410, so that the angle of view θw of the wide-angle unit 6030w includes the relevant It is difficult for the narrow angle unit 6030n to enter. Therefore, it becomes difficult for the interference of the narrow-angle unit 6030n to interfere with capturing a regular light image from within the imaging target range of the external world 5, especially in the first set of interest, capturing the external world that can avoid the loss of the object.

According to the sixth embodiment, the front ends of the narrow-angle units 6030n of the first, third, and fourth groups of interest enter the narrow-angle exposure window 6431n while being out of the imaging space 410. FIG. According to this, the narrow-angle unit 6030n can be brought closer to the front windshield 3 to suppress excess light incident within the angle of view θn through the space between the elements 6030n and 3. Therefore, the imaging of the normal light image from within the imaging target range in the external world 5, especially the imaging of the external world that can avoid the loss of the object in the first group of interest, is less likely to be hindered by the incident excess light.

Moreover, according to the hood 6040 of the sixth embodiment, the wide-angle side of the imaging space 410 guides the optical image from within the imaging target range to the units 6030w and 6030t of the lens units 6030 constituting the second and fourth groups of interest. The second side wall portion 6433, which is one of the pair of side wall portions 6043, is inclined according to the angle of view θw of the wide-angle unit 6030w toward the outside world from the periphery of the unit 6030w. Especially in the hood 6040 of the sixth embodiment, the second side wall portion 6433 is arranged in an inclined state that spreads along the angle of view θw of the wide-angle unit 6030w. Here, in the second side wall portion 6433, a telephoto exposure window 6431t is opened on the outside side of the wide-angle unit 6030w so as to expose the telephoto unit 6030t toward the imaging space 410. FIG. According to this, the angle of view θt of the telephoto unit 6030t can be contained inside the angle of view θw of the wide-angle unit 6030w that determines the inclination of the second side wall portion 6433, and the imaging space 410 can be shared between the two units. Therefore, it is possible to reduce the size of the camera module 1 including the hood 6040 by limiting the formation range of the second side wall portion 6433 that opens the telephoto exposure window 6431t in the tilted state to the range necessary for the wide-angle unit 6030w. .

In addition, in the second and fourth target groups of the sixth embodiment, since the front end portion of the telephoto unit 6030t on the side of the external world 5 is located away from the imaging space 410, the telephoto unit 6030w has an angle of view θw of the wide angle unit 6030w. It is difficult for the unit 6030t to enter. Therefore, it becomes difficult for the interference of the telephoto unit 6030t to interfere with the normal light image pickup from within the imaging target range in the external world 5 .

According to the sixth embodiment, the front ends of the telephoto units 6030t of the second to fourth groups of interest are outside the imaging space 410 and enter the telephoto exposure window 6431t. According to this, the telephoto unit 6030t can be brought closer to the front windshield 3, and excess light entering the angle of view θt through the space between the elements 6030t and 3 can be suppressed. Therefore, the imaging of the regular light image from within the imaging target range in the external world 5 is less likely to be hindered by the excess incident light.

Here, looking only at the second set of interest in particular, a telephoto unit 6030t, which is a narrow-angle unit separate from the narrow-angle unit 6030n and whose angle of view θt is narrower than the angle of view θw, is a narrow-angle unit different from the narrow-angle exposure window 6431n. It can be said that the telephoto exposure window 6431t, which is the angle exposure window, can realize the miniaturization and regular optical image photographing as described above.

(Seventh embodiment)
The seventh embodiment, as shown in FIGS. 19-21, is a modification of the first embodiment. In the seventh embodiment, the arrangement positions of a narrow-angle unit 7030n and a telephoto unit 7030t as the lens unit 6030 are different from those in the sixth embodiment.

As shown in FIGS. 19 and 21, the front end portion of the narrow-angle unit 7030n on the side of the outside world 5 enters the imaging space 410 through the lens window 6211n and the narrow-angle exposure window 6431n. Thereby, the narrow-angle exposure window 6431 n exposes the narrow-angle unit 7030 n toward the imaging space 410 . Further, as shown in FIG. 21, the angle of view θn of the narrow-angle unit 7030n, which is narrower than the angle of view θw of the wide-angle unit 6030w, is completely within the angle of view θw when viewed in the vertical direction within the imaging space 410. .

As shown in FIGS. 19 and 21, the narrow-angle unit 7030n has a reflection restricting portion 7036n on the entire circumferential direction and the entire end surface of the portion including at least the exposed front end that enters the imaging space 410 . The reflection regulating portion 7036n is formed by coating or painting the narrow-angle lens barrel 32n of the narrow-angle unit 7030n with black, for example. For example, when the narrow-angle lens barrel 32n itself is made of a black material, the reflection restricting portion 7036n may not necessarily be provided.

As shown in FIGS. 20 and 21, the front end portion of the telephoto unit 7030t on the side of the external world 5 enters the imaging space 410 through the lens window 6211t and the telephoto exposure window 6431t. Thus, the telephoto exposure window 6431t exposes the telephoto unit 7030t toward the imaging space 410 on the front side, which is closer to the outside world 5 than the wide-angle unit 6030w, and right beside the narrow-angle unit 7030n. Further, as shown in FIG. 21, the angle of view θt of the telephoto unit 7030t, which is narrower than the angle of view θw of the wide-angle unit 6030w, is completely within the angle of view θw when viewed in the imaging space 410 in the vertical direction.

As shown in FIGS. 20 and 21, the telephoto unit 7030t has a reflection restricting portion 7036t on the entire circumferential direction and the entire end surface of the portion including at least the exposed front end that enters the imaging space 410 . The reflection regulating portion 7036t is formed by applying, for example, a black coating or painting to the telescope tube 32t of the telephoto unit 7030t. Incidentally, for example, when the telescope tube 32t itself is made of a black material, the reflection restricting portion 7036t may not necessarily be provided.

