WO2018155280A1 - Surroundings monitoring system - Google Patents

Abstract

This surroundings monitoring system 10 has a first camera 11 and a second camera 12. The first camera 11 has a first lens. The second camera 12 is disposed at a position away from the first camera 11. The second camera 12 has a second lens. The optical axis direction, toward a first object, of the first lens includes a directional component in a direction that is identical to the direction from the first camera 11 toward the second camera 12. The optical axis direction, toward a second object, of the second lens includes a directional component that is in the opposite direction to said directional component.

Description

Perimeter monitoring system Cross-reference of related applications

This application claims the priority of Japanese Patent Application No. 2017-0334010 filed in Japan on February 24, 2017, the entire disclosure of which is incorporated herein by reference.

The present invention relates to a perimeter monitoring system.

A monitoring system that is mounted on a moving body such as a vehicle and monitors the periphery of the moving body with a camera is known. Surveillance systems are required to perform a wide range of peripheral monitoring with as few cameras as possible with a small number of blind spots. In the conventional monitoring system, the periphery is imaged using an ultra-wide angle lens such as a fisheye lens. When an ultra-wide-angle lens is used, the image is distorted as the distance from the optical axis is increased, so that a process for correcting the distortion is performed (see Patent Document 1).

JP 2009-0117169 A

However, when the distortion increases, the resolution of the subject is low, and it is difficult to obtain the required detailed image even if the distortion is corrected.

This disclosure provides a periphery monitoring system that can obtain a detailed image in a wide range with few blind spots with as few cameras as possible.

The peripheral monitoring system according to the first aspect is
A first camera having a first lens;
A second camera located away from the first camera and having a second lens;
The first object-oriented optical axis direction of the first lens includes a direction component in the same direction as the direction from the first camera toward the second camera;
The second object-oriented optical axis direction of the second lens includes a direction component opposite to the direction component.

According to the periphery monitoring system according to the present disclosure, it is possible to obtain a detailed image in a wide range with few blind spots with as few cameras as possible.

It is a functional block diagram which shows schematic structure of the periphery monitoring system which concerns on one Embodiment. FIG. 2 is a schematic plan view of a moving body to which the periphery monitoring system of FIG. 1 is attached. It is a schematic side view of the moving body to which the periphery monitoring system of FIG. 1 is attached. It is a figure which shows the imaging range of the left-right direction of the moving body by the periphery monitoring system of FIG. It is a figure which shows the imaging range of the up-down direction of the moving body by the periphery monitoring system of FIG. It is a figure which shows the conditions which should be satisfy | filled as the imaging range of the left-right direction of a moving body in the structure which applied the 1st camera in FIG. 1 as an electronic mirror. It is a figure for demonstrating the area | region which correct | amends the distortion in the 1st image which the 1st camera in FIG. 1 imaged. It is a figure for demonstrating the area | region which correct | amends the distortion in the 2nd image which the 2nd camera in FIG. 1 imaged. It is a flowchart for demonstrating the distortion correction process which the controller in FIG. 1 performs.

Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings.

As shown in FIG. 1, the periphery monitoring system 10 includes a first camera 11, a second camera 12, and a controller 13. The periphery monitoring system 10 monitors the periphery of the moving body 15. In the periphery monitoring system 10, the controller 13 generates a display image based on the first image and the second image generated by imaging by at least one of the first camera 11 and the second camera 12, and sends the display image to the external device 14. introduce. The first camera 11, the second camera 12, the external device 14, and the controller 13 can transmit information and signals through a dedicated line or a network such as a CAN (Controller Area Network).

As shown in FIG. 2, the first camera 11 and the second camera 12 are provided outside the moving body 15.

