WO2023276824A1 - 光学系、撮像装置および撮像システム - Google Patents

光学系、撮像装置および撮像システム Download PDF

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Publication number
WO2023276824A1
WO2023276824A1 PCT/JP2022/024914 JP2022024914W WO2023276824A1 WO 2023276824 A1 WO2023276824 A1 WO 2023276824A1 JP 2022024914 W JP2022024914 W JP 2022024914W WO 2023276824 A1 WO2023276824 A1 WO 2023276824A1
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Prior art keywords
imaging
optical system
lens
refractive power
image
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Ceased
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PCT/JP2022/024914
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English (en)
French (fr)
Japanese (ja)
Inventor
真 高橋
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Canon Inc
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Canon Inc
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Application filed by Canon Inc filed Critical Canon Inc
Priority to GB2320076.9A priority Critical patent/GB2622735B/en
Priority to CN202280045366.3A priority patent/CN117561468A/zh
Priority to JP2023531866A priority patent/JPWO2023276824A1/ja
Priority to DE112022003283.9T priority patent/DE112022003283T5/de
Publication of WO2023276824A1 publication Critical patent/WO2023276824A1/ja
Priority to US18/525,928 priority patent/US20240111134A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/001—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
    • G02B13/0015—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design
    • G02B13/002—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface
    • G02B13/0045—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface having five or more lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/04—Reversed telephoto objectives
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/18—Optical objectives specially designed for the purposes specified below with lenses having one or more non-spherical faces, e.g. for reducing geometrical aberration
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B9/00—Optical objectives characterised both by the number of the components and their arrangements according to their sign, i.e. + or -
    • G02B9/64—Optical objectives characterised both by the number of the components and their arrangements according to their sign, i.e. + or - having more than six components
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to an optical system suitable for imaging devices such as in-vehicle cameras.
  • Some imaging devices using an imaging device are mounted on a moving body such as a car to acquire image data around the moving body. By using the acquired image data, objects such as obstacles around the mobile object can be visually recognized or machine-recognized.
  • Such an imaging device is used, for example, as a so-called electronic mirror or digital mirror (hereinafter referred to as an E-mirror) that displays image data acquired by an imaging device arranged on the side of a vehicle on an in-vehicle monitor.
  • an E-mirror electronic mirror or digital mirror
  • Patent Literature 1 discloses an optical system having a projection characteristic that allows an imaging device arranged on the side of the vehicle body to image a wide range including the rear and the vicinity of the front wheels. Further, Patent Document 2 discloses an optical system having projection characteristics such that the peripheral area is a fish-eye lens and the central area is a telephoto lens.
  • the present invention provides an optical system, an imaging device, etc. that can ensure a sufficient angle of view and high resolution in the peripheral area, even though it is a single optical system.
  • An optical system as one aspect of the present invention has a plurality of lenses arranged in order from an object side to an image side, and an aperture stop arranged between any two of the plurality of lenses.
  • the projection characteristic of the optical system representing the relationship between the half angle of view ⁇ and the image height y on the image plane is y( ⁇ )
  • the maximum half angle of view of the optical system is ⁇ max
  • the focal length of the optical system is f , 0.20 ⁇ 2ftan( ⁇ max/2)/y( ⁇ max) ⁇ 0.95 It is characterized by satisfying the following conditions.
  • An imaging device having the above optical system, an imaging system in which the imaging device is installed in a moving body, and a moving body equipped with the imaging system also constitute another aspect of the present invention.
