JPH0746460A - On-vehicle image pickup device - Google Patents

Abstract

PURPOSE:To obtain the on-vehicle image pickup device provided with a damping device stabilizing a picked-up picture. CONSTITUTION:A composite lens barrel section 100 supporting integrally a lens barrel 1 holding a lens section 11 and an image pickup element 12 and a lens barrel 2 formed similarly to the lens barrel 1 is supported freely turnably around a horizontal shaft with respect to a vehicle body 9 by a support means 4. A control circuit 60 generates a damping signal based on an output of an angular velocity detector 6 provided to the lens barrel 1 and detecting a rotary angular velocity and the damping signal is used to drive an actuator 5 to drive damping of the composite lens barrel section 100 with respect to a vehicle body 9. Furthermore, the composite lens barrel section 100 is installed between a front glass 91 and a room mirror 93 in a cabin.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a photographing device mounted on a vehicle.

[0002]

2. Description of the Related Art FIG.
FIG. 17 is a perspective view showing a conventional vehicle-mounted image capturing device disclosed in Japanese Patent Publication No. JP-A-2003-187, and FIG. In FIG. 16, 1 is a lens barrel to which the lens unit 11 and the image pickup device 12 are fixed, and 7 is a video circuit for converting a signal obtained by the image pickup device 12 into a video signal. 92
17 is a housing for housing the video circuit 7, which is fixed on the hood 94 of the vehicle body 9 as shown in FIG. 17, and the lens barrel 1 is fixed to the housing 92 so as to photograph the traveling direction. 1
A lens cover 5 is provided in front of the lens unit 11 to remove raindrops and the like.

Next, the operation will be described. Light from a subject in front of the vehicle body enters the lens barrel 1, passes through the lens unit 11, and forms an image on the image pickup surface of the image pickup device 12. The image sensor 12 converts the optical image into electrical information, and the video circuit 7 obtains a video signal. The obtained video signal is displayed as a captured image on a monitor (not shown) in the vehicle interior, and image processing is performed for the purpose of providing the driver with information on the outside of the vehicle body and measuring the distance to the preceding vehicle. To be done.

[0004]

When the vehicle body 9 sways due to the unevenness of the road surface, the lens barrel 1 fixed to the vehicle body 9 also vibrates and causes image shake, which deteriorates the visibility of the photographed image to the driver. There was a problem.

Further, in the case of image processing of a photographed image obtained from the lens barrel 1, when the vehicle body 9 sways due to the unevenness of the road surface, the lens barrel 1 also vibrates, and a still image used for image processing is shaken. However, there has been a problem that the calculation accuracy is lowered or the calculation cannot be performed.

Further, when the lens barrel 1 is provided on the outside of the vehicle body 9, there is a problem that the attached matter such as raindrops adheres to the lens cover 15 and the like in front of the lens barrel 1 and the visibility of the photographed image deteriorates. It was

The present invention has been made in order to solve the above problems, and an object thereof is to obtain a vehicle-mounted photographing device which can obtain a stable photographed image even when the vehicle body shakes.

[0008]

According to a first aspect of the present invention, there is provided a vehicle-mounted image pickup device, which includes a lens barrel holding a lens section and an image pickup element.
The lens barrel includes a supporting means for supporting the lens barrel so as to be rotatable about a horizontal axis, and a driving means for damping and driving the lens barrel with respect to the vehicle body.

According to a second aspect of the present invention, there is provided a vehicle-mounted photographing apparatus, wherein a composite lens barrel portion in which a second lens barrel is juxtaposed to a first lens barrel and is integrally fixed thereto is rotated around a horizontal axis with respect to a vehicle body. It is composed of a support means for movably supporting and a drive means for damping and driving the vehicle body.

