KR20180085549A - A camera system for ADAS - Google Patents

Abstract

The present invention relates to an advanced driving assistance system (ADAS), and more specifically, relates to a camera system for ADAS. According to the present invention, voltage logic and memory logic able to be used for a front camera system for ADAS are provided. Moreover, according to the present invention, provided is a method of combining a lens barrel with a lens holder in the front camera system for ADAS. According to the present invention, the camera system includes a lens for photographing the front of a vehicle; a lens barrel for storing the lens in the internal space thereof; a lens holder combined with the lens barrel; an image sensor for sensing the image taken through the lens; an image processor for receiving and processing the image data from the image sensor; and a camera MCU communicating with the image processor to receive the data processed by the image processor.

Description

A camera system for ADAS (ADAS)

The present invention relates to ADAS (Advanced Driving Assistance System), and more particularly, to a camera system for ADAS.

Advanced Driver Assistance System (ADAS) is a state-of-the-art driver assistance system that assists the driver in driving. It senses the situation ahead, determines the situation based on the sensed result, and controls the behavior of the vehicle . For example, the ADAS sensor device senses the vehicle ahead and recognizes the lane. When the target lane, the target speed and the target in the forward direction are determined, the ESC (Electrical Stability Control), EMS (Engine Management System), MDPS (Motor Driven Power Steering) and the like of the vehicle are controlled. Typically, the ADAS can be implemented with an automatic parking system, a low-speed in-the-street driving assistance system, and a blind zone warning system.

The sensor devices for sensing the situation ahead of the ADAS are GPS sensors, laser scanners, front radar, and Lidar. The most representative ones are front cameras for photographing the front of the vehicle.

The present invention aims at providing voltage logic, memory logic that can be used in a front camera system for ADAS.

It is also an object of the present invention to provide a method of combining a lens barrel and a lens holder in a front camera system for ADAS.

According to an embodiment of the present invention, there is provided a vehicular camera system comprising: a lens (10) for photographing the front of a vehicle; A lens barrel 15 for accommodating the lens in an inner space; A lens holder 20 coupled to the lens barrel; An image sensor (31) for sensing an image taken by the lens; An image processor (41) for receiving and processing image data from the image sensor; And a camera MCU (42) that communicates with the image processor to receive data processed by the image processor.

The vehicle camera system includes: a first converter unit (521) for receiving an ignition voltage (510) and outputting at least one voltage; And a regulator unit 523 for receiving the voltage output from the first converter unit 521 and outputting at least one voltage.

The camera MCU 42 receives the first voltage 511 from the first converter unit 521 as an operation power source and the image processor 41 receives the first voltage 511 from the first converter unit 521 And receives voltage 511.

The first voltage 511 output from the first converter unit 521 is 3.3V.

The image processor 41 receives the second voltage 512 from the first converter unit 521 and the image sensor 31 receives the fifth voltage 515 from the regulator unit 523, The second voltage 512 and the fifth voltage 515 are equal to each other.

The second voltage and the fifth voltage 515 are 1.8V.

The image sensor 31 receives a sixth voltage 516 from the regulator unit 523 as a core power supply and the sixth voltage 516 is 2.8 V. [

The first converter unit 521 is configured to include at least one DC-DC converter, and the regulator unit 523 is configured to include at least one LDO (Low Drop Out).

The camera MCU 42 communicates with the first memory 531.

The image processor 41 communicates with the second memory 532 and the third memory 533.

The capacity of the second memory 532 is determined according to the number of ADAS functions supported by the vehicle camera system.

The camera system may be any one of RBDPS (Road Boundary Departure Prevention Systems), CACC (Cooperative Adaptive Cruise Control Systems), Vehicle / roadway warning systems, Partially Automated Parking Systems (PAPS), Partially Automated Lane Change Systems (PALS), C-FVBWS Cooperative Forward Vehicle Emergency Brake Warning Systems (LDWS), Pedestrian Detection and Collision Mitigation Systems (PDCMS), Curve Speed Warning Systems (CSWS), Lane Keeping Assistance Systems (LKAS), Adaptive Cruise Control systems (ACC) , Forward Vehicle Collision Warning Systems (FVCWS), Maneuvering Aids for Low Speed Operation Systems (MALSO), Lane Change Decision Aid Systems (LCDAS), Low Speed Following Systems (LSF), Full Speed Range Adaptive Cruise Control Systems (FSRA) (Forward Vehicle Collision Mitigation Systems), ERBA (Extended Range Backing Aids systems), Cooperative Intersection Signal Information and Violation Warning Systems (CIWS), Traffic Impediment Warning Systems (TIWS) Even it is used to implement a single function.

The lens barrel further includes a flange, and a groove is formed on a lower surface of the flange of the lens barrel.

Wherein the groove is formed of at least one of a single circular shape, a double circular shape, a cross grid shape, and a zigzag shape.

Grooves are formed on the upper surface of the lens holder.

Wherein the groove is formed of at least one of a single circular shape, a double circular shape, a cross grid shape, and a zigzag shape.

According to the present invention, voltage logic and memory logic that can be used in a front camera system for ADAS can be implemented.

Furthermore, according to the present invention, a method can be provided that can combine the lens barrel and the lens holder in a front camera system for ADAS.

1 is an exploded perspective view schematically showing a camera system according to an embodiment of the present invention.
2 is a view showing a camera system according to the present invention mounted on an automobile.
Fig. 3 is a view showing the components of the automobile in which the camera system according to the present invention is mounted.
4A is a view showing the components of a camera system according to the present invention.
4B is a block diagram illustrating components of a camera system according to the present invention.
5 is an exploded perspective view for explaining a coupling relationship between the lens barrel and the lens holder according to the present invention.
6 is a view for explaining active alignment of a lens barrel and a lens holder according to the present invention.
7 is a view showing a lens holder 20 according to an embodiment of the present invention.
8 is a view showing the lens barrel 15 according to the embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

If any part is referred to as being "on" another part, it may be directly on the other part or may be accompanied by another part therebetween. In contrast, when a section is referred to as being "directly above" another section, no other section is involved.