  • FIG. 2 is a cross-sectional view of the optical system of Example 1;
  • FIG. 4 is an aberration diagram of the optical system of Example 1 at an imaging distance of ⁇ ;
  • FIG. 5 is a cross-sectional view of the optical system of Example 2;
  • FIG. 10 is an aberration diagram at imaging distance ⁇ of the optical system of Example 2;
  • FIG. 10 is a cross-sectional view of the optical system of Example 3;
  • FIG. 10 is an aberration diagram at imaging distance ⁇ of the optical system of Example 3;
  • FIG. 5 is a cross-sectional view of the optical system of Example 4;
  • FIG. 10 is an aberration diagram at imaging distance ⁇ of the optical system of Example 4;
  • FIG. 5 is a diagram showing projection characteristics of the optical systems of Examples 1 to 4;
  • FIG. 5 is a diagram showing the resolution with respect to the angle of view of the optical systems of Examples 1 to 4;
  • FIG. 10 is a diagram showing a curvature change of an aspherical surface of the optical system of Example 4;
  • FIG. 2 is a schematic diagram showing the arrangement of an E-mirror imaging device; The figure which shows arrangement
  • FIG. 5 is a diagram showing simulation results of images acquired using the f ⁇ lens and the optical systems of Examples 1 to 4;
  • FIG. 3 is a diagram for explaining an imaging element; The figure which shows the simulation result with respect to various parameters.
  • the block diagram which shows the structure of an in-vehicle system. 4 is a flowchart showing an operation example of an in-vehicle system;
  • the imaging magnification differs between the central area near the optical axis and the peripheral area outside (outside the axis), and a single optical system that realizes a sufficient angle of view and high resolution in the peripheral area. It is an optical system.
  • the length of the image height y per unit angle of view (the number of pixels of the imaging device in actual use) is the resolution (mm/deg)
  • the relationship of the image height y to the angle of view ⁇ is the projection characteristic y ( ⁇ )
  • the angle formed by the most off-axis chief ray with respect to the optical axis of the optical system is defined as the maximum half angle of view.
  • a general f ⁇ lens has a constant resolution at each image height, and has projection characteristics in which the image height and the resolution are in a proportional relationship.
  • the optical system of each embodiment has a projection characteristic in which the resolution of the peripheral area (second area) is higher than the resolution of the central area (first area). Used.
  • FIG. 12(a) shows an E-mirror imaging device that is placed on the side of a vehicle body 700 of an automobile as a moving body and that uses a normal fisheye lens in the optical system.
  • the E-mirror is an imaging system that enables confirmation of the following vehicle by imaging the rear a, and confirmation of the relationship between the front wheels and the side road by imaging the lower front b.
  • the optical system is a fisheye lens
  • the rear a and the lower front b are imaged with the same resolution within the angle of view FA of the imaging device
  • the lower rear c is also imaged with the same resolution as the rear a and the lower front b. Since particularly detailed information is not required for the lower rear side c, imaging with the same resolution as for the rear lower side a and the lower front side b in that direction is useless.
  • FIG. 12(b) shows an E-mirror imaging device similarly arranged on the side of the vehicle body 700 and using the optical system of each embodiment.
  • the optical system of each embodiment has a projection characteristic in which the resolution of the peripheral area FA2 is higher than that of the central area FA1 of the angle of view. It can be imaged so that detailed information can be obtained. In other words, the optical system of each embodiment can take enlarged images of objects in different directions, even though it is a single optical system.
  • FIG. 1 shows the configuration of the optical system (imaging distance ⁇ ) of Example 1. Specific numerical values of the optical system of Example 1 are listed in Table 1 as Numerical Column 1.
  • the optical system of Example 1 (numerical example 1) has a plurality of (eight) lenses L1 to L8 in order from the object side (enlargement conjugate side) to the image side (reduction conjugate side), and the maximum half angle of view is 90. °. Further, the optical system of Example 1 has an aperture stop ST1 between the lens L4 and the lens L5. Lenses L1 to L4 constitute a front group, and lenses L5 to L8 constitute a rear group.
  • a flat plate P1 such as an IR cut filter is arranged between the lens L8 and the image plane.
  • An imaging surface of an imaging element 11 such as a CMOS sensor is arranged on the image plane.
  • the imaging apparatus generates image data from the output of the imaging device 11 .
  • FIG. 9(a) shows the ⁇ -y projection characteristics (relationship between half angle of view ⁇ and image height y) of the optical system of Example 1.
  • the optical systems of Example 1 and the other examples have the following formula (1) where ⁇ max is the maximum half angle of view and f is the focal length. satisfy the conditions.
  • FIG. 10(a) shows the ⁇ -resolution characteristic of the optical system of Example 1.
