Vehicle imaging system with scalable camera

Abstract

A camera monitoring system for a vehicle includes an electronic control unit (ECU) of the vehicle and a support arm movably disposed at a side of the vehicle and having a base end attached at the side of the vehicle and a distal end opposite the base end. A camera is disposed at the distal end of the support arm. The support arm is movable between a stowed position and a deployed position. A cover element covers an aperture at the side at least when the support arm is in the deployed position. When the support arm is in the deployed position, the camera captures image data and provides the captured image data to the ECU, which processes the provided image data to (i) display a video image derived from the provided image data and / or (ii) detect an object in a field of view of the camera.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of the following U.S. provisional application serial numbers: U.S. Provisional Application Serial No. 63 / 202,633, filed June 18, 2021; U.S. Provisional Application Serial No. 62 / 706,640, filed August 31, 2020; and U.S. Provisional Application Serial No. 62 / 705,371, filed June 24, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a vehicle vision system that displays video images derived from image data captured by one or more cameras of a vehicle. Background Technology

[0004] It is known to provide a video display at an external rearview mirror assembly, such as that described in U.S. Patent No. 7,777,611, the entire contents of which are incorporated herein by reference, or to provide a video display at an internal rearview mirror assembly to display side and / or rear images captured by an external observation camera, such as that described in U.S. Patent No. 5,670,935, the entire contents of which are incorporated herein by reference. Summary of the Invention

[0005] This invention provides an automotive vision system that captures lateral and rearward image data of a vehicle equipped with a side-mounted camera at the side of the vehicle, such as for object detection and / or for displaying video images for the driver of the vehicle to view while driving. For example, the camera may be part of the vehicle's Camera Monitoring System (CMS). The camera is accommodated, supported, or accommodated at an extendable and retractable camera device relative to the side of the vehicle, such that when retracted, the camera device is inside the side of the vehicle, and the outer surface of the camera device is substantially flush with or coplanar with the outer surface of the side of the vehicle. When extended, the camera device seals the opening at the side of the vehicle and positions the camera at a location spaced away from the side of the vehicle to provide enhanced vision along the side and rear of the vehicle.

[0006] According to another aspect of the invention, the support structure is pivotable between a retracted position and an extended position, wherein in the retracted position the support structure is adjacent to the body portion, and in the extended position the support structure extends outward from the body portion, thus the camera is located outside the body portion of the vehicle and has a field of view outside the vehicle. The support structure is pivotable relative to the base portion via an actuator disposed within the body portion of the vehicle. The actuator includes a drive portion that, when the actuator is operated, moves a linkage connected to (i) the drive portion within the body portion of the vehicle and (ii) a pivoting element at the base portion.

[0007] These and other objects, advantages, uses and features of the invention will become apparent from the following description taken in conjunction with the accompanying drawings. Attached Figure Description

[0008] Figure 1 This is a plan view of a vehicle having a vision system and a side-mounted camera device according to the present invention;

[0009] Figure 2 This is a perspective view of the camera device, shown in its expanded state;

[0010] Figure 3 yes Figure 2 A perspective view of the camera device, shown in its retracted state;

[0011] Figure 4 yes Figure 2 A top view of the camera device;

[0012] Figure 5 yes Figure 2 The view of the camera device from behind the camera device;

[0013] Figure 6 This is a perspective view of another camera device, shown in its extended state;

[0014] Figure 7 yes Figure 6 A top view of the camera device;

[0015] Figure 8 yes Figure 6 The view of the camera device from behind the camera device;

[0016] Figure 9 This is a perspective view of another camera device, shown in its extended state;

[0017] Figure 10 yes Figure 9 A perspective view of the camera device, shown in its retracted state;

[0018] Figure 11 yes Figure 9 A top view of the camera device.

[0019] Figure 12 This is a perspective view of another camera device, shown in its extended state;

[0020] Figure 13 yes Figure 12 A top view of the camera device;

[0021] Figure 14 yes Figure 12 A top view of the camera device, shown in its retracted state;

[0022] Figure 15 This is a perspective view of another camera device, shown in its extended state;

[0023] Figure 16 yes Figure 15 A perspective view of the camera device, shown in its retracted state;

[0024] Figure 17 yes Figure 15 A top view of the camera device;

[0025] Figure 18 yes Figure 16 A top view of the camera device;

[0026] Figure 19 It is a perspective view of another camera device, which is extended at an angle from the side of the vehicle and shown in its extended state;

[0027] Figure 20 yes Figure 19 A top view of the camera device;

[0028] Figure 21 yes Figure 19 The view of the camera device from behind the camera device;