The terms first, second and third, etc. are used to describe various portions, components, regions, layers and / or sections, but are not limited thereto. These terms are only used to distinguish any moiety, element, region, layer or section from another moiety, moiety, region, layer or section. Thus, a first portion, component, region, layer or section described below may be referred to as a second portion, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified and that the presence or absence of other features, regions, integers, steps, operations, elements, and / It does not exclude addition.

Terms indicating relative space such as "below "," above ", and the like may be used to more easily describe the relationship to other portions of a portion shown in the figures. These terms are intended to include other meanings or acts of the apparatus in use, as well as intended meanings in the drawings. For example, when inverting a device in the figures, certain portions that are described as being "below" other portions are described as being "above " other portions. Thus, an exemplary term "below" includes both up and down directions. The device can be rotated by 90 degrees or rotated at different angles, and terms indicating relative space are interpreted accordingly.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

1 is an exploded perspective view schematically showing a camera system according to an embodiment of the present invention.

1, the camera system 1 includes a lens 10, a lens holder 20 on which a lens 10 is mounted, a lens holder 20, And an image sensor 31 for detecting an image. The image sensor 31 is disposed on the image PCB 30 and includes an image array sensor composed of pixels. For example, the image sensor 31 includes a CMOS photo sensor array or a CCD photo sensor array. This image sensor 31 is disposed in parallel with the lens 10. Further, the lens 10 and the lens holder 20 can be coupled to each other in an active alignment manner.

The camera system 1 includes a main PCB 40 and an image processor 41 and a camera MCU (micro control unit) 42 are disposed on the main PCB 40. The image processor 41 receives image data from the image sensor 31, and the image processor 41 and the image sensor 31 can be connected through a connector (not shown). For example, the connector may be made of flexible PCB (FPCB) to maximize the internal space utilization of the camera system. Electrical signals, power, and control signals can be transmitted and received through these connectors. The communication method between the image processor 41 and the image sensor 31 may be, for example, I2C. The camera MCU 42 and the image processor 41 communicate with each other and the communication method may be, for example, a universal asynchronous receiver / transmitter (UART) or a serial peripheral interface (SPI).

The camera MCU 42 receives the image data processed by the image processor 41 and can transmit the image data to an electrical control unit (ECU) (not shown) in the vehicle. The communication scheme between the camera MCU 42 and the ECU of the vehicle may be, for example, a chassis CAN (controller area network). In addition, the camera MCU 42 receives data processed by the image processor 41, and the data includes, for example, data for the preceding vehicle, data for the preceding lane, data for the forward cyclist, (E.g., data for active high beam control (AHBC), data for wheel detection (e.g., data for faster vehicle recognition through vehicle wheel recognition for Close Cut-in vehicles entering camera FOV) Data for road marking (e.g., an arrow on the road), data for VD at any angle (data for recognizing the vehicle with respect to the previous driving direction or angle of the preceding vehicle), load profile (For example, in order to recognize a front road shape (bending, overspeed braking or hole) and to improve a ride feeling through suspension control Data for general objects (such as lateral vehicles), data for advanced path planning (e.g., data for a lane-free or non-lane), data for a semantic free space (e.g., boundary labeling) Data for predicting the expected traveling route of the vehicle from the contaminated road to Deep Learning through the surrounding environment), data on odometry (for example, data for recognizing the traveling road landmark and fusing with recognition information of the GPS ) And the like.

The camera system 1 also includes a housing 50 and the housing 50 includes an upper housing 52 and a lower housing 54. Specifically, a predetermined accommodation space is formed in the housing 50 to which the upper housing 52 and the lower housing 54 are coupled, and the lens 10, the lens holder 20, the image PCB 30 And the main PCB 40 are accommodated.

In manufacturing such a camera system 1, the lens holder 20 can be coupled to the image PCB 30 after the lens 10 is installed in the lens holder 20. For example, the lens holder 20 and the image PCB 30 may be coupled through a screw 23. [

Next, the upper housing 52 may be coupled with the lens holder 20 and the image PCB 30 engaged. At this time, the upper housing 52 and the lens holder 20 can be coupled by the screw 25.

On the other hand, the number of lenses 10 to be used may be changed according to the type of the camera system 10, the number of pixels of the image sensor, or the requirements of functions implemented by the camera system 10. [ For example, if one lens 10 is used, the lens may be 52 deg when 1.3 MP is required, or 100 deg when 1.7 MP is required, for example. Or two lenses 10 may be used. Or three lenses 10 are used, three imager sensors 31 are required, which may be 28 deg, 52 deg, 150 deg or 50 deg, 100 deg, 150 deg, respectively.

The type of the camera system 10 is determined according to the number or type of ADAS functions supported by the camera system 10. [ For example, if only some of the ADAS functions are supported (data processed by the image processor 41 includes data for a forward vehicle, data for a front lane, data for a forward cyclist, data for a traffic sign, (AHBC), data on wheel detection (e.g., data for faster vehicle recognition through vehicle wheel recognition for a Close Cut-in vehicle entering the camera FOV), data on traffic signals , A single lens may be used in the case of data for road marking (e.g., arrows on the road), and if more functions are supported (data processed by the image processor 41 is VD data for at any angle (data for recognizing the vehicle with respect to the entire driving direction or angle of the preceding vehicle) Data for a semantic free space (e.g., boundary labeling), data for a file (e.g., data for recognizing a shape of a road ahead (bending, overspeeding bump or hole) and improving ride comfort through suspension control) Data on general objects (side vehicles, etc.), data on advanced path planning (for example, on a lane-free or polluted road, Data), data on an odometry (for example, data for recognizing a traveling road landmark and fusing with recognition information of GPS), three lenses may be used.

2 is a view showing that the camera system 1 according to the present invention is mounted on an automobile.

As shown in FIG. 2, the camera system 1 can be mounted inside the vehicle under the windshield 220 in the vehicle and mounted near the room mirror 210. Accordingly, it is used to photograph the field of view of the front of the automobile of the camera system 1, and is used to recognize an object existing in the field of view ahead. The camera system 1 is mounted inside the vehicle corresponding to a region to be cleaned by a wiper driven outside the front glass 220 in order to cope with the situation of rain or the presence of dust, . On the other hand, the position where the camera system 1 is mounted is not limited thereto. The camera system 1 may be installed at another position to photograph the front, side, and rear of the vehicle.