  • FIG. Here, the ⁇ -resolution characteristics when using an image sensor for full high-definition (1920 ⁇ 1080 pixels) are shown.
  • y 2ftan( ⁇ /2)
  • optical system of each embodiment preferably satisfies the condition of the following formula (2), where 80 is the angle of view that is 80% of the maximum half angle of view.
  • Equation (2) indicates the condition regarding the resolution distribution in the peripheral area of the optical system of each embodiment for the fisheye lens. If the value of formula (2) is below the lower limit, various aberrations such as curvature of field and distortion increase, making it impossible to obtain image data with good image quality, which is not preferable. Further, if the value of expression (2) exceeds the upper limit, the difference in resolution between the central area and the peripheral area becomes small, and the required projection characteristics cannot be realized, which is not preferable.
  • FIG. 10(b) shows the ⁇ -resolution characteristics of the optical system of Example 2 having a maximum half angle of view of 60°
  • the resolution increases as the angle of view increases.
  • Example 2 the difference in resolution between the central region and the peripheral region is increased compared to the optical systems of other examples. In this way, even if the specifications such as the maximum half angle of view, the maximum image height, and Fno change, it is possible to realize an optical system that has a sufficiently large angle of view and the desired projection characteristics described above.
  • optical system of each example can have better projection characteristics by satisfying the condition of the following formula (3) when the orthogonal projection is represented by f sin ⁇ .
  • ⁇ max preferably satisfies the condition of the following formula (4).
  • the optical system of each embodiment has an optical configuration that allows manipulation of distortion and curvature of field in order to achieve desired projection characteristics.
  • at least one aspherical surface is arranged on at least one of lens L1 and lens L2 having a high off-axis ray height.
  • At least one aspherical surface is arranged on at least one of the lens L7 and the lens L8 on the image side. These aspheric surfaces allow distortion and field curvature to be effectively manipulated.
  • FIGS. 11A and 11B show the height h (vertical axis) in the radial direction from the optical axis of the aspherical surfaces (surfaces 3 and 15) provided in the optical system of Example 4 and The relationship with curvature (horizontal axis) is shown.
  • Surface 3 is the object-side surface of lens L2
  • surface 15 is the object-side aspherical surface of lens L8.
  • the object-side aspherical surface has a plurality of points of inflection.
  • the curvature is negative up to the point of inflection near 5 mm, and the curvature is positive further on the peripheral side. That is, the three surfaces have a convex shape toward the object side on the paraxial side, gradually change into a concave shape toward the object side, and then change into a convex shape again toward the object side.
  • the first lens with negative refractive power, the second lens with negative refractive power, and the second lens with negative refractive power are arranged in order from the object side to the image side. , an aperture stop and a lens of positive refractive power closest to the image side.
  • the lens L1 has negative refractive power
  • the lens L2 has negative refractive power
  • the lens L3 has negative refractive power
  • the lens L4 has positive refractive power.
  • an aperture stop ST1 is provided between the lens L4 and the lens L5, the lens L5 has positive refractive power, the lens L6 has positive refractive power, the lens L7 has negative refractive power, and the lens L8 has positive refractive power. have power.
  • the three lenses from the object side negative lenses, it is possible to bend light rays at peripheral angles of view in stages, thereby suppressing the occurrence of various aberrations such as extra distortion and curvature of field.
  • the lens closest to the image a positive lens
  • the angle of light rays incident on the image sensor can be relaxed, and a sufficient amount of light can be captured by the image sensor.
  • the first lens with negative refractive power, the second lens with negative refractive power, the third lens with negative refractive power, the positive or having a fourth lens of negative refractive power, an aperture stop, a fifth lens of positive refractive power, a sixth lens of negative refractive power, a seventh lens of positive refractive power and an eighth lens of positive refractive power is even more desirable.
  • Examples 1 to 4 show typical configuration examples of the present invention, and other configuration examples are also included in the examples of the present invention.
  • the projection characteristics and the positions and number of points of inflection of the aspheric surface are not limited to those of the first to fourth embodiments.
  • an E-mirror which is an imaging system including an E-mirror imaging device using the optical system of each embodiment, will be described.