“Moving object” in the present disclosure includes vehicles, ships, and aircraft. The “vehicle” in the present disclosure includes, but is not limited to, an automobile, a railway vehicle, an industrial vehicle, and a living vehicle. For example, the vehicle may include an airplane traveling on a runway. The automobile includes, but is not limited to, a passenger car, a truck, a bus, a two-wheeled vehicle, a trolley bus, and the like, and may include other vehicles that travel on the road. Rail vehicles include, but are not limited to, locomotives, freight cars, passenger cars, trams, guided railroads, ropeways, cable cars, linear motor cars, and monorails, and may include other vehicles that travel along the track. Industrial vehicles include industrial vehicles for agriculture and construction. Industrial vehicles include but are not limited to forklifts and golf carts. Industrial vehicles for agriculture include, but are not limited to, tractors, tillers, transplanters, binders, combines, and lawn mowers. Industrial vehicles for construction include, but are not limited to, bulldozers, scrapers, excavators, cranes, dump trucks, and road rollers. Living vehicles include, but are not limited to, bicycles, wheelchairs, baby carriages, wheelbarrows, and electric standing and riding motorcycles. Vehicle power engines include, but are not limited to, internal combustion engines including diesel engines, gasoline engines, and hydrogen engines, and electric engines including motors. Vehicles include those that travel by human power. The vehicle classification is not limited to the above. For example, an automobile may include an industrial vehicle capable of traveling on a road, and the same vehicle may be included in a plurality of classifications.

The first camera 11 and the second camera 12 are located on at least one of the left side and the right side of the moving body 15, for example. The first camera 11 and the second camera 12 may be provided at least one of the front and rear of the moving body 15. The first camera 11 and the second camera 12 are located away from each other.

For example, the first camera 11 is positioned in front of the second camera 12 in the moving body 15. As shown in FIG. 3, the first camera 11 is positioned forward of at least the front edge of the wheel arch 16 of the rear wheel of the moving body 15. In the present embodiment, the first camera 11 is located near the front end of the door window of the door on the front side of the moving body 15.

The first camera 11 has a first lens and an image sensor. The first lens is formed to have desired optical characteristics relating to, for example, the depth of focus and the angle of view. The first lens forms a subject image on the image sensor. The image sensor is an image sensor such as a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary MOS) image sensor. The first camera 11 images the subject of the first lens in the first object-oriented optical axis direction oxd1. The first camera 11 outputs a first image generated by imaging to the controller 13.

The first object-oriented optical axis direction oxd1 is in the direction of the second camera 12. More specifically, the first object-oriented optical axis direction oxd1 includes a direction component in the same direction as the direction d12 from the first camera 11 toward the second camera 12. For example, the direction component in the same direction as the direction d12 from the first camera 11 toward the second camera 12 included in the first object-oriented optical axis direction oxd1 includes a direction component in the front-rear direction of the moving body 15. The direction d12 from the first camera 11 toward the second camera 12 is, for example, a direction from the front node of the first lens of the first camera 11 toward the front node of the second lens of the second camera 12. It is.

The first object-oriented optical axis direction oxd1 may be inclined in the vertical direction of the moving body 15. More specifically, the first object-oriented optical axis direction oxd1 is a direction along the vertical direction of the moving body 15. Contains ingredients. Alternatively, the first object-oriented optical axis direction oxd1 may be horizontal without being inclined. In the first embodiment, the first object-oriented optical axis direction oxd1 is inclined downward in the moving body 15 and includes a downward direction component in the vertical direction of the moving body 15.

2, the first object-oriented optical axis direction oxd1 may be inclined in a direction away from the outer surface of the moving body 15 in the left-right direction of the moving body 15. More specifically, the first object-oriented optical axis direction oxd1 includes a directional component in a direction away from the surface of the moving body 15 along the left-right direction of the moving body 15. Alternatively, the first object-oriented optical axis direction oxd1 may be parallel to the front-rear direction without being inclined.

As shown in FIG. 4, the first lens has an angle of view in the left-right direction in the moving body 15 that can image the outer surface of the moving body 15 in the left-right direction of the moving body 15. Further, as will be described later, the field angle in the left-right direction is related to the range in which the second lens of the second camera 12 can shoot.