[0029] Figure 22 It is a perspective view of another camera device, which extends directly from the side of the vehicle and is shown in its extended state;

[0030] Figure 23 This is a perspective view of another camera device, shown in its extended state;

[0031] Figure 24 yes Figure 23 A perspective view of the camera device, shown in its retracted state;

[0032] Figure 25 yes Figure 23 A top view of the camera device;

[0033] Figure 26 yes Figure 23 The view of the camera device from behind the camera device;

[0034] Figure 27 This is a perspective view of another camera device, shown in its extended state;

[0035] Figure 28 yes Figure 27 A top view of the camera device;

[0036] Figure 29 yes Figure 27 The view of the camera device from behind the camera device;

[0037] Figure 30 yes Figure 27 A perspective view of the camera device, showing the pivoting of the extended portion of the camera device;

[0038] Figure 31 yes Figure 30 A top view of the camera device;

[0039] Figure 32 This is a perspective view of another camera device, showing its reflector in its extended position;

[0040] Figure 33 yes Figure 32 A perspective view of the camera device, shown in its retracted state;

[0041] Figure 34 yes Figure 32 A top view of the camera device;

[0042] Figure 35 This is a view of a camera device having an actuator disposed within the device to pivot the camera device between an extended state and a retracted state relative to a base portion at the vehicle.

[0043] Figure 36 This is a view of another camera device, which has an actuator located in the side of the vehicle and a linkage to a pivoting element of the camera device for pivoting the camera device relative to a base portion in the vehicle between an extended state and a retracted state.

[0044] Figure 37 yes Figure 36 An enlarged view of the pivot line of the camera device;

[0045] Figure 38 yes Figure 36 An exploded view of the camera device;

[0046] Figure 39This is a perspective view of another camera device, shown in its retracted state;

[0047] Figure 40 yes Figure 39 A perspective view of the camera device, shown in its extended state;

[0048] Figure 41 yes Figure 39 A perspective view of the camera device, shown in a forward-folded state beyond its extended state;

[0049] Figure 42 yes Figure 39 A perspective view of the camera device, shown in its forward-folded state with the upper part of the vehicle body removed;

[0050] Figure 43 yes Figure 39 A perspective view of the camera device, shown in its retracted state;

[0051] Figure 44 yes Figure 39 A perspective view of the camera device, showing its actuator and forward fold flap assembly;

[0052] Figure 45 yes Figure 39 A perspective view of the forward-folding wing assembly of the camera device;

[0053] Figure 46A yes Figure 39 A perspective view and a partial sectional view of the camera device, shown in its retracted state;

[0054] Figure 46B yes Figure 39 A perspective view of the camera device, shown in its retracted state;

[0055] Figure 47A yes Figure 39 A perspective view and a partial sectional view of the camera device, showing it in an extended state expanded by the actuation of the actuator;

[0056] Figure 47B yes Figure 39 A perspective view of the camera device, shown in its extended state;

[0057] Figure 48A yes Figure 39 A perspective view and a partial sectional view of the camera device, showing its forward-folded state when manually moved from its extended state;

[0058] Figure 48B yes Figure 39A perspective view of the camera device, shown in its folded-forward position;

[0059] Figure 49 This is an exploded view of a camera device with a detent assembly and a forward-folding wing assembly;

[0060] Figure 50 yes Figure 49 A perspective view of a camera device, which has a cable pull actuator operable to pivot the camera wings via a cable;

[0061] Figure 51 yes Figure 50 A plan view of a wire-driven actuator;

[0062] Figures 52-54 yes Figure 50 A perspective view of a wire-pull actuator;

[0063] Figures 55A-55D It is a plan view of the wire-pull actuator during different stages of its rotation;

[0064] Figure 56 yes Figure 49 A perspective view of the camera wing and stop assembly;

[0065] Figure 57 These are perspective and sectional views of the camera wing and stop assembly;

[0066] Figure 58 This is a cross-sectional view of the stop assembly;

[0067] Figure 59A This is a cross-sectional view of the upper part of the stop assembly;

[0068] Figure 59B This is a cross-sectional view of the lower part of the stop assembly;

[0069] Figures 60-62 It is an exploded view of the different parts of the stop assembly;

[0070] Figure 63 This is a perspective view of the locking lug component of the stop assembly;

[0071] Figure 64 This is a perspective view of the primary stop component of the stop assembly;

[0072] Figure 65 It is a perspective view of the secondary stop component of the stop assembly; and

[0073] Figure 66 This is a flowchart illustrating the engagement of the stop assembly based on the position of the camera wing. Detailed Implementation

[0074] Vehicle camera monitoring systems and / or vision systems and / or driver or driver assistance systems and / or object detection systems and / or alarm systems operate to capture images of the exterior of the vehicle and can process the captured image data to display images and detect objects at or near the vehicle and in the vehicle's predicted path, such as assisting the driver in maneuvering the vehicle in a rearward direction. The vision system includes an image processor or image processing system operable to receive image data from one or more cameras and provide output to one or more display devices for displaying video images representing the captured image data. For example, the vision system can provide a rear-view display (such as derived from image data captured by one or more rear-view cameras at the vehicle) or a top-down, bird's-eye view, or surround-view display or the like.