According to a third aspect of the present invention, in the vehicle-mounted photographing device according to the second aspect, the first image obtained from the first lens barrel is compared with the second image obtained from the second lens barrel, and the distance to the subject is compared. A distance calculation circuit for calculating

According to a fourth aspect of the present invention, there is provided an in-vehicle image pickup device according to the first or second aspect, in which an angular velocity detector for detecting a rotational angular velocity of a lens barrel or a compound lens barrel portion and an output of the angular velocity detector are used. A control circuit that outputs a damping signal,
Based on the output of this control circuit, the driving means drives the lens barrel or the composite lens barrel portion to suppress vibration with respect to the vehicle body.

According to a fifth aspect of the present invention, there is provided a vehicle-mounted image pickup apparatus according to the first or second aspect, in which the driving means is a magnet provided on a rotating lens barrel side or a compound lens barrel portion, and the magnet is planarly opposed to the magnet. And a coil provided on the support means side so as to form

According to a sixth aspect of the present invention, there is provided the vehicle-mounted image pickup apparatus according to the first or second aspect, wherein the lens barrel or the compound lens barrel portion is provided between the room mirror and the windshield in the vehicle compartment.

According to a seventh aspect of the present invention, there is provided a vehicle-mounted photographing device according to the first or second aspect, in which a position sensor for detecting a relative angle of a lens barrel or a compound lens barrel portion is provided, and an initial setting position of the position sensor is variable. In this configuration, the rotation angle of the lens barrel or the composite lens barrel portion is controlled.

[0015]

According to the invention of claim 1, even if the vehicle body is pitched, the posture of the lens barrel can be stabilized by the driving means.

According to the second aspect of the invention, even if the vehicle body is pitched, the posture of the composite lens barrel portion in which the two lens barrels are integrally held by the driving means can be stabilized.

According to the third aspect of the invention, even if the vehicle body is pitched, the posture of the composite lens barrel can be stabilized by the driving means, and from the image obtained by the two lens barrels that have been damped to the subject. The distance can be measured.

According to the present invention, the angular velocity detecting means detects the rotational angular velocity of the lens barrel or the compound lens barrel portion about the horizontal axis, and the control circuit sends the control signal to the driving means based on the detected angular velocity signal. Is output to drive the lens barrel so that the posture thereof is stable.

According to the fifth aspect of the invention, the magnet forming the driving means is provided in the rotating lens barrel or the composite lens barrel portion, and the coil forming the driving means facing the magnet is formed on the fixed side mirror. Since it is provided on the tube supporting means, it is possible to directly drive the lens barrel or the composite lens barrel portion for damping.

According to the invention of claim 6, since the lens barrel or the compound lens barrel portion is installed between the windshield in the vehicle interior and the rearview mirror, the field of view of the driver is not hindered, and
It is possible to photograph the front without being affected by foreign matter such as raindrops.

According to the seventh aspect of the invention, by making the initial setting position of the position sensor variable, the lens barrel or the compound lens barrel portion can be rotated about the horizontal axis.

[0022]

EXAMPLES Example 1. An embodiment of the present invention will be described below. 1 to 11 are views showing a first embodiment of a vehicle-mounted image capturing apparatus of the present invention, FIG. 1 is a perspective view showing the vehicle-mounted image capturing apparatus, FIG. 2 is an exploded perspective view showing the configuration thereof, and FIG. 4 is a diagram showing a configuration of a control circuit, FIG. 5 is a diagram showing a configuration of a distance calculation circuit, and FIG. 6 is a vehicle-mounted portion of the vehicle-mounted image pickup apparatus according to the first embodiment. FIG. 7 is a partially enlarged side view of the vehicle body, FIG. 7 is a diagram for explaining the principle of distance calculation, and FIG. 8 is a perspective view showing vibration of the vehicle body.
FIG. 9 is a side view showing the influence of the shake of the vehicle body on the image shake,
FIG. 10 is a perspective view showing a photographing range of the compound lens barrel portion, and FIG. 11 is a partially enlarged front view of a vehicle body showing an on-vehicle portion of the vehicle-mounted photographing device. It is attached with a code.