On the other hand, a radar device (not shown), which is a sensor device using electromagnetic waves to measure the distance, velocity, and angle of an object, is typically located on the front grill of a vehicle so as to cover the front lower portion of the vehicle. The reason for placing the radar device on the front grill, that is, the reason for placing the radar device on the outside of the vehicle, that is, the reason for not transmitting and receiving through the windshield 220 of the vehicle is that, due to the characteristics of electromagnetic waves, to be. According to the present invention, the radar device can be located inside the vehicle, specifically, under the windshield 220 in the interior space of the vehicle, while preventing electromagnetic waves from passing through the windshield. To this end, the radar device is configured to transmit and receive electromagnetic waves through an opening provided at the top of the windshield 220. A cover is also disposed at a position corresponding to the opening for the radar device. This cover is intended to prevent loss due to the opening (e.g., air inflow, etc.). Further, it is preferable that the cover is made of a material which can easily penetrate the electromagnetic wave of the frequency used by the radar device. As a result, the radar device is located inside the vehicle, but transmits and receives electromagnetic waves through the openings provided in the windshield 220, and covers are provided corresponding to the openings to prevent loss due to the openings, and the electromagnetic waves are transmitted and received through the cover . Such a Radar apparatus can utilize beam aiming, beam selection, digital beam forming, and digital beam steering. The radar device may also include an array antenna or a phase-aligned array antenna.

The camera system 1 and the radar device (not shown) described above can interlock with each other in order to improve the performance of sensing an object ahead. For example, the image processor 41 and the Radar processor (not shown) can interlock with each other to magnify or focus the object of interest ahead. If the Radar and the front camera are interlocked with each other like this, the image sensor 31 and the Radar device can be disposed on the same substrate (for example, the image PCB 30).

In addition, an apparatus or system for sensing an object in a forward view, such as a camera system 1 or a Radar device (not shown), can be used for ADAS technology such as Adaptive Cruise Control (ACC). It can also be used to recognize a potential danger situation ahead, and can be used to recognize, for example, other vehicles in front, people in the front, animals in the front. In addition, an apparatus or system for detecting an object in a forward view, such as a camera system 1 or a radar apparatus (not shown), may be a lane departure warning system, an object detection system, A traffic sign recognition system, a lane keeping assistance system, a lane change assistance system, a blind spot warning system, an automatic headlamp control system an automatic headlamp control system, a collision avoidance system, and the like.

Fig. 3 is a diagram showing the components of the automobile in which the camera system 1 according to the present invention is mounted.

The components of an automobile can be distinguished by MCU level, ECU level, and controller level.

The MCU level includes a camera MCU 42, a Lidar MCU, a Radar MCU, a GPS MCU, a navigation MCU, and a V2X MCU. The MCUs belonging to the MCU level control a sensing device connected to the MCU level or a device (e.g., a processor) connected to the sensing device, and receive data from the sensing device or a device connected to the sensing device.

The image sensor 31 senses the image of the subject photographed through the lens 10 with respect to the camera MCU 42 and the image processor 41 receives the data from the image sensor 31 and performs processing And the camera MCU 42 receives the data from the image processor 41. The camera MCU 42 controls the image sensor 31 and the image processor 41 and controls such as power supply control, reset control, clock (CLK) control, data communication control, power control, . On the other hand, the image processor 41 can process the data sensed by the image sensor 31 and this processing includes enlarging the object ahead of the sensed object or focusing the area of the object in the entire view area .

With respect to the Lidar MCU 311, for example, the Lidar MCU 311 is connected to a Lidar device which is a sensor. The Lidar device may be composed of a laser transmission module, a laser detection module, a signal collection and processing module, and a data transmission / reception module, and the laser source may be a laser light source having a wavelength or variable wavelength in a wavelength range of 250 nm to 11 μm Is used. In addition, the Lidar device is divided into time-of-flight (TOF) and phase-shift based on the modulation method of the signal. The Lidar MCU 311 controls the Lidar device and other devices connected to the Lidar device (e.g., a Lidar processor (not shown) for processing the Lidar sensing output). Such control includes, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, and the like. On the other hand, the Lidar device is used to sense the front area of the vehicle. Such a Lidar device is located on the inner surface of the vehicle, specifically under the windshield 220, and transmits and receives the laser light source through the windshield.

For the Radar MCU 312, for example, the Radar MCU 312 is connected to a Radar device, which is a sensor. A radar device is a sensor device that uses electromagnetic waves to measure the distance, velocity, and angle of an object. The radar device can detect an object up to 150 m in the horizontal angle range of 30 degrees by using a frequency modulated carrier wave (FMCW) or a pulse carrier (pulse carrier) method. The Radar MCU 312 controls the Radar device and other devices connected to the Radar device (e.g., a Radar processor (not shown) that processes the Radar sensing output). Such control includes, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, and the like. On the other hand, a radar device typically uses a 77 GHz band radar or other suitable band and senses the front area of the car. The information obtained from the radar device can be used for ADAS technology such as adaptive cruise control (ACC). On the other hand, a Radar processor can process the data that the Radar device senses and output, including processing the object in front of the sensor or focusing the area of the object in the entire field of view.

With respect to the GPS MCU 313, for example, the GPS MCU 313 is connected to a GPS device which is a sensor. The GPS device is a device capable of measuring the position, speed and time of the vehicle by using communication with the satellite. Specifically, the GPS device measures a delay time of a radio wave emitted from a satellite and obtains a current position at a distance from the orbit. The GPS MCU 313 controls the GPS device and other devices connected to the GPS device (e.g., a GPS processor (not shown) that processes the GPS sensing output). Such control includes, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, and the like.