  • the imaging device is installed on the side of the vehicle body 700 to capture an image of a subject (object) in the rear and vertically downward direction (directly below and below the front side).
  • the imaging device has the optical system of each embodiment that forms a subject image, and an imaging device that photoelectrically converts the subject image (captures the subject as an object via the optical system).
  • a plurality of pixels arranged two-dimensionally are provided on the imaging surface of the imaging element.
  • An imaging surface 11a of the imaging device shown in FIG. 15A includes a first region R1 for imaging an object included in a central region (first angle of view) of the angle of view of the optical system, and a peripheral region (first angle of view). and a second region R2 for imaging an object included in a second angle of view (which is larger than the angle of view of ).
  • the optical system has projection characteristics in which the number of pixels per unit angle of view in the second region R2 is greater than the number of pixels per unit angle of view in the first region R1. That is, when the number of pixels per unit angle of view is the resolution, the imaging device is configured so that the resolution of the peripheral area is higher than the resolution of the central area.
  • FIG. 14(a) shows a simulation result of image data (captured image) obtained by an E-mirror imaging device using an f ⁇ lens as an optical system.
  • FIG. 14(b) shows simulation results of captured images obtained by the E-mirror imaging device using the optical system of each example.
  • the upper side shows the rear of the vehicle body
  • the right side shows the vicinity of the side of the vehicle body
  • the lower right side shows the vicinity of the front wheel
  • the left side shows the side of the vehicle body.
  • FIG. 14B also shows an enlarged image of the rear portion of the captured image.
  • FIG. 14(b) compared to FIG. 14(a), the rear bicycle and the following vehicle are magnified and imaged. Therefore, detailed information on the rear side can be obtained from the captured image, and the visibility as an E-mirror can be improved, and recognition accuracy in automatic recognition can be improved.
  • FIG. 13A shows the vehicle body 700 viewed from the front in the longitudinal direction (horizontal direction), which is the moving direction (first direction) of the vehicle body 700 .
  • the downward direction in FIG. 13A is the vertical direction (second direction) orthogonal to the front-rear direction, and the left direction is the lateral direction (third direction) orthogonal to the front-rear direction and the vertical direction.
  • the imaging device 10 is located at a side portion (a portion facing the third direction) of the vehicle body 700 at a position separated by a distance L laterally (in the third direction) from the vehicle body side surface 710 as shown in FIG. 13(a). is installed in Also, as shown in FIG. 12(b), the imaging device 10 is installed so that the optical axis AX is oriented obliquely downward (on the road surface side) from the rear, that is, downward to the rear side c. Further, in the imaging device 10, when the vehicle body 700 is viewed from the front as shown in FIG. 13(a), the optical axis L1 (AX) faces in a direction forming an angle ⁇ L with respect to the vertical direction (second direction). is installed as follows. Specifically, it is preferable to install so as to satisfy the condition of the following formula (5).
  • ⁇ L larger than 0° indicates the inclination angle of the optical axis AX in the direction away from the vehicle body side surface 710 laterally with respect to the vertical direction.
  • FIG. 16(a) shows simulation results of captured images when ⁇ L is 90°.
  • the lane lines on the road surface are not imaged along the sides of the image pickup surface of the image pickup device, resulting in an image that is difficult for the driver to visually recognize intuitively. Images can be generated.
  • FIG. 16B shows simulation results of captured images when ⁇ L is 0°.
  • image processing such as distortion correction is not required. Therefore, it is possible to perform high-response imaging capable of providing a captured image with high real-time performance with a simple configuration.
  • the side surface of the vehicle body can also be imaged, it is possible to provide a captured image in which the distance between the side surface of the vehicle body and the obstacle can be easily recognized.
  • a similar captured image can also be obtained when ⁇ L is greater than 0° and equal to or less than 20°.
  • the optical system is arranged with respect to the imaging element so that the optical axis AX is shifted away from the side surface of the vehicle body with respect to the center of the imaging surface 11a (hereinafter referred to as the sensor center) SAX as shown in FIG. 15(b). may be placed. Thereby, as shown in FIG. 16C, it is possible to obtain a captured image with higher visibility.