As shown in FIG. 5, the first lens has a vertical angle of view on the moving body 15 such that the height of the roof of the moving body 15 is included in the imaging range at the end of the moving body 15. In addition, the first lens can capture the range including the wheel arch 16 of the rear wheel of the moving body 15 or the rear of the moving body 15 in a space including the optical axis defined by the angle of view of the first lens. It has at least a vertical angle of view in the moving body 15 in which a ring exists. Alternatively, the first lens may have an angle of view capable of capturing an image of the road surface between the first camera 11 and the second camera 12 in the front-rear direction of the moving body 15.

As an example, the first camera 11 may be a so-called electronic mirror camera. The posture of the first camera 11 is determined so that it is possible to photograph at least a scene in a range to be photographed, which is determined by laws and regulations, for example. For example, as shown in FIG. 6, the range to be photographed is a lateral width of 1 m from the side of the moving body 15 from the side of the moving body 15 at a position 4 m (meters) behind the driver on the ground, and 20 m or more behind the driver. Is a range including the outer width 4 m from the side surface of the moving body 15 (see the shaded portion). The range to be photographed is a range that monotonously increases from the position 4 m behind to the position 20 m behind the driver.

For example, the second camera 12 is located behind the first camera 11 in the moving body 15. As shown in FIG. 3, the second camera 12 is positioned behind the rear end of the wheel arch 17 of at least the front wheel of the moving body 15. In the present embodiment, the second camera 12 is located on the rear pillar of the moving body 15.

The second camera 12 has a second lens and an image sensor. The second lens is formed to have desired optical characteristics relating to, for example, the depth of focus and the angle of view. The second lens forms a subject image on the image sensor. The image sensor is an image sensor such as a CCD image sensor or a CMOS image sensor. The second camera 12 images the subject of the second lens in the second object-oriented optical axis direction oxd2. The second camera 12 outputs a second image generated by imaging to the controller 13.

The second object-oriented optical axis direction oxd2 faces the direction of the first camera 11. Therefore, the second object-oriented optical axis direction oxd2 and the first object-oriented optical axis direction oxd1 face each other. More specifically, the second object-oriented optical axis direction oxd2 includes a direction component opposite to the direction d12 from the first camera 11 toward the second camera 12. For example, the second object-oriented optical axis direction oxd <b> 2 is opposite to the first object-oriented optical axis direction oxd <b> 1 in the front-rear direction of the moving body 15.

The second object-oriented optical axis direction oxd2 may be inclined in the same direction as the first object-oriented optical axis direction oxd1 along the vertical direction of the moving body 15. More specifically, the first object-oriented light The axial direction oxd1 and the second object-oriented optical axis direction oxd2 include direction components in the same direction along the vertical direction of the moving body 15. Alternatively, the second object-oriented optical axis direction oxd2 may be horizontal without being inclined. In the first embodiment, the second object-oriented optical axis direction oxd2 is inclined downward in the moving body 15 and includes a downward direction component in the vertical direction of the moving body 15.

As shown in FIG. 2, the second object-oriented optical axis direction oxd2 may be inclined in the same direction as the first object-oriented optical axis direction oxd1 along the left-right direction of the moving body 15. More specifically, the first object-oriented optical axis direction oxd1 and the second object-oriented optical axis direction oxd2 include direction components in the same direction along the left-right direction of the moving body 15. Alternatively, the second object-oriented optical axis direction oxd2 may be parallel to the front-rear direction without being inclined.

As shown in FIG. 4, the second lens has an angle of view in the left-right direction in the moving body 15 that can image the outer surface of the moving body 15 in the left-right direction of the moving body 15. Further, in the first lens and the second lens, the blind spot bs that is out of the respective imaging ranges of the first camera 11 and the second camera 12 is longer than the length corresponding to one lane from the outer surface of the moving body 15. It has an angle of view in the left-right direction that occurs from a distant position. In one example, the blind spot bs is separated from the moving body 15 by 3.75 m or more in the left-right direction. This 3.75 m is based on a value obtained by adding 0.25 m described in the proviso to the width of the first-class first-class lane based on Article 5, Paragraph 4 of the Road Structure Ordinance established by the Japanese Cabinet.