With respect to the navigation MCU 314, for example, the navigation MCU 314 is connected to a navigation device which is a sensor. The navigation device is a device for displaying map information through a display device installed in a front part of an automobile interior. Specifically, the map information is stored in the memory device and the current position of the vehicle measured by the GPS device is displayed in the map data. The navigation MCU 314 controls the navigation device and other devices connected to the navigation device (e.g., a navigation processor (not shown) for processing the navigation sensing output). Such control includes, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, and the like.

With respect to the V2X MCU 315, for example, the V2X MCU 315 is connected to the V2X device which is a sensor. Specifically, the V2X device is a device that performs automobile communication (V2V), automobile-to-infrastructure communication (V2I), and automobile-to-mobile communication (V2N). The V2X MCU 315 controls the V2X device and other devices connected to the V2X device (e.g., a V2X processor (not shown) processing the V2X sensing output). Such control includes, for example, power supply control, reset control, clock (CLK) control, data communication control, memory control, and the like.

An ECU (electrical control unit) 320 belonging to the ECU level is an apparatus for integrally controlling a plurality of electronic devices used in an automobile. For example, the ECU 320 can control both the MCUs belonging to the MCU level and the controllers belonging to the controller level. The ECU 320 receives the sensing data from the MCUs, generates a control command for controlling the controller to suit the situation, and transmits a control command to the controllers. Although the ECU level is described above as a level higher than the MCU level for convenience of explanation, one of the MCUs belonging to the MCU level may serve as an ECU, and two MCUs may be combined It may also serve as an ECU.

The controller level includes a driver warning controller 331, a head lamp controller 332, a vehicle attitude controller 333, a steering controller 334, an engine controller 335, a suspension controller 336, a brake controller 337, . The controller controls the components of the vehicle based on the control commands received from the ECU 320 or MCU-level MCUs.

With respect to the driver warning controller 331, for example, the driver warning controller 331 generates an alarm signal of an audio method, a video method, or a haptic method in order to warn the driver of a specific dangerous situation. For example, to output a warning sound, the driver warning controller 331 may output a warning sound using the sound system of the car. Alternatively, the operator alert controller 331 may output a warning message via the HUD display or the side mirror display to display a warning message. Alternatively, in order to generate the warning vibration, the driver warning controller 331 can operate the vibration motor mounted on the handle.

With respect to the headlamp controller 332, for example, the headlamp controller 332 is located in front of the automobile to control a headlamp ensuring the driver's view with respect to the front of the automobile at night. For example, the headlamp controller 332 performs an upward light control, a down light control, a left and right assist light control, an adaptive head lamp control, and the like.

With respect to the vehicle attitude control controller 333, for example, the vehicle attitude control controller 333 is referred to as VDC (vehicle dynamic control) or ESP (electrical stability control) or the like. In the event that the behavior of the vehicle suddenly becomes unstable, electronic equipment performs control to correct the behavior of the vehicle. For example, when sensors such as a wheel speed sensor, a steering angle sensor, a yaw rate sensor, and a cylinder pressure sensor sense the steering wheel operation and the traveling direction of the steering wheel and the wheel is shifted, ) Performs control to distribute the braking force of each wheel by using an ABS (anti-lock brake) function or the like.

With respect to the steering controller 334, for example, the steering controller 334 performs control on an electric power steering system (MPDS) that drives the steering wheel. For example, when the vehicle is expected to collide, the steering controller 334 controls the steering of the vehicle in such a direction as to avoid collision or minimize damage.

For example, the engine control controller 335 of the engine control controller 335 receives data from the oxygen sensor, the air amount sensor, and the manifold absolute pressure sensor, and when the ECU 32 receives the control command, Spark plugs, and the like.

With respect to the suspension controller 336, for example, the suspension controller 336 is a device for performing motor-based active suspension control. Specifically, the suspension controller 336 variably controls the damping force of the shock absorber so as to give a smooth riding feeling at the time of normal driving, and a riding comfort at the time of high-speed riding and posture change, thereby ensuring ride comfort and running stability. In addition to the damping force control, the suspension controller 336 may also perform height control, attitude control, and the like.

With respect to the brake controller 337, for example, the brake controller 337 controls whether or not the brakes of the vehicle are operated and controls the steering force of the brakes. For example, in the case where a forward collision is expected, the brake controller 337 automatically controls the emergency brake in accordance with a control command of the ECU 320 irrespective of whether or not the driver operates the brake.

Although the MCU, the ECU and the controller are described as independent components according to the above description using the drawings, it should be understood that they are not necessarily limited thereto. Two or more MCUs can be integrated into one MCU, two or more MCUs can cooperate with each other, two or more MCUs and ECUs can be integrated into one device, two or more MCUs can be integrated into one MCU, , Two or more controllers can be interlocked with each other, and two or more controllers and ECUs can be integrated into one apparatus.

For example, the Radar processor processes the output of the Radar device, the image processor 41 processes the output of the image sensor 31, the output of the Radar device, and the output of the image sensor 31, Processor, image processor 41, integrated processor, or ECU 320). For example, the radar processor processes the data sensed by the radar device, and based on the information about the object ahead derived from the processing result, the image processor 41 senses the image sensor 31 to output It is possible to perform processing for enlarging or focusing one data. On the contrary, the image processor 41 processes the data sensed by the image sensor 31, and based on the information about the object ahead derived from the processing result, the Radar processor detects the data Or perform processing to focus the image. For this purpose, the Radar MCU can control to perform beam aiming or beam selection on the Radar device. Or the Radar processor may perform digital beamforming or digital beam steering in an array antenna or phased array antenna system. If the Radar and the front camera are interlocked with each other like this, the image sensor 31 and the Radar device can be disposed on the same substrate (for example, the image PCB 30).

4A is a diagram showing the components of the camera system 1 according to the present invention.

4A, the camera system 1 includes a lens 10, an image sensor 31, an image processor 41, and a camera MCU 42.