From the description so far, in the seventh embodiment, as in the sixth embodiment, the first to fourth groups of interest are assumed as groups of interest in which the lens units 6030 overlap each other in the horizontal direction. Specifically, the first group of interest is composed of a wide-angle unit 6030w and a narrow-angle unit 7030n that overlap each other in the horizontal direction. The second group of interest consists of a wide-angle unit 6030w and a telephoto unit 7030t that overlap each other in the lateral direction. The third set of interest consists of a narrow angle unit 7030n and a telephoto unit 7030t that overlap each other in the lateral direction. The fourth group of interest is composed of a wide-angle unit 6030w, a narrow-angle unit 7030n, and a telephoto unit 7030t, which overlap each other in the horizontal direction.

According to the seventh embodiment, the front ends of the narrow-angle units 7030n of the first, third, and fourth groups of interest enter the imaging space 410 from within the narrow-angle exposure window 6431n. According to this, the gap between the narrow angle unit 7030n and the front windshield 3 can be narrowed as much as possible, and the effect of suppressing excess light entering the angle of view θn through the gap can be enhanced. Therefore, it is possible to capture a normal light image from within the imaging target range of the external world 5, especially in the first group of interest, without hindrance due to excess light incidence, for external field imaging that can avoid the loss of the object.

Further, according to the seventh embodiment, the reflection of light can be restricted by the reflection restricting portion 7036n at the front end portion of the narrow-angle units 7030n of the first and fourth groups of interest entering the imaging space 410. FIG. According to this, it is possible to suppress the incidence of reflected light in which the light reflected by the front end portion of the narrow-angle unit 7030n in the imaging space 410 is incident within the angle of view θw of the wide-angle unit 6030w. Therefore, it is possible to capture a normal light image from within the imaging target range of the external world 5, especially in the first group of interest, without hindrance due to the incidence of reflected light, for capturing the external world that can avoid the loss of the object.

Moreover, according to the seventh embodiment, the front ends of the telephoto units 7030t of the second to fourth groups of interest enter the imaging space 410 from the telephoto exposure window 6431t. According to this, the distance between the telephoto unit 7030t and the front windshield 3 can be narrowed as much as possible, and the effect of suppressing excess light entering within the angle of view θt through the distance can be enhanced. Therefore, it is possible to pick up a normal light image from within the imaging target range in the external world 5 without hindrance due to incident excess light.

Further, according to the seventh embodiment, reflection of light can be regulated by the reflection regulating portion 7036t at the front end portion of the telephoto units 7030t of the second and fourth groups of interest that have entered the imaging space 410 . According to this, it is possible to suppress the incidence of reflected light in which the light reflected by the front end portion of the telephoto unit 7030t in the imaging space 410 is incident within the angle of view θw of the wide-angle unit 6030w. Therefore, it is possible to pick up a normal light image from within the imaging target range of the external world 5 without being hindered by the incidence of reflected light.

Here, looking only at the second set of interest in particular, a telephoto unit 7030t having a narrower angle of view θt than the angle of view θw, which is a narrow-angle unit different from the narrow-angle unit 7030n, can realize normal optical image photography as described above. It can be said.

The narrow-angle unit 7030n and the telephoto unit 7030t of the seventh embodiment are substantially the same as the narrow-angle unit 6030n and the telephoto unit 6030t of the sixth embodiment, respectively, except for the points described above. Therefore, in the seventh embodiment, regarding the first to fourth target groups, the effects other than the arrangement structure outside the imaging space 410 are exerted in the same manner as the first to fourth target groups in the sixth embodiment. You can also

(Eighth embodiment)
As shown in FIGS. 22-24, the eighth embodiment is a modification of the first embodiment. In the eighth embodiment, the arrangement positions of a narrow-angle unit 8030n and a telephoto unit 8030t as the lens unit 6030 are different from those in the sixth embodiment.

As shown in FIGS. 22 and 24, the front end of the narrow-angle unit 8030n on the side of the outside world 5 enters the lens window 6211n while being out of the imaging space 410 and the narrow-angle exposure window 6431n. Thereby, the narrow-angle exposure window 6431 n exposes the narrow-angle unit 8030 n toward the imaging space 410 . Further, as shown in FIG. 24, the angle of view θn of the narrow-angle unit 8030n, which is narrower than the angle of view θw of the wide-angle unit 6030w, is partially within the angle of view θw when viewed in the imaging space 410 in the vertical direction. there is

As shown in FIGS. 23 and 24, the front end portion of the telephoto unit 8030t on the side of the outside world 5 enters the lens window 6211t while being out of the imaging space 410 and the telephoto exposure window 6431t. As a result, the telephoto exposure window 6431t exposes the telephoto unit 8030t toward the imaging space 410 on the front side, which is closer to the outside world 5 than the wide-angle unit 6030w, and right next to the narrow-angle unit 8030n. Further, as shown in FIG. 24, the angle of view θt of the telephoto unit 8030t, which is narrower than the angle of view θw of the wide-angle unit 6030w, is partially within the angle of view θw when viewed in the vertical direction within the imaging space 410. .

From the description so far, in the eighth embodiment, as in the sixth embodiment, the first to fourth attention groups are assumed as the groups of interest in which the lens units 6030 overlap each other in the horizontal direction. Specifically, the first group of interest is composed of a wide-angle unit 6030w and a narrow-angle unit 8030n that overlap each other in the horizontal direction. The second group of interest consists of a wide-angle unit 6030w and a telephoto unit 8030t that overlap each other in the lateral direction. The third set of interest consists of a narrow angle unit 8030n and a telephoto unit 8030t that overlap each other in the lateral direction. The fourth group of interest is composed of a wide-angle unit 6030w, a narrow-angle unit 8030n, and a telephoto unit 8030t, which overlap each other in the horizontal direction.

The narrow-angle unit 8030n and the telephoto unit 8030t of the eighth embodiment are substantially the same as the narrow-angle unit 6030n and the telephoto unit 6030t of the sixth embodiment, respectively, except for the points described above. Therefore, in the eighth embodiment, regarding the first to fourth target groups, the effects other than those related to the entrance structure into the exposure windows 6431n and 6431t are the same as those of the first to fourth target groups in the sixth embodiment. can also be exhibited.