As shown in FIG. 5, the second lens has at least a vertical angle of view in the moving body 15 that can capture an area including the wheel arch 17 of the front wheel of the moving body 15. Alternatively, the second lens is an image in which the first camera 11 and the second camera 12 can capture the road surface at the same position between the first camera 11 and the second camera 12 in the front-rear direction of the moving body 15. It may have corners. In addition, the second lens has an angle of view in the vertical direction of the moving body 15 that can capture an image of the upper side of the moving body 15 in the vertical direction from the second camera 12.

The controller 13 shown in FIG. 1 includes one or more processors. The controller 13 may include one or a plurality of memories that store programs for various processes and information being calculated. The memory includes volatile memory and nonvolatile memory. The memory includes a memory independent of the processor and a built-in memory of the processor. The processor includes a general-purpose processor that reads a specific program and executes a specific function, and a dedicated processor specialized for a specific process. The dedicated processor includes an application specific integrated circuit (ASIC) (ASIC: Application Specific Integrated Circuit). The processor includes a programmable logic device (PLD; Programmable Logic Device). PLD includes FPGA (Field-Programmable Gate Array). The controller 13 may be one of SoC (System on a Chip) and SiP (System In a Package) in which one or a plurality of processors cooperate. In a configuration in which the controller 13 includes a plurality of processors, at least one of the first camera 11 and the second camera 12 may include a part of the processor. The processor included in the first camera 11 can execute some of the functions of the controller 13. The processor included in the second camera 12 can execute some of the functions of the controller 13.

The controller 13 acquires a first image and a second image captured by the first camera 11 and the second camera 12, respectively. Moreover, the controller 13 acquires the information regarding the behavior of the moving body 15 from ECU (Electronic Control Unit) etc., for example. The information related to the behavior includes, for example, information that commands blinking of the direction indicator, information indicating that the moving body 15 is in the reverse gear state, and information related to the steering angle of the steering wheel.

The controller 13 performs predetermined image processing on the first image and the second image to generate a display image. The predetermined image processing may include white balance adjustment, γ correction, color interpolation, edge enhancement, electronic zoom, sharpness processing, super-resolution processing, and the like.

Further, the controller 13 corrects the distortion of at least one of the first image and the second image based on the behavior of the moving body 15.

The controller 13 determines whether or not the behavior of the moving body 15 is being prepared for lateral movement based on the information regarding the behavior. For example, the controller 13 determines that the moving body 15 is preparing to move to the side when acquiring information for instructing blinking of the direction indicator as information related to the behavior.

When the controller 13 determines that the behavior of the moving body 15 is in preparation for lateral movement, the controller 13 converts the image in the rear confirmation area of the first image into an image viewed from the front to the rear in the moving body 15. Correct as follows. In addition, when the controller 13 determines that the moving body 15 is preparing to move to the side, the image of the side confirmation area of the second image is converted into an image obtained by looking at the side from the moving body 15. Correct to convert. Further, when the controller 13 determines that the moving body 15 is preparing to move sideways, the controller 13 converts the image in the front confirmation area of the second image into an image viewed from the back to the front in the moving body 15. Correct as follows. The controller 13 can execute viewpoint conversion of an image by coordinate conversion using a conversion table. The controller 13 transmits the corrected image to the external device 14.

The rear confirmation area rca of the first image is an area in which, for example, a front drawing of an object such as a vehicle on a lane adjacent to the position where the moving body 15 exists is assumed. The rear confirmation area rca is determined based on the mounting position and posture of the first camera 11, the angle of view of the first camera 11, and the like. In the configuration of the first camera 11 and the mounting posture to the moving body 15 as described above, the rear confirmation region rca is, for example, as shown in FIG. 7, the light of the first lens on the first image im1. This is a region including the moving body 15 side from the point oxp1 corresponding to the axis. The backward confirmation area rca of the first image im1 can be the entire area of the first image im1.