The camera system 1 further includes a first converter unit 421 for receiving the ignition voltage 410 and converting the ignition voltage 410 to a first voltage 411, a second voltage 412 and a third voltage 413, A second converter section 422 that receives the first voltage 413 and converts the first voltage 413 into a fourth voltage 414 and a second voltage section 416 that receives the first voltage 411 and converts the first voltage 411 into a fifth voltage 415 and a sixth voltage 416. [ (423). 4A, the first converter unit 421 may be composed of one 3-ch DC-DC converter, but is not limited thereto. The first converter unit 421 may be composed of a 1-ch DC-DC converter and a 2-ch DC- 1ch DC-DC converter. The regulator unit 423 may be configured as a 2ch LDO (Low Drop Out) as shown in FIG. 4A, but it is not limited thereto and may be composed of two 1ch LDOs. The reason why the regulator portion 423 is implemented by the LDO is that the current level required by the image sensor 31 is not large.

The ignition voltage 410 is a voltage generated when the driver manually turns the key to start the vehicle or to start the vehicle in a button manner, and may be generally 14V. The first voltage 411 may be 3.3 V as the voltage by which the first converter unit 421 receives and converts the ignition voltage 410. The first voltage 411 may be input to the camera MCU 42 and used as an operating power of the camera MCU 42. Also, the first voltage 411 may be used as an operating power of the monitoring module 441 and the first memory 431. In addition, the first voltage 411 may be used as an operation power source of the image processor 41. The reason why the first voltage 411, which is the same operating power, is applied to the camera MCU 42 and the image processor 41 is to match the communication level (IO voltage) between the two communication components. The second voltage 412 may be 1.8 V as the voltage by which the first converter unit 421 receives and converts the ignition voltage 410. Meanwhile, as described later, a fifth voltage (for example, 1.8 V) is applied to the image sensor 31, which is the same as the second voltage. The reason why the second voltage 412 applied to the image processor 41 and the fifth voltage 215 applied to the image sensor 31 are the same is because the communication level between the image processor 41 and the image sensor 31 IO voltage). The third voltage 413 may be 5V as a voltage for the first converter unit 421 to receive and convert the ignition voltage 410. The third voltage 413 may be applied to the second converter unit 422 and the second converter unit 422 may output the fourth voltage 414. [ The fourth voltage 414 is applied to the image processor 41 and operates as the core power supply of the image processor 41. For example, the fourth voltage 414 may be 1.2V. Although the first converter section 421 can output the fourth voltage 414 directly, the first converter section 421 outputs the third voltage 413 and the third voltage 413 is output, The reason why the second converter 422 receives the fourth voltage 414 is to satisfy the allowable current demanded by the image processor 41. [ In addition, the reason is that the third voltage 413 is used as a working power source in other components (e.g., HS-CAN TRx, etc.).

The first voltage 411 is applied to the regulator portion 423 and the regulator portion 423 outputs the fifth voltage 415 and the sixth voltage 416. The fifth voltage 415 may be 1.8V, and the sixth voltage 416 may be 2.8V. The fifth voltage 415 is applied to the image sensor 31 and operates for adjusting the communication level with the image processor 41. The sixth voltage 416 is applied to the image sensor 31 and operates as the core power supply of the image sensor 31. As a result, the camera MCU 42 and the image processor 41 adjust the communication level to the first voltage 411, and the image processor 41 and the image sensor 31 adjust the second voltage 412 and the fifth The voltage level is adjusted by the voltage 415.

The camera system 1 also includes a first memory 431 that receives the first voltage 411 and is coupled to the camera MCU 42, a second memory 432 that is coupled to the image processor 41, A third memory 433 connected to the image processor 41, and a fourth memory 434 connected to the image processor 41. The first memory 431 may be an EEPROM, the second memory 432 may be LPDDR2, the third memory 433 may be LPDDR2, and the fourth memory 434 may be a flash memory. The first memory 431 is connected to the camera MCU 42 and includes MCU logic data (algorithm for controlling the controller), MCU basic software (start-up algorithm for driving the image processor 41, image sensor 31, etc.) ). The second memory 432 is connected to the image processor 41 and performs the function implementation algorithm stored in the fourth memory 434 in accordance with the instruction of the image processor 41. [ The third memory 433 is connected to the image processor 41 and performs the function implementation algorithm stored in the fourth memory 434 in accordance with the instruction of the image processor 41. [ The fourth memory 434 stores algorithm data (e.g., LD, PD, VD, TSR, etc.) that are coupled to the image processor 41 and implement the functions in the image processor 41. On the other hand, the capacity of the second memory 432 and the capacity of the third memory 433 can be determined according to the number of functions supported by the camera system 1. For example, if only some of the functions are supported (data processed by the image processor 41 includes data for the forward vehicle, data for the front lane, data for the forward cyclist, data for traffic signs, active high beam control AHBC), data on wheel detection (e.g., data for faster vehicle recognition through vehicle wheel recognition for a Close Cut-in vehicle entering the camera FOV), data on traffic signals, The second memory 432 and the third memory 433 may each be 128 MB in the case of data for load marking (e.g., arrows on the road) In addition to the above example, data for the VD at any angle (data for recognizing the vehicle with respect to the previous driving direction or angle of the preceding vehicle Data for recognizing a road profile (for example, a curve, an overspeed threshold, or a hole) and improving ride comfort through suspension control, data for semantic free space (e.g., boundary labeling) Data on general objects (such as lateral vehicles), data on advanced path planning (for example, on a lane-free or polluted road, The second memory 432 and the third memory 434 are provided for data on the odometry (for example, data for recognizing the traveling road landmark and fusing it with the recognition information of the GPS) The second memory 432 and the third memory 33 may be integrated into one memory according to the number of the lenses 10. In this case, A total of two memories (for example, 2 X 218 MB) of the second memory 432 and the third memory 433 can be used when only one lens 10 is used, One memory (e.g., 1 X 512 MB) larger in capacity than that using two memories may be used. Further, when three lenses 10 are used, two large-capacity memories (for example, 2 X 512 MB) can be used. That is, the number and capacity of the second memory 432 and the third memory 433 can be changed according to the number of lenses.