In FIGS. 1 and 2, 1 is a first lens barrel to which a lens unit 11 and an image pickup device 12 are fixed, and 2 is the same lens unit 21 and image pickup device 22 as the first lens barrel 1 to be fixed. A second lens barrel 3 is a lens barrel holding member that holds the first lens barrel 1 and the second lens barrel 2 in the same direction and integrally holds them so that their optical axes 13 and 23 are parallel to each other. , Support shafts 31 and 32 are planted at both ends of the lens barrel holding member 3,
The first lens barrel 1, the second lens barrel 2, and the lens barrel holding member 3 constitute a composite lens barrel section 100. Reference numeral 4 denotes a rotary shaft 3 which is a lens barrel 100 which is perpendicular to the optical axes 13 and 23 and which is horizontal.
The support shafts 31 and 32 of the lens barrel holding member 3 are fitted to the bearing portions 41 and 42 by a supporting means for rotatably supporting the lens barrel 00. Reference numeral 5 is an actuator as a driving means for rotationally driving the compound lens barrel portion 100, and 6 is fixed to the compound lens barrel portion 100, and angular velocity detection for detecting a rotational angular velocity of the compound lens barrel portion 100 around the rotation axis 300. The angular velocity sensor as means 7 is composed of video circuits 7a and 7b for converting the signals obtained by the image pickup devices 12 and 22 into video signals, respectively.
Reference numeral 70 denotes a distance calculation circuit, which is fixed to the lens barrel holding member 3.

The structure of the actuator 5 will be described with reference to FIG. Reference numeral 52 is a coil substrate to which the coil 51 is fixed, and is fixed to the side plate 4a of the supporting means 4. 54,5
Reference numeral 5 denotes a yoke, which are integrally connected with each other with spacers 56 and 57 interposed therebetween. A coil 51 and a coil substrate 52 are arranged in a space between the yokes 54 and 55. The magnets 53 fixed to each other are opposed to each other, and the yoke 55 is fixed to the lens barrel holding member 3. Reference numeral 58 denotes a position sensor fixed to the central portion of the coil 51, which faces the position where the magnetic pole of the magnet 53 is switched, and is relative to the support member 4 with the support shafts 31 and 32 of the lens barrel holding member 3 as rotation centers. To detect a proper rotation angle.

Next, the configuration of the control circuit 60 will be described with reference to FIG. In the figure, reference numeral 60 is a control circuit for outputting a vibration damping signal to the actuator 5 based on the detection signals of the angular velocity sensor 6 and the position sensor 58.
a, a position sensor amplifier 60b, and an actuator driver 60c.

Next, the configuration of the distance calculation circuit 70 will be described with reference to FIG. The distance calculation circuit 70 includes A / D converters 70a and 70b for A / D converting the video signals obtained by the first barrel 1 and the second barrel 2, and an image memory 70c for recording the respective video signals. , 70d and an arithmetic processing unit 70e that compares the two video signals and calculates the distance to the subject.

Next, the on-vehicle position will be described with reference to FIG. Reference numeral 9 denotes a vehicle body, and reference numeral 92 denotes a housing which connects the windshield 91 and the rearview mirror 93 and is fixed to the vehicle body 9. The housing 92 is arranged so that the compound lens barrel portion 100 captures an image in the traveling direction, and the rotating shaft 300 of the compound lens barrel portion 100 is a horizontal axis.

Next, the operation will be described. The light from the subject enters the first lens barrel 1 and the second lens barrel 2, passes through the first lens unit 11 and the second lens unit 21, respectively, and then enters the image pickup surfaces of the first image pickup device 12 and the second image pickup device 22. Form an image. The optical image is converted into electrical information by the first image sensor 12 and the second image sensor 22, and the first image signal and the second image signal are obtained by the image circuits 7a and 7b, respectively.