  • FIG. 16(c) shows a captured image when the optical axis AX is shifted with respect to the sensor center SAX in a direction away from the side surface of the vehicle body.
  • this captured image compared to the captured image when the optical axis AX and the sensor center SAX shown in FIG. , Objects in a wide range on the side of the vehicle are reflected.
  • the shift amount (shift amount) La of the optical axis AX from the sensor center SAX is expressed by the following formula (6), where Ls is the length of the side extending from the sensor center SAX on the imaging surface 11a toward the optical axis AX. It is preferable to satisfy the following conditions.
  • the imaging device 10 when the vehicle body 700 moving in the horizontal direction is viewed from the front, the imaging device 10 is installed so that the optical axis L1 of the optical system is parallel to the vertical direction. .
  • the imaging device 10 is installed away from the vehicle body side surface 710 . At this time, it is preferable that the shift amount La satisfies the condition of the following formula (7).
  • ⁇ is the point at which the optical axis L1 (AX) of the optical system intersects the most object-side surface of the optical system and the optical axis L1 when the vehicle body 700 is viewed from the front as shown in FIG. 13(b). is the angle formed by a straight line L2 connecting the vertical end point (grounding point of the front wheel) of the vehicle body side surface 710 from . Also, y ⁇ is the distance from the intersection of the straight line L2 and the imaging surface to the optical axis L1. Appropriate imaging can be performed even if the imaging device 10 is installed at an arbitrary distance from the side surface of the vehicle body within the range that satisfies the condition of expression (7).
  • FIG. 13(c) shows the installation angle of the imaging device 10 with respect to the vehicle body 700.
  • ⁇ b be the rearward tilt angle of the imaging device 10 (optical axis L1 of the optical system) with respect to the vertical direction
  • ⁇ f be the forward tilt angle.
  • the tilt angle ⁇ f is defined by the intersection of the surface closest to the object in the optical system of the imaging device 10 and the optical axis L1 and the end point in the direction of movement of the front wheels of the vehicle body 700 in the peripheral region (second angle of view) of the angle of view. This is the angle formed by the connecting straight line and the optical axis L1. At this time, it is preferable to satisfy the condition of the following formula (8) or (9).
  • the optical axis L1 is tilted from the horizontal direction to the vertical direction so as to face the lower rear side or the lower front side.
  • Equation (8) can be replaced with Equation (8a) below.
  • Lb is the distance between the image position (image point) of the rear subject on the imaging surface and the sensor center SAX, and the image position of the lower front subject on the imaging surface
  • Lf be the distance from the sensor center SAX
  • Lh be the length of the side extending in the direction in which the two image positions are separated from each other on the imaging plane.
  • Lf be the distance
  • Lh be the length of the side of the imaging surface extending from the sensor center SAX toward the image point of the front end point.
  • Equations (10) and (11) indicate conditions for effectively using the most peripheral region R3 of the imaging surface 11a as shown in FIG. 15(c). If these conditions are not satisfied, it is not possible to capture an image in the high-resolution outermost peripheral region R3, making it difficult to obtain detailed information from the captured image, which is not preferable. In other words, by satisfying at least one of formulas (10) and (11), high-resolution imaging can be performed in the most peripheral region R3. By extracting a high-resolution partial image obtained in the outermost peripheral region R3 and outputting it to a vehicle body monitor (display means) for display, the driver can obtain detailed information behind the vehicle. Note that since the object of interest of a moving object is often the object behind it, it is preferable to satisfy equation (10). Also, Equation (11) can be replaced with Equation (11a) below.
  • the imaging system described above is merely an example, and other configurations and arrangements may be adopted.
  • the optical axis of an image pickup device installed on the side of a vehicle body is tilted from the front-rear direction (moving direction) to a vertical direction perpendicular to the front-rear direction, thereby picking up images of the rear and front and lower sides.
  • the imaging device may be installed in the front or rear part of the vehicle body, and the optical axis may be tilted to the side orthogonal to the front-rear direction to image the front and sides or the rear and sides.