The camera system 1 further includes a monitoring module 441 connected to the camera MCU 42, a high-speed CAN transceiver (HS-CAN_TRx) 442 connected to the camera MCU 42 for performing chassis CAN communication, A high speed can transceiver 443 connected to the MCU 42 to perform local CAN communication, an external input device 444 connected to the camera MCU 42 to receive a wiper operation input, An external input unit 445 for receiving an off-switching input, and an external output unit 446 connected to the camera MCU 42 to output an LED signal. The reason why the camera MCU 42 receives the wiper operation input is that when the wiper ON signal is received, the camera MCU 42 is turned off Or the specific function of the camera MCU 42 must be turned off.

4B is a diagram showing the components of the camera system 1 according to the present invention.

4B, the camera system 1 includes a lens 10, an image sensor 31, an image processor 41, and a camera MCU 42. [

The camera system 1 further includes a first converter unit 530 which receives the ignition voltage 510 and converts the ignition voltage 510 into a first voltage 511, a second voltage 512, a third voltage 513, And a regulator unit 523 which receives the first voltage 511 and converts it into a fifth voltage 515, a sixth voltage 516 and a seventh voltage 517. 4B, the first converter unit 521 may be composed of one 4-ch DC-DC converter, but not limited thereto, and may be composed of a 1-ch DC-DC converter and a 3-ch DC- Channel DC-DC converters, or four 1-channel DC-DC converters. Alternatively, the first converter unit 521 may be configured as a 4-channel PMIC (Power Management Integrated Circuit). When a PMIC is used, a plurality of buck regulators are mounted, a boost regulator is mounted to support a USB function, and an I2C function for power setting can be provided. The regulator unit 523 may be configured as a 3ch LDO (Low Drop Out) as shown in FIG. 4B, but it is not limited thereto and may be composed of three 1ch LDOs. The reason why the regulator unit 523 is implemented by the LDO is that the current level required by the image sensor 31 is not large.

The ignition voltage 510 is a voltage generated when the driver manually turns the key to start the vehicle or presses the vehicle in a button manner, and may be generally 14V. The first voltage 511 may be 3.3 V as a voltage for the first converter unit 521 to receive and convert the ignition voltage 510. The first voltage 511 may be input to the camera MCU 42 and used as the operating power of the camera MCU 42. Also, the first voltage 511 may be used as an operating power of the monitoring module 541 and the first memory 531. In addition, the first voltage 511 may be used as an operation power source of the image processor 41. [ The reason why the first voltage 511, which is the same operation power, is applied to the camera MCU 42 and the image processor 41 is to match the communication level (IO voltage) between the two communication components. The second voltage 512 may be 1.8 V as a voltage for the first converter unit 521 to receive and convert the ignition voltage 510. As described later, a fifth voltage 515 (for example, 1.8 V) is applied to the image sensor 31, which voltage is the same as the second voltage 512. The reason why the second voltage 512 applied to the image processor 41 and the fifth voltage 515 applied to the image sensor 31 are the same is because the communication level between the image processor 41 and the image sensor 31 IO voltage). The third voltage 513 may be 5V as a voltage for the first converter unit 521 to receive and convert the ignition voltage 510. The third voltage 513 may be used as a driving power for the components (e.g., S-CAN communication module, C-CAN communication module, High Side Driver) used by the camera MCU 42 for communication. The fourth voltage 514 may be 2.8 V as the voltage that the first converter unit 521 receives and converts and outputs the ignition voltage 510. The fourth voltage 514 may be converted to 1.1 V through the converter and applied to the image processor 41. The 1.1 V voltage acts as the core power supply of the image processor 41. Meanwhile, although the first converter unit 521 can directly output the core power source 1.1V of the image processor, the fourth voltage 514 (2.8V) is supplied to the core power source 1.1V In order to satisfy the allowable current demanded by the image processor 41. [

The first voltage 511 is applied to the regulator 523 and the regulator 523 outputs the fifth voltage 515, the sixth voltage 516, and the seventh voltage 517. The fifth voltage 515 may be 1.8V, the sixth voltage 516 may be 2.8V, and the seventh voltage 517 may be 1.2V. The fifth voltage 515 is applied to the image sensor 31 and operates for the purpose of adjusting the communication level with the image processor 41. The sixth voltage 516 is applied to the image sensor 31 and operates as the core power supply of the image sensor 31. Eventually, the camera MCU 42 and the image processor 41 adjust the communication level to the first voltage 511, and the image processor 41 and the image sensor 31 adjust the second voltage 512 and the fifth The voltage level 515 adjusts the communication level.

The camera system 1 also includes a first memory 531 that receives the first voltage 511 and is coupled to the camera MCU 42, a second memory 532 that is coupled to the image processor 41, And a third memory 533 connected to the second memory 41. The first memory 531 may be an EEPROM, the second memory 532 may be LPDDR4, and the third memory 533 may be a flash memory. The first memory 531 is connected to the camera MCU 42 and controls the MCU logic data (algorithm for controlling the controller), MCU basic software (start-up algorithm for driving the image processor 41, image sensor 31, etc.) ). The second memory 532 is connected to the image processor 41 and performs the function implementation algorithm stored in the third memory 533 according to an instruction from the image processor 41. [ The third memory 533 stores algorithm data (e.g., LD, PD, VD, TSR, etc.) connected to the image processor 41 and implementing functions in the image processor 41. [ On the other hand, the capacity of the second memory 532 can be determined according to the number of functions supported by the camera system 1. For example, if only some of the functions are supported (data processed by the image processor 41 includes data for the forward vehicle, data for the front lane, data for the forward cyclist, data for traffic signs, active high beam control AHBC), data on wheel detection (e.g., data for faster vehicle recognition through vehicle wheel recognition for a Close Cut-in vehicle entering the camera FOV), data on traffic signals, The second memory 532 may be 128 MB, and if more functionality is supported (data processed by the image processor 41 may be stored in the above example (e.g., The data for VD at any angle (data for recognizing the vehicle with respect to the direction or angle of the forward driving of the preceding vehicle) Data for a semantic free space (e.g., boundary labeling), data for a file (e.g., data for recognizing a shape of a road ahead (bending, overspeeding bump or hole) and improving ride comfort through suspension control) Data on general objects (side vehicles, etc.), data on advanced path planning (for example, on a lane-free or polluted road, The second memory 532 may be 256 MB in the case of data for the odometry (for example, data for recognizing the traveling road landmark and fusing it with the GPS recognition information).