The respective video signals obtained by the first lens barrel 1 and the second lens barrel 2 are A / D converted by the A / D converters 70a and 70b.
/ D converted and sequentially recorded in the image memories 70c and 70d, respectively. Then, the arithmetic processing unit 70e compares the two video signals and calculates the distance to the subject.

The principle of distance calculation will be described with reference to FIG.
The lens units 11 and 21 of the first lens barrel 1 and the second lens barrel 2 have the same focal length, and this focal length is f, the distance to the preceding vehicle is R, and the optical axes 13 and 23 of the lens units 11 and 21 Assuming that the image shift amounts are a and b, respectively, the distance to the preceding vehicle 99 can be calculated by the following equation from a triangle similarity equation. R = (f × L) / (a + b) Further, when the pixel pitch of the image pickup devices 12 and 22 is p and the number of shifted pixels obtained by adding the shift amounts a and b is n, R = (f × L) / (N × p) is obtained, and the distance R to the preceding vehicle is obtained from the number of shifted pixels of the image of the preceding vehicle on the image pickup devices 12 and 22 using this formula.

Here, the images obtained by the first lens barrel 1 and the second lens barrel 2 do not shift from each other, and the image memory 70
The still images recorded in c and 70d need to be clear images with no image shake, and when the vehicle body 9 shakes due to unevenness of the road surface or the like and image shake occurs in the captured image, an error may occur in the distance calculation.

Now, let us consider a shake of the vehicle body 9 which is affecting the photographed image of the compound lens barrel 100 when the vehicle body 9 is swaying due to unevenness of the road surface or the like. Since the compound lens barrel portion 100 captures an image of the traveling direction, it can be said that the influence of two vibrations, that is, the parallel translation 97 in the vertical direction and the rotational vibration 96 of the pitching is large, as shown in FIG.

In order to compare the influences of the vertical translation 97 and the rotational vibration 96 of pitching on the image blur of the photographed image, as shown in FIG.
Consider the case where you have overcome a step of height D. The compound lens barrel portion 100 is fixed at the midpoint position of the wheel base of the vehicle body 9, and δ = D / 2, where δ is the vertical translation amount of the optical axis of the compound lens barrel portion 100 and θ is the rotational displacement amount. It is represented by θ = tan ⁻¹ (D / W).

Image blurring due to vibration is expressed as a ratio with respect to the photographing screen, and in order to compare it as the image blurring amount, FIG.
As shown in FIG. 3, when the photographing field angle (vertical direction) of the compound lens barrel unit 100 is α, the distance to the subject is R, and the vertical range of the photographed image is H, H = 2 · R · tan (α / 2), and the amount of parallel translation in the vertical direction is δ / H,
The image shake amount due to rotation is θ / α.

Assuming that the wheel base W is 2500 mm,
If the height D of the step is 30 mm, the angle of view α is 30 °, and the distance R to the preceding vehicle 99 is 20 m, the rotational displacement θ is about 0.7 °, and the parallel translation amount δ is 15 mm. The ratio of the image shake amount due to the vertical translation is about 0.14%, and the ratio of the image shake amount due to the rotation is about 2.33%.

Therefore, it can be said that, of the vibrations of the vehicle body, the vibration that most affects the image shake of the photographed image is the pitching rotation vibration 96, and the vibration damping mechanism of the composite lens-barrel portion 100 generates the pitching rotation vibration 96. With the configuration that suppresses, the image blur of the captured image can be effectively suppressed.

Next, the damping operation will be described with reference to FIG. 4 showing the configuration of the control circuit. The angular velocity sensor 6 detects rotational vibration about the horizontal axis of the compound lens barrel 100 that is rotatably supported with respect to the vehicle body. This detection signal is amplified by the angular velocity sensor amplifier 60a of the control circuit 60, and based on this output, the actuator driver 60c applies a voltage to the coil 51 of the actuator 5 to drive the composite lens barrel 100 so as to cancel the rotational vibration. The feedback control is performed so that the output of the angular velocity sensor 6 always approaches zero.