(Ninth embodiment)
The ninth embodiment, as shown in FIGS. 25-32, is a modification of the sixth embodiment. In the ninth embodiment, of the hood 9040 shown in FIGS. The structure is different from that of the sixth embodiment, and is constructed in association with the control function of the vehicle 2. FIG.

In the ninth embodiment, an external circuit such as an ECU connected to the control circuit 55 or the external connector 542 constructs a control function of the vehicle 2 according to the situation of the external world 5 shown in FIGS. Here, one of the control functions includes, as a specific control Cs of the vehicle 2, a collision avoidance control of the vehicle 2 against a forward obstacle 5a (for example, a pedestrian, a bicycle, another vehicle, etc.) which is an object in the external world 5. There is A specific example of this specific control Cs is to automatically control the vehicle speed of the vehicle 2 when an emergency control condition is established in which the estimated collision time (TTC: Time To Collision) approaches several seconds or less, thereby forcibly driving the vehicle 2. Such as collision damage mitigation braking (AEB: Autonomous Emergency Braking) for deceleration. Further, one of the control functions includes driving control of the vehicle 2 in the driving lane as another control Ca of the vehicle 2 different from the specific control Cs. A specific example of this separate control Ca is to automatically control the position of the vehicle 2 in the width direction of the driving lane, thereby regulating the deviation of the vehicle 2 from the demarcation line 5b such as a white line or a yellow line on the road surface in the outside world 5. Lane Keeping Assist (LKA) and the like.

As shown in FIGS. 27 to 30, the horizontal angle of view required for the specific control Cs of the vehicle 2 falls within the imaging target range of the camera module 1 attached to the front windshield 3 in the external world 5. FIG. This horizontal angle of view range is defined by a first taper angle θ1 that bisects the optical axis Aw of the wide-angle unit 6030w in a vertical view (that is, a horizontal view) of the vehicle 2 on a horizontal plane. Here, the first taper angle θ1 is smaller than the horizontal angle of view range of the angle of view θw defined around the optical axis Aw in the wide-angle unit 6030w. For example, the first taper angle θ1 is set to an angle such as 100° or more, which allows the TTC to image the forward obstacle 5a 13 m or more ahead of the vehicle 2 2.4 seconds or more before.

As shown in FIGS. 31 and 32 , the vertical angle of view range required for the specific control Cs of the vehicle 2 falls within the imaging target range of the camera module 1 attached to the front windshield 3 in the external world 5 . This vertical angle of view range is defined by the sum of the first depression angle ψd1 and the first elevation angle ψe1 in a horizontal view (that is, side view) of the vehicle 2 on the horizontal plane. Here, the sum of the first depression angle ψd1 and the first elevation angle ψe1 is smaller than the vertical angle of view range of the angle of view θw in the wide-angle unit 6030w. For example, the first depression angle ψd1 is set to an angle of 6° or less, which allows the TTC to image the forward obstacle 5a 13 m or more ahead of the vehicle 2 2.4 seconds or more before.

As shown in FIG. 28, the individual imaging range Us used specifically for the specific control Cs is determined from the horizontal angle of view range and the vertical angle of view range required for the specific control Cs in the external world 5 . 27, 28, 30, and 32, entering the wide-angle unit 6030w at the first taper angle .theta.1 and the first depression angle .psi.d1 as shown in FIGS. It is assumed as the lower ray L1. 27, 30 and 32, the points at which each first lower light ray L1 associated with the specific control Cs intersects the inner surface 3a of the front windshield 3 in the vehicle 2 are the first imaginary intersection points defined as I1. As shown in FIG. 27, the first imaginary intersection point I1 is associated above the intermediate portion between the front end portion and the rear end portion of each side wall portion 9043 . As a result, the following configuration is realized for each side wall portion 9043 .

Each side wall portion 9043 is slightly outward from the left and right both side taper lines of the first taper angle θ1 substantially overlapping with each first lower light ray L1 on the wide angle unit 6030w side of the first imaginary intersection point I1 in the vehicle 2, that is, on the rear side. A clearance is provided to form an inner wall surface 9043a. In addition, each side wall portion 9043 forms an inner wall surface 9043a with a slight clearance outward from both left and right taper lines of the first taper angle θ1 on the outside 5 side of the first imaginary intersection point I1 in the vehicle 2, that is, on the front side. are doing. Here, the inner wall surface 9043a of each side wall portion 9043 is set to have substantially the same inclination angle with respect to the optical axis Aw of the wide-angle unit 6030w, so that the inner wall surface 9043a is continuous in a single plane. As a result, in the vehicle 2, each side wall portion 9043 extending from the periphery of the wide-angle unit 6030w toward the first imaginary intersection point I1 and further toward the outside world 5 from the point I1 has an angle of view of the wide-angle unit 6030w when viewed in the vertical direction. Outside the first taper angle θ1 corresponding to θw, the inner wall surface 9043a is inclined along the taper line of the same angle θ1. In this inclined state, each side wall portion 9043 is located inside the angle of view θw when viewed in the vertical direction.

Each of these side wall portions 9043 functions as a first side wall portion 6432 and a second side wall portion 6433 that open the exposure windows 6431n and 6431t, respectively. Here, the exposure windows 6431n and 6431t of the ninth embodiment are on the wide-angle unit 6030w side of the first imaginary intersection point I1 on the corresponding side wall portion 9043 (that is, the first side wall portion 6432 or the second side wall portion 6433). An opening is formed in the inclined portion.

In contrast to the above, as shown in FIGS. 27 to 30, the horizontal angle of view range required for the separate control Ca of the vehicle 2 falls within the imaging range of the external world 5. FIG. This horizontal angle of view range is defined by a second taper angle θ2 that bisects the optical axis Aw of the wide-angle unit 6030w when viewed in the vertical direction on the vehicle 2 on the horizontal plane. Here, the second taper angle θ2 is smaller than the first taper angle θ1, which is smaller than the horizontal angle of view range of the angle of view θw in the wide-angle unit 6030w. For example, the second taper angle θ2 is set to an angle such as 50° or more and less than 100° as an angle at which the marking line 5b on the road surface can be imaged at a distance of 8.5 m or more from the vehicle 2 .