The side confirmation area sca of the second image is, for example, a side surface of an object such as a vehicle on a lane adjacent to a position where the moving body 15 exists, and a vehicle on a road on which the moving body 15 turns left or right. This is an area where the front of the object is supposed to be drawn. The side confirmation area sca is determined based on the mounting position and posture of the second camera 12, the angle of view of the second camera 12, and the like. In the configuration of the second camera 12 and the mounting posture to the moving body 15 as described above, the side confirmation region sca is, for example, as shown in FIG. 8, the second lens im on the second image im2. This is a region including the side away from the moving body 15 from the point oxp2 corresponding to the optical axis. The side confirmation area sca of the second image im2 may be the entire area of the second image im2.

The forward confirmation area fca of the second image im2 is an area where, for example, a drawing of a person waiting for crossing a road on which the moving body 15 turns left or right is assumed. The front confirmation area fca is determined based on the mounting position and posture of the second camera 12, the angle of view of the second camera 12, and the like. In the configuration of the second camera 12 and the mounting posture to the moving body 15 as described above, the front confirmation region fca is, for example, a region including the upper side of the point oxp2 in the second image im2. The front confirmation area fca may partially overlap with the side confirmation area sca. The front confirmation area fca of the second image im2 may be the entire area of the second image im2.

The controller 13 determines whether or not the moving body 15 is moving backward based on the information regarding the behavior. For example, the controller 13 determines that the moving body 15 is moving backward when acquiring information indicating that the moving body 15 is in the reverse gear state as information regarding the behavior.

When the controller 13 determines that the behavior of the moving body 15 is moving backward, the controller 13 corrects the first image im1 and the second image im2 so that the moving body 15 is viewed from the vertically upper side to the lower side. The controller 13 corrects the first image im1 and the second image im2 so that they have the same scale on the ground surface. The controller 13 can combine the two corrected images of the first image im1 and the second image im2 into one image. The corrected image can be used in the periphery monitoring system of the moving body 15. Such a perimeter monitoring system may be referred to as surround view, surround view monitor, around view, panoramic view, multi-view, omnidirectional monitor, surround eye, and eagle view.

1 is, for example, a monitor and an image analysis device. The monitor is a liquid crystal display (LCD (Liquid Crystal Display)) or an organic or inorganic EL display, for example, and displays a display image to be acquired. The image analysis apparatus can perform image analysis based on a display image, for example, and can calculate whether or not a specific type of subject is drawn, the distance of the specific subject, and the like.

In the present embodiment, the external device 14 is a monitor. The external device 14 is provided in the vehicle interior of the moving body 15 at a position where the driver can visually recognize it. The external device 14 displays an image acquired from the controller 13.

Next, distortion correction processing executed by the controller 13 in this embodiment will be described with reference to the flowchart of FIG. The distortion correction processing starts when the prime mover including the engine of the moving body 15 is started, or when the prime mover including the motor is ready to start. Further, the distortion correction processing ends when the prime mover including the engine of the moving body 15 stops or when the prime mover including the motor ends, for example. In addition to the distortion correction described in this flow, the controller 13 can execute other distortion correction. For example, the controller 13 can perform distortion correction on the first image im1 of the first camera 11 for the image for the E mirror.

In step S100, the controller 13 acquires the first image im1 and the second image im2 from the first camera 11 and the second camera 12, respectively. When the first image im1 and the second image im2 are acquired, the process proceeds to step S101.

In step S101, the controller 13 determines whether or not it is preparing to move to the side. Note that, as described above, the controller 13 determines that it is preparing to move to the side when it obtains information that commands blinking of the direction indicator. When determining that it is preparing to move to the side, the process proceeds to step S102. When the information regarding the behavior is not acquired, the process proceeds to step S103.