The camera system 1 further includes a monitoring module 541 connected to the camera MCU 42, a high-speed can-transceiver (HS-CAN_TRx) 542 connected to the camera MCU 42 to perform chassis CAN communication, A high speed CAN transceiver 543 connected to the MCU 42 to perform local CAN communication, a High Side driver 544 connected to the camera MCU 42 to output an LED signal, And an external input 545 for receiving the off-switching input. The camera MCU 42 may also include an external input receiver (not shown) coupled to the camera MCU 42 to receive wire inputs, which is why the camera MCU 42 receives the wiper operation input if the wiper ON signal is received It is necessary to turn off the operation of the camera MCU 42 or turn off the specific function of the camera MCU 42 because the recognition of the front through the camera system 1 is deteriorated due to the rain.

The camera system 1 described above can be applied to various types of vehicles such as Road Boundary Departure Prevention Systems (RBDPS), Cooperative Adaptive Cruise Control Systems (CACC), Vehicle / roadway warning systems, Partially Automated Parking Systems (PAPS), Partially Automated Lane Change Systems Cooperative Forward Vehicle Emergency Brake Warning Systems (FVBWS), Lane Departure Warning Systems (LDWS), Pedestrian Detection and Collision Mitigation Systems (PDCMS), Curve Speed Warning Systems (CSWS), Lane Keeping Assistance Systems (LKAS) Control Systems, Forward Vehicle Collision Warning Systems (FVCWS), Maneuvering Aids for Low Speed Operation Systems (LCDs), Lane Change Decision Aid Systems (LSAS), Low Speed Following Systems (LSF), Full Speed Range Adaptive Cruise Control Systems ), Forward Vehicle Collision Mitigation Systems (FVCMS), Extended Range Backing Aids Systems (ERBA), Cooperative Intersection Signal Information and Violation Warning Systems (CIWS), Traffic Impediment Warning Systems (TIWS) Fig at least can be used to implement a single function. 5 is an exploded perspective view illustrating the coupling relationship of the lens barrel and the lens holder according to the invention.

The lens 10 according to the present invention is inserted into the lens barrel 15 and the lens barrel 15 includes the flange 15-1. The lens barrel 15 and the lens holder 20 are coupled to each other in such a manner that the body of the lens barrel 15 including the lens 10 and the flange 15-1 is inserted into the lens holder 20. [ In addition, the lens barrel 15 and the lens holder 20 are coupled to each other by an active alignment method, and this portion will be described later with reference to FIG.

6 is a view for explaining active alignment of a lens barrel and a lens holder according to the present invention.

Active alignment is used to attach the lens barrel 15 to the lens holder 20. The active alignment means adhesion between the flange 15-1 of the lens barrel 15 and the upper surface 25 of the lens holder 20. [ Refers to changing the top / bottom / left / right positions of the lens barrel 15 so that the material 600 is positioned and the object recognized through the image sensor 31 is in focus. The adhesive material 600 typically can be deformed before it is cured and an epoxy having strong adhesion after curing can be used.

The lower surface 15-2 of the flange 15-1 and the upper surface 25 of the lens holder 15 that are in contact with the adhesive material 600 are both flat. According to this conventional method, there is no problem in bonding the lens barrel 15 and the lens holder 20 to each other. However, when an impact occurs in the camera or an extreme situation occurs in terms of temperature, 600 are deteriorated and the lens barrel 15 and the lens holder 20 are separated from each other.

7 is a view showing a lens holder 20 according to an embodiment of the present invention. 7A is a perspective view of the lens holder 20 and Figs. 7B to 7E are top views of the lens holder 20 and show the top surface 25 of the lens holder 20. Fig. A groove 27 may be formed on the upper surface 25 of the lens holder 20 as shown in FIGS. 7B to 7E. The shape of the groove 27 may be a single circular groove (Figure 7b), a double circular groove (Figure 7c), a cross grid (Figure 7d), a zigzag groove (Figure 7e) Lt; / RTI > The grooves 27 may be formed using a laser. The surface roughness of the upper surface 25 of the lens holder 20 is increased due to the grooves 27 so that the contact area with the adhesive material 600 is maximized and the adhesive force or the effect of maximization can be obtained.

8 is a view showing the lens barrel 15 according to the embodiment of the present invention. More specifically, FIG. 8A is a perspective view of the lens barrel 15, and FIGS. 8B to 8E are bottom views of the lens barrel 15, showing the lower face 15-2 of the flange 15-1 of the lens barrel 15 Respectively. A groove 15-3 may be formed on the lower surface 15-2 of the flange 15-1 of the lens barrel 15 as shown in Figs. 8B to 8E. The shape of the groove 15-3 may be a single circular groove (Figure 8b), a double circular groove (Figure 8c), a cross grid (Figure 8d), a zigzag groove 8e). The groove 15-3 may be formed using a laser. The surface roughness of the lower surface 15-2 of the flange 15-1 of the lens barrel 15 is increased due to the groove 15-3 so that the contact area with the adhesive material 600 is maximized, Can be derived.

In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions may be stored or transmitted as one or more instructions or code on a computer readable medium. Computer-readable media includes both communication media and computer storage media including any medium that facilitates transfer of a computer program from one place to another. The storage medium may be any available media that is accessible by a computer. By way of example, and not limitation, such computer-readable media can comprise any computer-readable medium, such as RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, And any other medium that can be used to store and be accessed by a computer. Also, any connection is properly referred to as a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a wireless technology such as coaxial cable, fiber optic cable, twisted pair cable, digital subscriber line (DSL), or infrared, radio and ultra high frequency, Wireless technologies such as fiber optic cable, twisted pair, DSL, or infrared, radio and microwave are included in the definition of media. Disks and discs as used herein include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVD), floppy discs and Blu-ray discs, While discs reproduce data optically by means of a laser. Combinations of the above should also be included within the scope of computer readable media.