As shown in FIGS. 31 and 32 , the vertical angle of view range required for the separate control Ca of the vehicle 2 falls within the imaging target range of the external world 5 . This vertical angle of view range is defined by the sum of the second angle of depression ψd2 and the second angle of elevation ψe2 when viewed in the horizontal direction of the vehicle 2 on the horizontal plane. Here, the sum of the second depression angle ψd2 and the second elevation angle ψe2 is smaller than the vertical angle of view range of the angle of view θw in the wide-angle unit 6030w. For example, the second depression angle ψd2 is set to an angle of more than 6° and less than or equal to 12° as an angle at which the division line 5b on the road surface can be imaged at a distance of 8.5 m or more from the vehicle 2 . That is, the second depression angle ψd2 is greater than the first depression angle ψd1.

As shown in FIG. 28, from the horizontal angle of view range and the vertical angle of view range required for the separate control Ca in the external world 5, the individual imaging range Ua specifically used for the control Ca is determined. 28, 29, 30, and 32, entering the wide-angle unit 6030w at the second taper angle .theta.2 and the second depression angle .psi.d2 as shown in FIGS. It is assumed as the lower ray L2. Under this assumption, in the vehicle 2, the points where each second lower light ray L2 associated with the separate control Ca intersects the inner surface 3a of the front windshield 3 are the second imaginary intersection points as shown in FIGS. Defined as I2. As shown in FIG. 27, the second imaginary intersection point I2 is associated above the front end portion of the base wall portion 9041, thereby realizing the following configuration for the base wall portion 9041 and the side wall portions 9043. As shown in FIG.

The base wall portion 9041 is located on the wide-angle unit 6030w side of the second imaginary intersection point I2 in the vehicle 2, i.e., on the rear side, on the inside of the left and right side taper lines of the second taper angle θ2 that substantially overlaps the second lower light rays L2. A bottom wall surface 9041a is formed in the entire region and the predetermined outer region. As a result, in the vehicle 2, the base wall portion 9041 extending from the periphery of the wide-angle unit 6030w to the second imaginary intersection point I2 and to both inner and outer sides of the second imaginary intersection point I2 has a taper line of the first taper angle θ1 among portions outside the second imaginary intersection point I2. The bottom wall surface 9041a expands to a slightly outer position. At the same time, in each side wall portion 9043, the inner wall surface 9043a expands to a portion slightly outside the taper line of the first taper angle θ1 among the portions outside the second imaginary intersection point I2. From the above configuration, it can be said that the base wall portion 9041 and the side wall portions 9043 are formed so as to spread outward from the second imaginary intersection point I2.

The hood 9040 of the ninth embodiment is substantially the same as the hood 6040 of the first embodiment except for the points described above. Therefore, according to the hood 9040 of the ninth embodiment, the side wall portion 9043 of the vehicle 2 is arranged to expand from the periphery of the wide-angle unit 6030w toward the imaginary intersection point I1. According to this, even if the hood 9040 is formed small, the lower light ray L1 that intersects the front windshield 3 at the imaginary intersection point I1 has a horizontal angle of view smaller than the angle of view θw of the wide-angle unit 6030w within the imaging target range. The incidence at the taper angle θ1 that defines the range is less likely to be blocked by the side wall portion 9043 . Therefore, it is possible to reduce the size of the camera module 1 including the hood 9040 that secures the taper angle θ1 capable of picking up a regular optical image.

According to the hood 9040 of the ninth embodiment, the side wall portion 9043 of the vehicle 2 expands along the same angle θ1 outside the taper angle θ1 on the wide-angle unit 6030w side of the imaginary intersection point I1. According to this, the hood 9040 can be formed by limiting the size for securing the taper angle θ1. Therefore, it is possible to promote miniaturization of the camera module 1 including the hood 9040 that secures the taper angle θ1 capable of capturing a normal optical image.

Further, according to the hood 9040 of the ninth embodiment, the side wall portion 9043 of the vehicle 2 is located on the side where the taper angle θ1 secured by the spread from the wide-angle unit 6030w to the imaginary intersection point I1 is less likely to be affected, that is, on the side of the imaginary intersection point I1. On the side of 5, it is in an arrangement state in which it spreads along the same angle θ1 outside the taper angle θ1. In this case, the light reflected by the front windshield 3 and incident within the taper angle θ1 is moved to the outside world 5 side of the imaginary intersection point I1 by the cooperation of the side wall portion 9043 and the base wall portion 9041 from which the side wall portion 9043 is erected. A large area can be blocked before the reflection. Therefore, for the camera module 1 including the hood 9040 that secures the taper angle θ1 capable of capturing the normal light image, the reflected light from the front windshield 3 is superimposed on the normal light image as long as miniaturization is not greatly hindered. By doing so, the effect of suppressing situations that hinder imaging can be enhanced.

In addition, according to the hood 9040 of the ninth embodiment, the lower light ray L1 that intersects the front windshield 3 at the imaginary intersection point I1 as described above reaches the taper angle θ1 required for the specific control Cs of the vehicle 2 within the imaging target range. The side wall portion 9043 does not block the incident light at . Therefore, it is possible to reduce the size of the camera module 1 including the hood 9040 capable of picking up a regular optical image within the taper angle θ1 required for the specific control Cs.