In addition, the position sensor 58 is the composite lens barrel section 10.
The relative angle between 0 and the support means 4 is detected. This detection signal is amplified by the position sensor amplifier 60b of the control circuit 60, and its output characteristic is shown in FIG. 4 (b). The rotation angle when the compound lens barrel unit 100 faces the axial direction of the vehicle body 9 is θ
If it is set to ₀ , the actuator driver 60c applies a voltage to the coil 51 of the actuator 5 based on this output, and the output of the position sensor 58 is fed back so that the rotation angle of the compound lens barrel unit 100 matches θ _0. Control.

As described above, even if the vehicle body 9 shakes, a stable photographed image can be obtained by controlling the posture of the compound lens barrel portion 100 by the actuator 5. And
Still images recorded in the image memories 70c and 70d are also clear without image blur, and errors in distance calculation can be prevented.

Further, as shown in FIG. 11, the composite lens barrel portion 1
00 is a windshield 91 and a rearview mirror 93 in the vehicle interior
It is installed between. This place is the composite lens barrel 100
Even if an adhering matter such as raindrops is attached to the windshield 91 in front of, the front field of view of the compound lens barrel portion is always kept clear because it is within the range that can be wiped off by the wiper 95 even if the front field of view deteriorates. Further, since the compound lens barrel section 100 is installed behind the rearview mirror 93 as seen from the driver, it does not hinder the driver's view.

In the first embodiment, the composite lens barrel section 100 is controlled so as to match the angle θ ₀ of the composite lens barrel section 100 when facing the axial direction of the vehicle body 9. When the vehicle body 9 is tilted due to the unbalance of the front and rear weights, there may be a case where it is desired to shift the set angle θ ₀ of the compound lens barrel 100. In such a case, as shown in FIG. 4B, the composite lens barrel portion 1 is set by presetting the position sensor output V ₁ corresponding to the angle θ ₁ at which the inclination is desired to be shifted.
The set angle can be adjusted to 00. Further, when the angle of the compound lens barrel 100 is largely shaken to project a nearby subject, it is possible to deal with it by making the setting value of the position sensor output variable.

Further, in the first embodiment, the composite lens barrel portion 100 in which two lens barrels are arranged side by side is rotatable, but even a structure in which one lens barrel is rotatable is effective for image blurring of a photographed image. Obviously, it can be suppressed.

Example 2. The composite lens barrel portion 1 shown in the first embodiment
00 is integrated with the lens barrel holding member 3 so that the first lens barrel 1 and the second lens barrel 2 have the same photographing directions and the first optical axis 13 and the second optical axis 23 are parallel to each other. The distance calculation circuit 70 is provided to measure the distance to the preceding vehicle 99, but the optical axes 13 and 23 of the first lens barrel 1 and the second lens barrel 2 have a predetermined angle. A composite lens barrel portion configured to be integrally held by the lens barrel holding member 3 may be used. Hereinafter, a second embodiment will be described.

12 to 15 are views showing a second embodiment,
12 is a perspective view showing the configuration, FIG. 13 is a plan view showing a photographing range of the compound lens barrel portion, FIG. 14 is a partially enlarged side view of a vehicle body showing an on-vehicle location of the vehicle-mounted photographing device, and FIG. It is a front view which shows the display monitor of an imaging device. In FIG. 12, the first barrel 1 and the second barrel 2 are integrally held by the barrel holding member 3 so that the first optical axis 13 and the second optical axis 23 have a predetermined angle.