[0075] Referring now to the accompanying drawings and exemplary embodiments described therein, vehicle 10 includes an imaging system or camera monitoring system or vision system 12, which includes a plurality of external observation cameras, comprising expandable / retractable camera devices or modules 14 side-mounted at each side of the vehicle. Figure 1 The system may also include other cameras, such as surround-view cameras (including rear-view or backup cameras, front-view cameras at the front of the vehicle, and side surround-view cameras at the corresponding sides of the vehicle). The side-mounted camera device or support structure or support arm or module 14 may be part of a camera monitoring system (CMS) that provides a rear-view camera with a different field of view than the backup camera. The support arm is movably disposed on the side of the vehicle (e.g., at the driver's or passenger's side door, or at the driver's or passenger's side body portion of the vehicle in front of or behind the side door), and has a base end attached (e.g., pivotally attached) to the side of the vehicle (or at the base portion of the device, and the base portion is attached to the side of the vehicle) and a distal end opposite to the base end. The camera can be positioned at the distal end of the support arm, and camera 15 (when the module is extended to position the camera outward from the side of the vehicle) acquires image data of the corresponding scene outside the vehicle, and is within the field of view of the respective camera. Each camera has a lens for focusing the image onto the camera's imaging array, imaging plane, or imager or on it. The system can display video images derived from the image data captured by the cameras on a video display screen in the vehicle for the driver to view while the driver is operating the vehicle.

[0076] The vision system 12 includes a control or electronic control unit (ECU) 18 with electronic circuitry and associated software, the electronic circuitry including a data processor or image processor operable to process image data captured by the camera, whereby the ECU can detect or determine the presence of an object or similar object and / or the system can provide video images to a display device 16 of the vehicle's interior rearview mirror assembly 20 for the vehicle driver to observe and / or to a display device at the vehicle's center console or stack (and optionally to a CMS display at or near the driver and passenger side A-pillars of the vehicle, such as those described in U.S. Publications US-2018-0134217 and / or US-2014-0285666, the entire contents of which are incorporated herein by reference). Data transmission or signal communication from the camera to the ECU may include any suitable data or communication link, such as the vehicle's network bus or CAN (Controller Area Network) bus or LIN (Local Interconnect Network) bus or I2C bus or the like.

[0077] The CMS camera's rear-view camera can function to provide a rear video image to a dual-mode interior rearview mirror that can switch from a conventional reflective mode to a panoramic live video display mode. The system, camera, and display device can utilize aspects of the systems described below: U.S. Patent Nos. 10,442,360; 10,421,404; 10,166,924; 10,046,706; 9,676,336 and / or 9,487,142, and / or U.S. Publication Nos. US-2021-0162926; US-2021-0155167; US-2021-0094473; US-2020-0377022; U US-2019-0258131; US-2019-0146297; US-2019-0118717; US-2019-0047475 and / or US-2017-0355312, and / or US Patent Application Serial No. 17 / 301,853, filed April 16, 2021 (Attorney's File DON01P4167), and / or Serial No. 17 / 248,736, filed February 5, 2021 (Attorney's File DON01P4085), the entire contents of which are incorporated herein by reference.

[0078] like Figure 2 As shown, the camera device or support arm 14 includes a wedge-shaped housing 22 that supports or houses the camera 15 and is pivotally mounted on the vehicle body (body) 10a and pivots about a generally vertical pivot line 22a. The vehicle body has a slot or hole formed therein, the size of which is designed to allow the housing 22 in its retracted or stowed or non-use position or state ( Figure 3 ) and its expansion or use of location or state ( Figure 2 , Figure 4 and Figure 5 The body panel and / or housing may include covering or sealing elements to engage and seal between the body panel and housing when the camera device is extended or retracted, and optionally as the camera device moves between the extended and retracted positions, to limit the intrusion of water or the like into the vehicle body.