Here, according to the hood 9040 of the ninth embodiment, the side wall portion 9043 of the vehicle 2 is arranged to expand from the periphery of the wide-angle unit 6030w toward the first imaginary intersection point I1 as the imaginary intersection point I1. According to this, even if the hood 9040 is formed small, the first lower light ray L1 that intersects the front windshield 3 at the first imaginary intersection point I1 is incident on the side wall portion with the taper angle θ1 and the first depression angle ψd1. 9043 makes it difficult to be blocked. Moreover, in the vehicle 2, the base wall portion 9041 is arranged to spread from the periphery of the wide-angle unit 6030w toward the second imaginary intersection point I2. According to this, the second lower light ray L2 that intersects the front windshield 3 at the second imaginary intersection I2 has a second taper angle θ2 that is smaller than the first taper angle θ1 and a second taper angle θ2 that is larger than the first depression angle ψd1. The base wall portion 9041 and the side wall portion 9043 are less likely to block the incident light with the depression angle ψd2. For this reason, not only is the normal light image captured within the first taper angle θ1 required for the specific control Cs of the vehicle 2, but also the normal light image captured within the second taper angle θ2 required for the separate control Ca of the vehicle 2. It is possible to reduce the size of the camera module 1 including the hood 9040 capable of imaging up to .

Further, according to the hood 9040 of the ninth embodiment, the side wall portion 9043 and the base wall portion 9041 in the vehicle 2 hardly affect the first taper angle θ1 secured by the spread from the wide-angle unit 6030w to the first imaginary intersection point I1. On the side, that is, on the outside world 5 side of the first imaginary intersection point I1, there is an arrangement state in which it expands toward the side of the second imaginary intersection point I2. In this case, the side wall portion 9043 and the base wall portion 9041 jointly block the light incident on the first taper angle θ1 or the second taper angle θ2 before being reflected by the front windshield 3 . can be Therefore, it is possible to capture both the normal light image within the first taper angle θ1 required for the specific control Cs and the normal light image within the second taper angle θ2 required for the separate control Ca. .

Further, according to the ninth embodiment, in the collision prevention control of the vehicle 2 against the forward obstacle 5a as the specific control Cs, it is possible to secure the relatively large first taper angle θ1 and exhibit the desired collision prevention function. becomes. On the other hand, in the operation control of the vehicle 2 in the running lane as a control Ca separate from the specific control Cs, the relatively large second depression angle ψd2 of the second lower light ray L2 incident at the second taper angle θ2, which may be relatively small, is controlled. It is possible to secure the desired operation control function.

The ninth embodiment, which includes the wide-angle unit 6030w, the narrow-angle unit 6030n, and the telephoto unit 6030t, can exhibit the same effects as those of the first to fourth groups of interest in the sixth embodiment.

(Tenth embodiment)
As shown in FIG. 33, the tenth embodiment is a modification of the first embodiment. In the tenth embodiment, a common positioning member 10060 common to each lens unit 30 is added to the camera module 1. FIG.

The common positioning member 10060 is made of a hard material such as metal or resin and formed into a flat plate shape. The common positioning member 10060 is screwed, adhesively fixed, or press-fitted to the upper casing member 21 of the camera casing 20 that houses the lens units 10030 and the imaging system 50 in the housing space 25 . Here, the common positioning member 10060 is positioned in the vehicle 2 by attaching the camera casing 20 to the inner side of the front windshield 3 via the bracket assembly 10 as in the first embodiment.

The common positioning member 10060 has a plurality of (three in this embodiment) insertion holes 10600w, 10600n and 10600t individually corresponding to each lens unit 10030, that is, individually corresponding to each unit 10030w, 10030n and 10030t. have. Each of the insertion holes 10600w, 10600n and 10600t passes through the common positioning member 10060 in the shape of a cylindrical hole aligned with the optical axes Aw, An and At of the corresponding units 10030w, 10030n and 10030t. That is, each of the insertion holes 10600w, 10600n, and 10600t passes through the common positioning member 10060 in an axial direction that intersects with the horizontal direction and the vertical direction. Here, the lens barrels 10032w, 10032n, 10032t of the respective units 10030w, 10030n, 10030t are formed in a cylindrical shape having an outer diameter that complements the diameter of the corresponding insertion holes 10600w, 10600n, 10600t.

The common positioning member 10060 has a reference surface portion 10601 on which the insertion holes 10600w, 10600n, and 10600t are opened on the rear surface opposite to the outside world 5 . The reference surface portion 10601 has a flat surface shape arranged substantially perpendicular to the optical axes Aw, An, and At of the units 10030w, 10030n, and 10030t. The reference surface portion 10601 spreads on a plane where the units 10030w, 10030n, and 10030t overlap each other in the vertical direction. Annular plate-like flanges 10038w, 10038n, and 10038t are integrally provided at locations overlapping the surface portion 10601 in the axial direction. The flanges 10038w, 10038n, and 10038t of the respective units 10030w, 10030n, and 10030t have flat contact surface portions 10380w, 10380n, and 10380t that are substantially perpendicular to the respective optical axes Aw, An, and At. have in

Under the above configuration, the lens barrels 10032w, 10032n, 10032t of the units 10030w, 10030n, 10030t are coaxially fitted and inserted into the corresponding insertion holes 10600w, 10600n, 10600t, respectively. At the same time, the lens barrels 10032w, 10032n, and 10032t of the units 10030w, 10030n, and 10030t are arranged so that the contact surface portions 10380w, 10380n, and 10380t of the flanges 10038w, 10038n, and 10038t, respectively, are in surface contact with the common reference surface portion 10601. direction. As a result, the units 10030w, 10030n, and 10030t are axially positioned with respect to the camera casing 20 on the same plane along the reference plane portion 10601 . At the same time, the units 10030w, 10030n, and 10030t are positioned in the lateral direction and the vertical direction by being fitted and inserted into the corresponding insertion holes 10600w, 10600n, and 10600t, respectively.

The lens barrels 10032w, 10032n, 10032t of the units 10030w, 10030n, 10030t thus positioned are screwed to a common positioning member 10060 at respective flanges 10038w, 10038n, 10038t. Alternatively, the lens barrels 10032w, 10032n, 10032t of the respective units 10030w, 10030n, 10030t are adhesively fixed or press-fitted into corresponding insertion holes 10600w, 10600n, 10600t.