In step S102, the controller 13 performs distortion correction for side movement preparation on a part of the first image im1 and the second image im2. That is, the controller 13 corrects the image in the rear confirmation region rca of the first image im1 to an image viewed from the front of the moving body 15 to the back. In addition, the controller 13 corrects the image of the side confirmation region sca of the second image im2 to an image obtained by viewing the side from the moving body 15. In addition, the controller 13 corrects the image of the front confirmation area fca of the second image im2 to an image viewed from the back to the front in the moving body 15. After correction, the process proceeds to step S105.

In step S103, the controller 13 determines whether or not the vehicle is moving backward. As described above, the controller 13 determines that the vehicle 15 is moving backward when acquiring information indicating that the moving body 15 is in the reverse gear state. When determining that the vehicle is moving backward, the process proceeds to step S104. When the information regarding the behavior is not acquired, the process proceeds to step S105.

In step S104, the controller 13 performs backward distortion correction on the first image im1 and the second image im2. That is, the controller 13 corrects the first image im <b> 1 and the second image im <b> 2 to be continuous images when viewed from the vertically upper side of the moving body 15 downward. After correction, the process proceeds to step S105.

In step S105, the controller 13 outputs the display image acquired in step S100 and subjected to predetermined image processing, the display image corrected in distortion in step S102, or the display image corrected in distortion in step S104 to the external device 14. To do.

In the periphery monitoring system 10 of the present embodiment configured as described above, the first object-oriented optical axis direction oxd1 of the first lens is in the same direction as the direction from the first camera 11 toward the second camera 12. In such a configuration, the periphery monitoring system 10 includes the first camera 11 and the second camera component in such a manner that the second object-oriented optical axis direction oxd2 of the second lens includes a direction component opposite to the direction component. The imaging ranges of the first camera 11 and the second camera 12 can be overlapped without applying an ultra-wide-angle lens such as a fisheye lens that makes it difficult to acquire a detailed image to the camera 12. Therefore, in the periphery monitoring system 10, a detailed image can be obtained in a wide range with few blind spots.

Further, in the periphery monitoring system 10 of the present embodiment, the first camera 11 and the second camera 12 can be located on at least one of the left side and the right side of the moving body 15. In view of such a configuration, the periphery monitoring system 10 can cause the moving body 15 to monitor a side view on the side where the first camera 11 and the second camera 12 are provided.

Further, in the periphery monitoring system 10 of the present embodiment, the first camera 11 and the second camera 12 are the road surface at the same position between the first camera 11 and the second camera 12 in the front-rear direction of the moving body 15. Can be imaged. With such a configuration, the periphery monitoring system 10 can further reduce the blind spot when monitoring the road surface on the side of the moving body 15.

Moreover, in the periphery monitoring system 10 of the present embodiment, the controller 13 can correct at least one distortion of the first image im1 and the second image im2 based on the behavior of the moving body 15. With such a configuration, the periphery monitoring system 10 can obtain an image with reduced distortion while using a relatively wide-angle lens, and can contribute to accurate recognition of the monitoring target.

Further, in the periphery monitoring system 10 of the present embodiment, the controller 13 is configured such that when the behavior of the moving body 15 is being prepared for lateral movement, the moving body 15 of at least a part of the first image im1 is displayed. Correction to an image viewed from the front to the back, correction to an image viewed from the side of a part of the moving body 15 of the second image im2, and a part of the moving body 15 of the second image im2 from the back to the front It is possible to correct an image viewed in front of the camera. With such a configuration, the periphery monitoring system 10 can accurately recognize the monitoring target to be noted that exists in the moving direction before the moving body 15 moves to the side.

Moreover, in the periphery monitoring system 10 of this embodiment, the controller 13 viewed the first image im1 and the second image im2 from above the moving body 15 downward when the behavior of the moving body 15 is moving backward. Images can be corrected to the same scale. With such a configuration, the periphery monitoring system 10 can be used even when the moving body 15 is difficult to visually recognize the moving direction while operating the operating device of the moving body 15 such as a steering wheel in a normal posture, such as parallel parking. It is possible to provide an image that makes it easy to check an obstacle.

Although the present invention has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various changes and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention.