  • an imaging system configured in the same manner as the E-mirror may be installed in a moving object other than an automobile, such as an aircraft or ship.
  • the lens configuration (A) of Numerical Example 1 corresponding to this embodiment shown in Table 1 shows the focal length f (mm), the aperture ratio (F number) F, and the maximum half angle of view (°) of the optical system.
  • ri is the radius of curvature of the i-th surface counted from the object side (mm)
  • di is the lens thickness or air gap (mm) between the i-th and (i+1)th surfaces
  • ni is the i-th surface and the i-th ( i+1) is the refractive index at the d-line of the optical material between the planes.
  • ⁇ i is the Abbe number with respect to the d-line of the optical material between the i-th surface and the (i+1)-th surface.
  • ST indicates an aperture stop.
  • "*" means that the surface marked with it has an aspherical shape.
  • the aspherical shape has z as the coordinate in the direction of the optical axis, y as the coordinate in the direction perpendicular to the optical axis, the light traveling direction as positive, ri as the paraxial radius of curvature, K as the conic constant, and A to G as
  • the aspheric coefficient is represented by the following formula.
  • (B) aspherical coefficients in Table 1 shows the conic constant K and the aspherical coefficients A to G.
  • "E ⁇ -x" means ⁇ 10 -x .
  • optical system of this example (numerical example 1) satisfies the conditions of formulas (1) to (4).
  • Table 5 summarizes the values for each condition.
  • FIG. 2 shows longitudinal aberrations (spherical aberration, astigmatism, and distortion aberration) of the optical system of this example (numerical example 1) at an imaging distance of ⁇ .
  • the solid line indicates the spherical aberration for the d-line (wavelength 587.6 nm).
  • a solid line S indicates a sagittal image plane
  • a dashed line T indicates a meridional image plane.
  • the solid line indicates the distortion with respect to the d-line.
  • FIG. 9(a) shows the projection characteristics of the optical system of this embodiment
  • FIG. 10(a) shows the ⁇ -resolution characteristics of the optical system of this embodiment.
  • FIG. 3 shows the configuration of the optical system (imaging distance ⁇ ) of Example 2.
  • the optical system of this embodiment comprises a first lens L21 with negative refractive power, a second lens L22 with negative refractive power, a third lens L23 with negative refractive power, and a positive , an aperture stop ST2, a fifth lens L25 with positive refractive power, a sixth lens L26 with negative refractive power, and a seventh lens L27 with positive refractive power.
  • P21 is a flat plate such as an IR cut filter
  • 21 is an imaging device.
  • the maximum half angle of view ⁇ max of the optical system of the present embodiment is 60°, which is different from 90° of the optical system of the first embodiment.
  • optical system of this example (numerical example 2) satisfies the conditions of formulas (1) to (4).
  • Table 5 summarizes the values for each condition.
  • FIG. 4 shows the longitudinal aberration at the imaging distance ⁇ of the optical system of this embodiment (numerical example 2). Further, FIG. 9(b) shows the projection characteristic of the optical system of this embodiment, and FIG. 10(b) shows the .theta.-resolution characteristic of the optical system of this embodiment as described above.
  • FIG. 5 shows the configuration of the optical system (imaging distance ⁇ ) of Example 3.
  • the optical system of this embodiment comprises a first lens L31 with negative refractive power, a second lens L32 with negative refractive power, a third lens L33 with negative refractive power, and a negative refracting power of fourth lens L34, aperture stop ST3, positive refracting power fifth lens L35, positive refracting power sixth lens L36, negative refracting power seventh lens L37, and positive refracting power eighth lens L37. It is composed of a lens L38.
  • P31 and P32 are flat plates such as an IR cut filter, and 31 is an image sensor.
  • the optical system of this example has a maximum half angle of view of 90°, which is the same as that of Example 1.
  • the maximum image height y ( ⁇ max) is 1.79 mm, which is different from Example 1 (3.64 mm).
  • optical system of this example (numerical example 3) satisfies the conditions of formulas (1) to (4).
  • Table 5 summarizes the values for each condition.