According to the tenth embodiment, each lens unit 10030 in the vehicle 2 is accommodated in the camera casing 20 attached to the front windshield 3, and the common positioning member 10060 common to these units allows the lens units 10030 to be axially moved. is positioned by . That is, the units 10030w, 10030n, and 10030t as the lens units 10030 constituting the first to fourth groups of interest according to the first embodiment are axially aligned by the common positioning member 10060 with respect to the camera casing 20 in which they are housed. It will be in the positioning state at . As a result, the units 10030w, 10030n, and 10030t can reduce variations in the axial positional relationship in the vehicle 2 through the common positioning member 10060 . That is, the positioning accuracy of each unit 10030w, 10030n, and 10030t in the vehicle 2 can be ensured. Further, since the axial positions of the units 10030w, 10030n, and 10030t can be collectively adjusted by the common positioning member 10060, productivity can be improved.

Further, according to the common positioning member 10060 of the tenth embodiment, the reference surface portion 10601 of the vehicle 2 abuts on the units 10030w, 10030n, and 10030t in the axial direction, thereby positioning all the units. Particularly in the tenth embodiment, all the units 10030w, 10030n, and 10030t are positioned on the same plane by contact with the reference surface portion 10601. FIG. According to this, the units 10030w, 10030n, and 10030t that can be accurately positioned on the same plane are less likely to cause variation in their axial positional relationship in the vehicle 2 itself. That is, the units 10030w, 10030n, and 10030t can be positioned in the vehicle 2 with high accuracy. In addition, since the units 10030w, 10030n, and 10030t can be easily and collectively positioned in the axial direction by abutting against the reference surface portion 10601 on the same plane, high productivity can be promoted.

The units 10030w, 10030n, and 3030t of the tenth embodiment are substantially the same as the units 30w, 30n, and 30t of the first embodiment except for the points described above. Therefore, in the tenth embodiment, it is possible to exhibit the same effects as those of the first to fourth target groups of the first embodiment. Moreover, particularly in the tenth embodiment, since the depths of field Dw, Dn, and Dt can be accurately set by positioning the units 10030w, 10030n, and 10030t in the axial direction, object loss in the overlap regions Rnw and Rtn can be prevented. The reliability of the effect of avoiding can be secured. Moreover, particularly in the tenth embodiment, the respective units 10030w, 10030n, and 10030t are positioned in the lateral direction by being fitted and inserted into insertion holes 10600w, 10600n, and 10600t that penetrate the common positioning member 10060 in the axial direction. there is Therefore, according to the tenth embodiment, it is possible to secure the reliability of the effect of improving the image position accuracy in the horizontal direction by capturing the external environment.

(Other embodiments)
Although a plurality of embodiments have been described above, the present disclosure is not to be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope of the present disclosure. can be done. In the following description, FIGS. 34, 45, and 46 representatively show modified examples of the second embodiment, and FIGS. 35 to 37, 40, 48, and 49 representatively show modified examples of the first embodiment. , FIGS. 38, 39, 43, and 44 representatively show modifications of the third embodiment. 41 and 42 representatively show a modification of the ninth embodiment, and FIG. 47 representatively shows a modification of the sixth embodiment.

Specifically, in modification 1 of the first to fifth and tenth embodiments, wide-angle units 30w, 2030w, 3030w, 4030w, 5030w, 10030w, narrow-angle units 30n, 2030n, 3030n, 10030n, and telephoto units 30t, 2030t , 3030t, and 10030t, the arrangement positions of at least two types of units may be interchanged. In the specific example shown in FIG. 34 in this case, the arrangement positions of the wide-angle unit 2030w and the telephoto unit 2030t are switched in the second embodiment. Here, due to focal lengths corresponding to the angles of view θw, θn, and θt (more specifically, the combined focal points of the lenses 34w, 34n, and 34t and their subsequent lens sets), the telephoto unit 2030t and the narrow-angle unit 2030n The distance from each front end to the corresponding imager unit 51 is longer than the distance from the front end of the wide-angle unit 2030w to the corresponding imager unit 51 . Therefore, in the specific example shown in FIG. 34, the telephoto unit 2030t and the narrow-angle unit 2030n protrude further toward the depth side than the wide-angle unit 2030w, so that the size of the camera module 1 can be reduced in the front-rear direction.

In modification 2 of the first to tenth embodiments, the telephoto units 30t, 2030t, 3030t, 6030t, 7030t, 8030t, and 10030t may not be provided. In this case, the telephoto lenses of the telephoto units 30t, 2030t, 3030t, 6030t, 7030t, 8030t, and 10030t are substituted for the narrow angle lenses 34n of the narrow angle units 30n, 2030n, 3030n, 6030n, 7030n, 8030n, and 10030n. Even if 34t is adopted, it is possible to exhibit the same effects as those of the first to tenth embodiments.

In modification 3 of the first, second, fourth, fifth, and tenth embodiments, the telephoto units 30t, 2030t, and 10030t may be arranged other than above the narrow-angle units 30n, 2030n, and 10030n. In the specific example shown in FIGS. 35 to 37 in this case, a telephoto unit 30t is arranged on one lateral side of at least one of the wide-angle unit 30w and the narrow-angle unit 30n. As a result, the telephoto unit 30t overlaps at least one of the wide-angle unit 30w and the narrow-angle unit 30n in the lateral direction.

In modification 4 of the third to fifth and tenth embodiments, according to the second embodiment, wide-angle units 3030w and 4030w are arranged more than at least one of the upper narrow-angle units 3030n and 10030n and the telephoto units 3030t and 10030t. , 5030w and 10030w may protrude toward the depth side. In the specific example shown in FIGS. 38 and 39 in this case, the wide-angle unit 3030w protrudes further toward the depth side than both the narrow-angle unit 3030n and the telephoto unit 3030t.

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

In modification 7 regarding the first, fourth, fifth and tenth embodiments, the optical axes Aw, An and At of the units 30w, 30n, 30t, 4030w, 5030w, 10030w, 10030n and 10030t shown in FIG. The units may overlap each other in the lateral direction by being eccentric only in the lateral direction. In this case, the effects other than the image position accuracy in the horizontal direction can be exhibited in the same manner as in the first embodiment, and the image position accuracy in the horizontal direction can be ensured by correcting the displacement of the position coordinates.