It should be noted that here, a system having various modules and / or units that perform a specific function is disclosed, and these modules and units are schematically illustrated in order to briefly explain the functionality. It should be noted that the descriptions are not necessarily indicative of specific hardware and / or software. In that sense, these modules, units, and other components may be hardware and / or software implemented to substantially perform the specific functions described herein. The various functions of the different components may be any combination or separation of hardware and / or software, each used separately or in any combination. Also, input / output or I / O devices or user interfaces, including but not limited to keyboards, displays, touch screens, pointing devices, etc., must be connected directly to the system or via an intervening I / O controller. Can do. Thus, the various aspects of the present disclosure can be implemented in many different ways, all of which are within the scope of the present disclosure.

DESCRIPTION OF SYMBOLS 10 Perimeter monitoring system 11 1st camera 12 2nd camera 13 Controller 14 External apparatus 15 Moving body 16 Wheel arch of rear wheel 17 Wheel arch of front wheel d12 Direction toward 1st camera from 1st camera fca Forward confirmation area im1 first image im2 second image oxd1 first object-oriented optical axis direction oxd2 second object-oriented optical axis direction oxp1 point on the first image corresponding to the optical axis oxp2 second corresponding to the optical axis Point on image rca Back confirmation area sca Side confirmation area

Claims (11)

1. A first camera having a first lens;
   A second camera located away from the first camera and having a second lens;
   The first object-oriented optical axis direction of the first lens includes a direction component in the same direction as the direction from the first camera toward the second camera;
   A periphery monitoring system for monitoring a periphery of a moving body, wherein a second object-oriented optical axis direction of the second lens includes a direction component opposite to the direction component.
2. In the periphery monitoring system according to claim 1,
   The periphery monitoring system, wherein the direction component in the same direction as the direction from the first camera toward the second camera included in the first object-oriented optical axis direction includes a direction component in the front-rear direction of the moving body.
3. In the periphery monitoring system according to claim 1 or 2,
   The peripheral monitoring system, wherein the first object-oriented optical axis direction and the second object-oriented optical axis direction include direction components in the same direction along the vertical direction of the movable body.
4. In the periphery monitoring system according to any one of claims 1 to 3,
   The peripheral monitoring system, wherein the first object-oriented optical axis direction and the second object-oriented optical axis direction include directional components in the same direction along a horizontal direction of the movable body.
5. In the periphery monitoring system according to any one of claims 1 to 4,
   The periphery monitoring system, wherein the first camera and the second camera are located on at least one of a left side and a right side of the moving body.
6. In the periphery monitoring system according to any one of claims 1 to 5,
   The moving body is an automobile;
   The first camera is positioned in front of the second camera in the moving body,
   In the space including the optical axis defined by the angle of view of the first lens, there is a rear wheel of the moving body,
   The second camera is a periphery monitoring system that images a range including a wheel arch of a front wheel of the moving body.
7. In the periphery monitoring system according to claim 6,
   The periphery monitoring system, wherein the first camera and the second camera image a road surface at the same position between the first camera and the second camera in the front-rear direction of the moving body.
8. In the periphery monitoring system according to claim 7,
   The surrounding monitoring system, wherein the first camera and the second camera include a downward direction component of the moving body.
9. In the periphery monitoring system according to any one of claims 1 to 8,
   A peripheral monitoring system further comprising a controller that corrects distortion of at least one of the first image and the second image captured by each of the first camera and the second camera based on the behavior of the moving body. .
10. In the periphery monitoring system according to claim 9,
    The controller corrects at least a part of the second image to an image viewed sideways from the moving body when the behavior of the moving body is in preparation for a lateral movement, Correction of at least a part of an image to an image viewed from the front of the moving body and correction of an image of at least a part of the first image to an image viewed from the front of the moving body Peripheral monitoring system that performs.
11. In the periphery monitoring system according to claim 9 or 10,
    When the behavior of the moving body is moving backward, the controller corrects the first image and the second image to an image of the same scale as viewed from the top to the bottom of the moving body.
    

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