Other supporting means 4, actuator 5,
Since the configurations of the angular velocity sensor 6, the position sensor 58, the control circuit 60, and the video circuit 7 are the same as those in the first embodiment, the description thereof will be omitted.
Then, in FIG. 14 showing the vehicle-mounted portion of the compound lens barrel portion 100, the compound lens barrel portion 100 is a rear window 98 of the vehicle body 9.
It is installed in a housing 92 that connects the ceiling of the vehicle interior and the ceiling.

Next, the operation will be described. Compound lens barrel 1
00 mainly monitors the rear of the vehicle body 9 when the vehicle body 9 moves backward. As shown in FIG. 13, the first lens barrel 1 photographs the photographing range L and the second lens barrel 2 monitors the photographing range R. Take a picture to obtain a wide-angle shot image. The two captured images obtained are
Each image is processed by the video circuit 7 so as to be connected to each other and displayed on one monitor 75 as shown in FIG.

Here, when the vehicle body 9 sways due to unevenness of the road surface during photographing, the actuator 5 rotates the compound lens barrel 100 around the horizontal axis based on the output of the angular velocity sensor 6 as in the first embodiment. Dynamically drive to suppress vibration.

As described above, in order to obtain a wide-angle shot image, the composite lens barrel portion 100 in which the first lens barrel 1 and the second lens barrel 2 are integrally held at a predetermined angle is set by the actuator 5. By controlling, even if the vehicle body 9 shakes, the two captured images do not shift from each other and a stable captured image can be obtained.

[0049]

According to the present invention, since the vehicle-mounted photographing device is constructed as described above, the following effects can be obtained.

According to the first aspect of the present invention, it is possible to obtain a stable captured image with little image blur even if the vehicle body shakes.

According to the second aspect of the present invention, it is possible to obtain a stable photographed image in which the two screens are not displaced from each other even if the vehicle body is shaken by integrally damping the plurality of lens barrels.

According to the third aspect of the present invention, the composite lens barrel portion for measuring the distance to the object using the two photographed images obtained by the two lens barrels is integrally damped, whereby the distance due to the image blur is generated. Measurement errors can be prevented and measurement performance is improved.

According to the fourth aspect of the present invention, by detecting the rotational component of the pitching of the lens barrel by using the angular velocity detecting means, it is possible to obtain a vehicle-mounted image pickup apparatus having excellent vibration damping performance.

According to the fifth aspect of the present invention, since the coil is provided on the fixed side supporting means, it is not necessary to perform the coil wiring during the rotation, so that there is no rotation load and the lens barrel is rotationally driven. Therefore, it is possible to obtain an efficient vehicle-mounted vibration damping imaging device.

According to the sixth aspect of the present invention, by providing the compound lens barrel portion between the room mirror and the windshield in the vehicle interior, the driver's view is not hindered and the influence of foreign matter such as raindrops. It is possible to obtain a vehicle-mounted image capturing apparatus that does not receive the information.

According to the seventh aspect of the present invention, by making the initial setting value of the position sensor variable, the set angle of the lens barrel or the compound lens barrel can be adjusted, and an arbitrary photographing direction can be set around the horizontal axis. Can be set.

[Brief description of drawings]

FIG. 1 is a perspective view showing a vehicle-mounted image pickup apparatus according to a first embodiment of the present invention.

FIG. 2 is an exploded perspective view showing the configuration of the vehicle-mounted image pickup apparatus according to the first embodiment.

FIG. 3 is an exploded perspective view showing a configuration of an actuator as a driving unit of the vehicle-mounted image pickup apparatus according to the first embodiment.

FIG. 4 is a diagram showing a configuration of a control circuit of the vehicle-mounted image pickup apparatus according to the first embodiment and detection characteristics of a position sensor.

FIG. 5 is a diagram showing a configuration of a distance calculation circuit of the vehicle-mounted image pickup apparatus according to the first embodiment.

FIG. 6 is a partially enlarged side view of a vehicle body showing an on-vehicle portion of the vehicle-mounted image pickup apparatus according to the first embodiment.