In modification 8 of the second, third, and sixth to tenth embodiments, the depth of field Dw of wide-angle units 2030w, 3030w, 6030w, and 10030w may be set according to the fourth embodiment. In modification 9 of the second, third, and sixth to tenth embodiments, the depth of field Dw of wide-angle units 2030w, 3030w, 6030w, and 10030w may be set according to the fifth embodiment.

In Modified Example 10 of the sixth to ninth embodiments, the arrangement positions of the narrow angle units 6030n, 7030n, 8030n and the telephoto units 6030t, 7030t, 8030t may be interchanged. In the eleventh modification of the sixth to ninth embodiments, the front end of the wide-angle unit 6030w may extend from the lens window 6211w and the wide-angle exposure window 6431w to the imaging space 410. FIG. In the twelfth modification of the sixth to ninth embodiments, the front end of the wide-angle unit 6030w may enter the lens window 6211w while being outside the imaging space 410 and the wide-angle exposure window 6431w.

In Modified Example 13 relating to the sixth to ninth embodiments, at least two of the optical axes Aw, An, and At of the units 6030w, 6030n, 6030t, 7030n, 7030t, 8030n, and 8030t extend both horizontally and vertically. They may be eccentric to each other and may be vertically displaced. In a modification 14 relating to the ninth embodiment, the specific control Cs may be other than the anti-collision control of the vehicle 2 . In the 15th modification of the ninth embodiment, the separate control Ca may be other than driving control of the vehicle 2 in the driving lane as long as it differs from the specific control Cs. In the modification 16 regarding the ninth embodiment, the separate control Ca may not be executed. In this case, since the second taper angle θ2 is not defined, the second imaginary intersection point I2 may not be imaginary. .

In modification 17 of the first to tenth embodiments, at least one side wall portion 43, 6043, 9043 may be erected from the base wall portion 41, 9041 at an acute or obtuse angle. In Modified Example 18 of the first to tenth embodiments, at least one side wall portion 43, 6043, 9043 may be formed in a bent or curved plate shape. In the specific example shown in FIG. 41 in this case, both side wall portions 9043 are bent at locations corresponding to the first imaginary intersection point I1, thereby having an inclined portion 9043b and a straight portion 9043c. Here, on the side of the wide-angle unit 6030w from the first imaginary intersection point I1, the inner wall surface 9043ab of the inclined portion 9043b is outside the first taper angle θ1 corresponding to the angle of view θw of the wide-angle unit 6030w, as in the ninth embodiment. and spreads along the tapered line of the same angle θ1. Therefore, exposed windows 6431n and 6431t are formed in the inclined portion 9043b. On the other hand, the straight portion 9043c is different from the ninth embodiment on the outside world 5 side of the first imaginary intersection point I1, and the inner wall surface 9043ac is aligned with the optical axis Aw of the wide-angle unit 6030w inside the taper line of the first taper angle θ1. It spreads along substantially parallel lines.

In the 19th modification of the ninth embodiment, as shown in FIG. 42, exposure windows 6431n and 6431t are formed in the inclined portion of the side wall 9043 on at least one side, which is closer to the outside world 5 than the first imaginary intersection point I1. may Note that FIG. 42 shows a specific example in which Modification 19 is applied to the side wall portions 9043 on both sides.

In Modified Example 20 of the third to fifth embodiments, the units 30n, 30t, 3030w, 3030n, 3030t, 4030w, and 5030w that overlap in at least one of the vertical direction and the horizontal direction are positioned on the same plane by the reference surface portion 10601. A common positioning member 10060 and flanges 10038w, 10038n, 10038t according to the tenth embodiment may be provided so as to do so. In the specific example shown in FIGS. 43 and 44 in this case, 3030w, 3030n, and 3030t are positioned on the same plane at locations where they overlap vertically or horizontally.

In Modified Example 21 relating to the second and sixth to ninth embodiments, as long as each unit 2030w, 2030n, 2030t, 6030w, 6030n, 6030t, 7030n, 7030t, 8030n, 8030t overlaps in at least one of the vertical direction and the horizontal direction. A common positioning member 10060 and flanges 10038w, 10038n, and 10038t according to the tenth embodiment may be provided so that these units are positioned on the same plane by the reference surface portion 10601 . In the specific example shown in FIG. 45 in this case, due to the combination with Modification 1, 2030w, 2030n, and 2030t are positioned on the same plane at locations where they overlap in the vertical direction.

In modification 22 relating to the first to ninth embodiments, each unit 30w, 30n, 30t, 2030w, 2030n, 2030t, 3030w, 3030n, 3030t, 4030w, 5030w, 6030w, 6030n, 6030t, 7030n, 7030t, 8030n, 8030t may be provided with a common positioning member 10060 and flanges 10038w, 10038n, and 10038t that are modified from the tenth embodiment so as to position the reference surfaces on different planes. In the specific example shown in FIGS. 46 and 47 in this case, each of the units 2030w, 2030n, 2030t, 6030w, 6030n, and 6030t is separately divided by the reference plane portions 10601w, 10601n, and 10601t, so that they are arranged on different planes in the axial direction. positioned.

In modification 23 relating to the first to ninth embodiments, each unit 30w, 30n, 30t, 2030w, 2030n, 2030t, 3030w, 3030n, 3030t, 4030w, 5030w, 6030w, 6030n, 6030t, 7030n, 7030t, 8030n, 8030t are screwed into the insertion holes 10600w, 10600n, and 10600t, respectively, and a common positioning member 10060 modified from the tenth embodiment may be provided. In the specific example shown in FIG. 48 in this case, the units 30w, 30n and 30t are screwed into the insertion holes 10600w, 10600n and 10600t to achieve axial positioning.