  • FIG. 6 shows the longitudinal aberration at the imaging distance ⁇ of the optical system of this embodiment (numerical example 3). Further, FIG. 9(c) shows the projection characteristics of the optical system of this embodiment, and FIG. 10(c) shows the ⁇ -resolution characteristics of the optical system of this embodiment as described above.
  • FIG. 7 shows the configuration of the optical system (imaging distance ⁇ ) of Example 4.
  • the optical system of this embodiment comprises a first lens L41 with negative refractive power, a second lens L42 with negative refractive power, a third lens L43 with negative refractive power, and a negative refracting power of fourth lens L44, aperture stop ST4, positive refracting power of fifth lens L45, positive refracting power of sixth lens L46, negative refracting power of seventh lens L47 and positive refracting power of eighth lens L44. It is composed of a lens L48.
  • P41 is a flat plate such as an IR cut filter
  • 41 is an imaging element.
  • the optical system of this example has an F-number of 1.80, which is brighter than Example 1 (2.80), and the formula (1) The condition value is 0.92, which is greater than Example 1 (0.78).
  • optical system of this example (numerical example 4) satisfies the conditions of formulas (1) to (4).
  • Table 5 summarizes the values for each condition.
  • FIG. 8 shows the longitudinal aberration at the imaging distance ⁇ of the optical system of this embodiment (numerical example 4). Further, FIG. 9(c) shows the projection characteristics of the optical system of this embodiment, and FIG. 10(c) shows the ⁇ -resolution characteristics of the optical system of this embodiment as described above.
  • FIG. 17 shows the configuration of an in-vehicle system (driving assistance device) 600 as the E-mirror (imaging system) described above.
  • the in-vehicle system 600 described here is a system for assisting the driving (steering) of a vehicle based on the image data of the rear, lower and front lower sides of the vehicle acquired by the imaging device 10 .
  • the in-vehicle system 600 has an imaging device 10 , a vehicle information acquisition device 20 , a control device (control section, ECU: electronic control unit) 30 , and a warning device (warning section) 40 .
  • the imaging device 10 includes an imaging unit 1 including an optical system and an imaging device, an image processing unit 2 , a parallax calculation unit 3 , a distance acquisition unit (acquisition unit) 4 , and a risk determination unit 5 .
  • the imaging units 1 are provided on the left and right sides of the vehicle, respectively.
  • a processing unit is configured by the image processing unit 2 , the parallax calculation unit 3 , the distance acquisition unit 4 and the risk determination unit 5 .
  • step S1 the image capturing unit 1 captures an object (subject) such as an obstacle or a pedestrian behind, below, or on the front side of the vehicle to obtain a captured image (image data).
  • object such as an obstacle or a pedestrian behind, below, or on the front side of the vehicle to obtain a captured image (image data).
  • step S2 the vehicle information acquisition device 20 acquires vehicle information.
  • Vehicle information is information including vehicle speed, yaw rate, steering angle, and the like.
  • step S3 the image processing unit 2 performs image processing on the image data acquired by the imaging unit 1. Specifically, image feature analysis is performed to analyze feature amounts such as the amount and direction of edges in image data and density values.
  • step S4 the parallax calculation unit 3 calculates parallax (image shift) information between the plurality of image data acquired by the imaging unit 1.
  • a method for calculating the parallax information known methods such as the SSDA method and the area correlation method can be used, and thus description thereof is omitted here. Note that steps S2, S3, and S4 may be performed in the order described above, or may be performed in parallel with each other.
  • step S5 the distance acquisition unit 4 acquires (calculates) distance information from the object imaged by the imaging unit 1.
  • the distance information can be calculated based on the parallax information calculated by the parallax calculator 3 and the internal and external parameters of the imaging unit 1 .
  • the distance information here is information related to the relative position to the object, such as the distance from the object, the amount of defocus, and the amount of image shift. It may be expressed indirectly.
  • step S6 the risk determination unit 5 uses the vehicle information acquired by the vehicle information acquisition device 20 and the distance information calculated by the distance acquisition unit 4 to determine the preset distance to the target object. It is determined whether or not it is included in the range of . This makes it possible to determine whether or not there is an object within a set distance behind the vehicle. can determine the possibility of If there is an object within the set distance and there is a possibility of a dangerous event, the danger determination unit 5 determines that there is danger (step S7). None” (step S8).