FIG. 7 is a diagram for explaining the principle of distance calculation of the vehicle-mounted image pickup apparatus according to the first embodiment.

FIG. 8 is a perspective view showing vibration of the vehicle body of the first embodiment.

FIG. 9 is a side view for explaining the influence of the vibration of the compound lens barrel portion of the first embodiment on the image shake.

FIG. 10 is a diagram for explaining a change in an imaging range due to vibration of the compound lens barrel portion of the first embodiment.

FIG. 11 is a partially enlarged front view of the vehicle body showing the vehicle-mounted portion of the vehicle-mounted imaging apparatus according to the first embodiment.

FIG. 12 is a perspective view showing a vehicle-mounted image pickup apparatus according to a second embodiment of the present invention.

FIG. 13 is a plan view showing a photographing range of the compound lens barrel portion of the second embodiment.

FIG. 14 is a partially enlarged side view of a vehicle body showing an in-vehicle portion of the vehicle-mounted image pickup apparatus according to the second embodiment.

FIG. 15 is a front view showing a display monitor according to a second embodiment.

FIG. 16 is a perspective view showing a conventional vehicle-mounted photographing device.

FIG. 17 is a side view of a vehicle body showing a vehicle-mounted portion of a conventional vehicle-mounted imaging device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 1st lens-barrel 2 2nd lens-barrel 3 Lens-barrel holding member 4 Supporting means 5 Actuator 6 Angular velocity sensor 7 Video circuit 9 Vehicle body 11 1st lens part 12 1st image sensor 21 2nd lens part 22 2nd image sensor 51 Coil 53 magnet 60 control circuit 70 distance calculation circuit 91 windshield 93 room mirror 100 composite lens barrel

Claims (7)

[Claims] 1. A lens barrel for holding a lens portion and an image pickup device, a support means for supporting the lens barrel so as to be rotatable about a horizontal axis with respect to a vehicle body, and the lens barrel for controlling the vehicle body with respect to the vehicle body. An in-vehicle image pickup device having a drive means for driving vibration. 2. A first lens barrel holding a lens unit and an image pickup device, a second lens barrel juxtaposed with the first lens barrel, the first lens barrel and the second lens barrel are integrally formed. A fixed composite lens barrel,
An in-vehicle image pickup device comprising: a support means for supporting the composite lens barrel portion so as to be rotatable about a horizontal axis with respect to the vehicle body; and a drive means for damping and driving the composite lens barrel portion with respect to the vehicle body. 3. A distance calculation circuit for calculating a distance to a subject by comparing a first image obtained from the first lens barrel with a second image obtained from the second lens barrel. The vehicle-mounted imaging device according to claim 2. 4. An angular velocity detector provided on the lens barrel or the compound lens barrel portion for detecting a rotational angular velocity of the lens barrel or the compound lens barrel portion in a pitching direction with respect to a vehicle body, and a vibration damping signal based on an output of the angular velocity detector. 3. A control circuit for outputting the control signal, and vibration control driving of the lens barrel or the compound lens barrel portion with respect to the vehicle body based on the output of the control circuit. Vehicle-mounted imaging device. 5. The drive means is energized by a magnet provided on the rotating lens barrel side or the composite lens barrel portion, and a damping current provided on the supporting means side so as to face the magnet in a plane. The vehicle-mounted image pickup device according to claim 1 or 2, wherein the in-vehicle image pickup device comprises a coil. 6. The vehicle-mounted image pickup device according to claim 1, wherein the lens barrel or the composite lens barrel portion is provided between the windshield and the interior mirror in the vehicle compartment. . 7. A position sensor for detecting a relative angle between the supporting means and the lens barrel or the compound lens barrel portion is provided, and the lens barrel or the compound lens barrel portion is made variable by making an initial setting value of the position sensor variable. The vehicle-mounted image capturing apparatus according to claim 1 or 2, wherein the rotation angle of the vehicle is controlled.