In Modified Example 24 of the first to tenth embodiments, at least part of the functions of the control circuit 55 may be implemented by an external circuit such as an ECU outside the camera casing 20 . In modification 25 of the first to tenth embodiments, at least one through hole 541 may not be provided in the control board 54 . In this case, instead of the FPC 540 inserted through the through hole 541, an FPC 1540 that wraps around the rear edge 544 of the control board 54 as shown in FIG. 49 is employed. Note that FIG. 49 shows a specific example in which only the FPC 1540 connected to the imager unit 51 corresponding to the telephoto unit 30t is wrapped around the outer peripheral side of the rear edge portion 544. As shown in FIG.

In a modification 26 relating to the first to tenth embodiments, the bracket body 11 may be adhesively fixed to the front windshield 3 without providing the mounting pad 12 . In a modification 27 of the first to tenth embodiments, the mounting pad 12 held by the camera casing 20 may be adhesively fixed to the front windshield 3 without providing the bracket body 11 .

In modification 28 of the first to tenth embodiments, the hoods 40, 6040, 9040 may be formed separately from the bracket main body 11. FIG. In Modified Example 29 of the first to fifth and tenth embodiments, each unit 30w, 30n, 30t, 2030w, 2030n, 2030t, 2030t, 2030t, 30w, 30n, 30t, 2030w, 2030n, 2030t, 2030t, 30w, 30n, 30t, 2030w, 2030n, 2030t, 2030t, 30w, 30n, 30t, 2030w, 2030n, 2030t, 2030t, 2030t, 2030t, A hood 6040 modified from the sixth embodiment to expose 3030w, 3030n, 3030t, 4030w, 5030w, 10030w, 10030n, and 10030t may be provided instead of the hood 40 . In the modification 30 of the first to fifth and tenth embodiments, instead of the exposed windows 6431w, 6431n, 6431t, the units 30w, 30n, 30t, 2030w, 2030n, 2020t, A hood 9040 modified from the ninth embodiment to expose 3030w, 3030n, 3030t, 4030w, 5030w, 10030w, 10030n, and 10030t may be provided instead of the hood 40 .

In modification 31 of the seventh and eighth embodiments, the hood 9040 of the ninth embodiment may be provided instead of the hood 6040 . In modification 32 of the first to fifth and tenth embodiments, the hood 40 may not be provided. In modification 33 of the first to tenth embodiments, a plurality of convex ribs or a plurality of concave grooves may be provided so as to extend along the left-right direction at 40, 6040, 9040. FIG.

In modification 34 relating to the first to tenth embodiments, each unit 30w, 30n, 30t, 2030w, 2030n, 2020t, 3030w, 3030n, 3030t, 4030w, 5030w, 6030w, 6030n, 6030t, 7030n, 7030t, 8030n, 8030t , 10030w, 10030n, and 10030t, the extending directions of at least two of the optical axes Aw, An, and At may be inclined to each other. In addition to the above, in a modified example 35 of the first to tenth embodiments, the camera module 1 may be mounted inside the rear windshield of the vehicle 2. In this case, the front-rear relationship is different from that of the first to tenth embodiments. is the opposite.

1 camera module, 2 vehicle, 3 front windshield, 5 outside world, 10 bracket assembly, 20 camera casing, 30, 2030, 3030, 6030, 10030 lens unit, 30n, 2030n, 3030n, 6030n, 7030n, 8030n, 10030n narrow angle Unit, 30t, 2030t, 3030t, 6030t, 7030t, 8030t, 10030t Telephoto unit, 30w, 2030w, 3030w, 4030w, 5030w, 6030w, 10030w Wide-angle unit, 34n Narrow-angle lens, 34t Telephoto lens, 34w Wide-angle lens, 40, 60 40 , 9040 hood, 41, 9041 base wall portion, 43, 6043, 9043 side wall portion, 50 imaging system, 6431n narrow-angle exposure window, 6431t telephoto exposure window, 6431w wide-angle exposure window, 7036n, 7036t reflection control portion, 10060 common positioning member , 10601, 10601w, 10601n, 10601t reference surface portion, An, At, Aw optical axis, Cs specific control, Ca separate control, Dn, Dt, Dw depth of field, Dnc, Dtc, Dwc near point, Dnf, Dtf, Dwf far point, I1 virtual intersection/first virtual intersection, I2 second virtual intersection, L1 lower ray/first lower ray, L2 second lower ray, Rnw, Rtn, Rtw overlap region, θn, θt, θw angle of view, θ1 taper angle/first taper angle, θ2 second taper angle, ψd1 first depression angle, ψd2 second depression angle

Claims (4)

A camera module (1) mounted inside a windshield (3) of a vehicle (2) and configured to capture an image of an environment (5) outside the vehicle,
a plurality of lens units (30, 2030, 3030, 6030, 10030) and
An imaging system (50) that generates an external world image that reflects the external world by imaging individually through each of the lens units,
Assuming that the group of lens units whose angles of view (θw, θn, θt) overlap each other is the group of interest,
The depths of field (Dw, Dn, Dt) of the lens units that make up the set of interest are between one near point (Dnc, Dtc) and far point (Dnf, Dtf) in the external world. Since the points (Dwf, Dnf) are set, they overlap,
each of the far points of the one and the other in the set of interest defines a limit position of image recognition by imaging through the corresponding lens unit ,
The lens units constituting the group of interest have corresponding far points as corresponding far points,
a distance Lf from the lens unit to the corresponding far point, a focal length EFL in the lens unit, a minimum object size Sf required for the image recognition at the corresponding far point imaged through the lens unit; Between the minimum pixel width Wf required for image recognition in the imaging system,
A camera module that individually satisfies Lf=EFL·Sf/Wf . a camera casing (20) configured to be attachable to the windshield and housing each of the lens units ;
2. A camera module according to claim 1 , comprising a common positioning member (10060) common to each said lens unit and axially positioning each said lens unit with respect to said camera casing. The common positioning member is
3. A camera module according to claim 2 , comprising a reference surface portion (10601, 10601w, 10601n, 10601t) positioning each said lens unit by axially abutting each said lens unit. The common positioning member is
4. The camera module according to claim 3 , further comprising a reference surface portion (10601) that positions each lens unit on the same plane by axially abutting each said lens unit.

Images