  • the danger determination unit 5 determines that there is danger, it notifies (transmits) the determination result to the control device 30 and the warning device 40 .
  • the control device 30 controls the vehicle based on the determination result of the danger determination unit 5 (step S6), and the warning device 40 controls the vehicle based on the determination result of the danger determination unit 5.
  • passengers is warned (step S7).
  • the determination result may be notified to at least one of the control device 30 and the warning device 40 .
  • the control device 30 controls the vehicle such as returning the steering wheel so as not to change lanes, or not to fall into the gutter or run onto the sidewalk, or to generate braking force on the wheels. conduct.
  • the warning device 40 warns the user by, for example, issuing a warning sound (warning), displaying warning information on the screen of a car navigation system or the like, or vibrating a seat belt or steering wheel.
  • a split-pupil imaging device having a plurality of pixel units arranged in a two-dimensional array is used as the imaging device of the imaging unit 1
  • one pixel unit is composed of a microlens and a plurality of photoelectric conversion units, receives a pair of light beams passing through different regions in the pupil of the optical system, and converts a pair of image data. It can be output from each photoelectric conversion unit.
  • the image displacement amount of each region is calculated by correlation calculation between the paired image data, and the image displacement map data representing the distribution of the image displacement amount is calculated by the distance acquisition unit 4 .
  • the distance acquisition unit 4 may further convert the image shift amount into a defocus amount and generate defocus map data representing the distribution of the defocus amount (the distribution on the two-dimensional plane of the captured image). Further, the distance acquisition unit 4 may acquire distance map data of the distance to the object converted from the defocus amount.
  • the in-vehicle system 600 includes a notification device (notification unit) for notifying the in-vehicle system manufacturer (manufacturer), the vehicle sales agency (dealer), etc., when a dangerous event such as a collision actually occurs.
  • a notification device for notifying the in-vehicle system manufacturer (manufacturer), the vehicle sales agency (dealer), etc., when a dangerous event such as a collision actually occurs.
  • the notification device it is possible to employ a device that transmits information about a dangerous event to a preset external destination by e-mail or the like.
  • the notification destination of the information on the dangerous event may be any notification destination set by the user, such as an insurance company, a medical institution, the police, or the like.
  • the in-vehicle system 600 is applied to driving support (collision damage reduction), but the in-vehicle system 600 is not limited to this, and can be used for cruise control (including all vehicle speed tracking function), automatic driving, etc. good too.
  • an imaging system having a configuration equivalent to that of the in-vehicle system 600 may be mounted on a moving object such as an aircraft, a ship, or an industrial robot.
  • the lens device is applied to the imaging device 10 as a distance measuring device
  • an imaging device in-vehicle camera
  • an in-vehicle camera may be placed at the rear or side of the vehicle, and the acquired image information may be displayed on a display unit (monitor) inside the vehicle to assist driving.
  • a display unit monitor
  • the lens device may be applied to an imaging device such as a digital still camera, a digital video camera, or a film camera, or may be applied to an optical device such as a telescope or a projection device such as a projector.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Lenses (AREA)
PCT/JP2022/024914 2021-06-29 2022-06-22 光学系、撮像装置および撮像システム Ceased WO2023276824A1 (ja)

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GB2320076.9A GB2622735B (en) 2021-06-29 2022-06-22 Optical system, imaging device, and imaging system
CN202280045366.3A CN117561468A (zh) 2021-06-29 2022-06-22 光学系统、图像拾取装置和图像拾取系统
JP2023531866A JPWO2023276824A1 (https=) 2021-06-29 2022-06-22
DE112022003283.9T DE112022003283T5 (de) 2021-06-29 2022-06-22 Optisches System, Bildaufnahmegerät und Bildaufnahmesystem
US18/525,928 US20240111134A1 (en) 2021-06-29 2023-12-01 Optical system, image pickup apparatus, and image pickup system

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