When embodiments are implemented as program code or code segments, the code segments may be stored as a procedure, a function, a subprogram, a program, a routine, a subroutine, a module, a software package, a class, As well as any combination thereof. A code segment may be coupled to another code segment or hardware circuit by conveying and / or receiving information, data, arguments, parameters or memory contents. Information, arguments, parameters, data, etc. may be communicated, sent, or transmitted using any suitable means including memory sharing, message passing, token passing, Additionally, in some aspects, steps and / or operations of a method or algorithm may be performed on one or more of the codes and / or instructions on a machine readable medium and / or computer readable medium that may be integrated into a computer program product As a combination or set of < / RTI >

In an implementation in software, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor and external to the processor, in which case the memory unit may be communicatively coupled to the processor by various means as is known.

In a hardware implementation, the processing units may be implemented as one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays Controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe all possible combinations of components or methods for purposes of describing the embodiments described, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the described embodiments are intended to embrace all such alterations, modifications and variations that fall within the spirit and scope of the appended claims. Furthermore, to the extent that the term "comprises" is used in the detailed description or the claims, such terms are intended to be inclusive in a manner similar to "consisting" .

As used herein, the term " infer "or" inference "generally refers to a process of determining or inferring a state of a system, environment, and / or user from a set of observations captured by events and / It says. The inference may be used to identify a particular situation or action, or may generate a probability distribution for, for example, states. The inference can be probabilistic, that is, it can be a computation of a probability distribution for corresponding states based on consideration of data and events. Inference may also refer to techniques used to construct higher level events from a set of events and / or data. This inference may be based on a set of observed events and / or new events or operations from stored event data, whether the events are closely correlated in time, and whether events and data are coming from one or more events and data sources .

Furthermore, as used in this application, the terms "component," "module," "system," and the like are intended to encompass all types of computer- Entity. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable execution thread, a program, and / or a computer. By way of illustration, both the application running on the computing device and the computing device can be components. One or more components may reside within a process and / or thread of execution, and the components may be centralized on one computer and / or distributed between two or more computers. These components may also be executed from various computer readable media having various data structures stored thereon. The components may be associated with a signal having one or more data packets (e.g., data from a local system, data from another component of the distributed system and / or signals from other components interacting with other systems via a network such as the Internet) Lt; RTI ID = 0.0 > and / or < / RTI > remote processes.

Claims (16)

1. A camera system for a vehicle,
A lens 10 for photographing the front of the vehicle;
A lens barrel 15 for accommodating the lens in an inner space;
A lens holder 20 coupled to the lens barrel;
An image sensor (31) for sensing an image taken by the lens;
An image processor (41) for receiving and processing image data from the image sensor; And
And a camera MCU (42) in communication with the image processor to receive data processed by the image processor.
Car camera system. The vehicle camera system according to claim 1, wherein the vehicle camera system comprises:
A first converter section (521) receiving the ignition voltage (510) and outputting at least one voltage; And
Further comprising a regulator unit (523) receiving the voltage output from the first converter unit (521) and outputting at least one voltage,
Car camera system. 3. The method of claim 2,
The camera MCU 42 receives the first voltage 511 from the first converter unit 521 as operating power,
The image processor 41 receives the first voltage 511 from the first converter unit 521 as operating power,
Car camera system. The method of claim 3,
The first voltage 511 output from the first converter unit 521 is 3.3 V,
Car camera system. The method of claim 3,
The image processor 41 receives the second voltage 512 from the first converter unit 521,
The image sensor 31 receives the fifth voltage 515 from the regulator unit 523,
The second voltage 512 and the fifth voltage 515 are equal to each other,
Car camera system. 6. The method of claim 5,
Wherein the second voltage and the fifth voltage (515) are 1.8 V,
Car camera system. The method of claim 3,
The image sensor 31 receives a sixth voltage 516 from the regulator unit 523 as a core power supply,
The sixth voltage 516 is 2.8 V,
Car camera system. The method of claim 3,
The first converter unit 521 is configured to include at least one DC-DC converter,
The regulator portion 523 is configured to include at least one Low Drop Out (LDO)
Car camera system. The method according to claim 1,
The camera MCU 42 is connected to the first memory 531,
Car camera system. 10. The method of claim 9,
The image processor 41 communicates with a second memory 532 and a third memory 533,
Car camera system. 11. The method of claim 10,
The second memory (532) is adapted to determine the capacity according to the number of ADAS functions supported by the vehicle camera system.
Car camera system. The method according to claim 1,
The camera system comprises:
(RBDPS), Cooperative Adaptive Cruise Control Systems (CACC), Vehicle / roadway warning systems, Partially Automated Parking Systems (PAPS), Partially Automated Lane Change Systems (PALS), Cooperative Forward Vehicle Emergency Brake Lane Departure Warning Systems (LDWS), Pedestrian Detection and Collision Mitigation Systems (PDCMS), Curve Speed Warning Systems (CSWS), Lane Keeping Assistance Systems (LKAS), Adaptive Cruise Control systems (ACC) Collision Warning Systems), MALSO (Maneuvering Aids for Low Speed Operation systems), LCDAS (Lane Change Decision Aid Systems), LSF (Low Speed Following systems), FSRA (Full Speed Range Adaptive cruise control systems), Forward Vehicle Collision Mitigation Systems), Extended Range Backing Aids Systems (ERBA), Cooperative Intersection Signal Information and Violation Warning Systems (CIWS), and Traffic Impediment Warning Systems (TIWS). Used to preface,
Car camera system. The method according to claim 1,
Wherein the lens barrel further comprises a flange,
Wherein a groove is formed on a lower surface of the flange of the lens barrel,
Car camera system. 14. The method of claim 13,
Characterized in that the groove is formed of at least one of a single circular shape, a double circular shape, a cross lattice shape, and a zigzag shape.
Car camera system. The method according to claim 1,
Wherein a groove is formed on an upper surface of the lens holder,
Car camera system. 16. The method of claim 15,
Characterized in that the groove is formed of at least one of a single circular shape, a double circular shape, a cross lattice shape, and a zigzag shape.
Car camera system.

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