[0079] like Figure 3 As shown, when the camera device is in the retracted state, it is positioned on the outer surface or within the panel of the vehicle body 10a, and the outer surface 22b of the housing is substantially flush, coplanar, or corresponding to the outer surface 22b of the vehicle body surrounding the hole or slot. The camera housing 22 can abut against the panel of the vehicle body at the hole, covering or sealing it to prevent water and similar substances from entering the vehicle body portion. Figure 2 As shown, when the camera device is in the extended state, the housing rotates about pivot line 22a to swing through the hole and is positioned on the outside and exterior or outward of the body panel 10a, with the side or rear portion of the housing covering or sealing the panel around the hole to prevent water and the like from entering the vehicle body. Optionally, the seal is positioned at the hole and conforms to and moves along the outer surface of the wing as it travels between the extended and retracted positions. The housing or wing is designed to provide complete sealing to the external environment throughout the entire travel of the wing between the fully extended and fully retracted positions.

[0080] The camera device 14 is positioned on the side of the vehicle body, such as on the side door panel or the front panel of the driver / passenger door, to capture image data representing a field of view similar to that provided by a side-mounted exterior rearview mirror assembly. Figure 2 and Figure 5 As shown, when the camera device 14 extends, the lens and imager of the camera 15 view approximately along the side of the vehicle and rearward to capture image data representing blind spot areas at least along the side and rear of the vehicle.

[0081] The camera device is expandable and pivotable to provide an enhanced rear field of view. The camera device may include an electric motor or actuator that imparts pivotal movement to the camera device relative to the vehicle body, such as in response to user input or other triggering events. Optionally, the camera device can be expanded at any time the vehicle is driven, such as in response to the vehicle's transmission shifting into forward or reverse gear. Although described above as pivoting about a generally vertical pivot axis, the camera device is capable of pivoting about a generally horizontal pivot axis, and when in its expanded position, the camera can be generally pointed downwards towards the ground along the side (or rear or front) of the vehicle, such as a surround-view camera system or vision system or the like.

[0082] Optionally, the ground lights may be activated when the housing or wing extends. Optionally, the wingtip position need not be a fixed point. For example, the housing or wing may have an intermediate position that is movable or selectable in response to input from the vehicle driver.

[0083] Therefore, the camera device of the present invention provides a camera wing or support arm that extends from the vehicle and operates in two primary states (deployed / extended state and undeployed / flat state). The support arm, camera wing, or camera device has a base end attached to the side of the vehicle and a distal end opposite to the base end, with the camera positioned at the distal end of the support arm. When the camera device is retracted, the system achieves better vehicle aerodynamics and is able to protect the camera from damage when retracted within the vehicle. Similarly, the camera device provides a more aesthetically pleasing exterior when retracted and offers the ability to clean the camera lens when the wing is flush. When the camera device is extended, it provides access to hidden cameras (camera monitoring systems, 360-degree or surround-view cameras, autonomous or self-driving vehicle cameras and / or non-imaging sensors), ground lighting, and motorized lighting / cameras. The extended position, by extending from the vehicle body, provides a better vantage point for the camera on the wing. The camera wing can optionally have an intermediate position between the primary states and is adjustable to a partially extended or fully extended position, which allows for camera aiming / positioning.

[0084] Optionally, the camera device may provide further lateral external expansion, or a reduced internal space may be provided for the retracted camera device. For example, and such as Figures 6-8 As shown, the camera device 114 includes a telescopic wedge-shaped housing 122 having an inner housing portion or sleeve 123a and an outer housing portion or wing 123b. When the camera device extends, the outer housing portion extends from the inner housing portion, and when the camera device retracts, the outer housing portion is received within the inner housing portion. The inner housing portion 123a and / or the body panel 110a may include a sealing element that engages with another of the inner housing portion or body panel around an opening to restrict the intrusion of water and the like into the vehicle body portion. The camera device 114 may also be similar to the camera device 14 discussed above, so a detailed discussion of the camera device need not be repeated herein.

[0085] Therefore, the camera device 114 includes a sleeve surrounding the primary body of the camera wing or extended housing. The sleeve allows the camera 115 to swing out (via pivoting about pivot line 122a) further away from the vehicle to provide a better vantage point for the camera's field of view. In the illustrated embodiment, both the inner housing portion 123a and the outer wing 123b pivot about pivot axis 122a, and both are mounted at the vehicle body portion of the vehicle. Alternatively, the inner housing may be pivotally mounted at the vehicle body portion, and the outer wing may be movably received within the inner housing.

[0086] The sleeve also reduces the packing depth required to achieve a view from further outside the vehicle. In other words, the sleeve allows the camera device to extend further from the vehicle body and reduces the packing depth required to achieve further extension (i.e., it can provide the same packing depth as camera device 14, but can provide twice the distance from the extended camera to the vehicle body).

[0087] Optionally, the camera device can pivot about a horizontal pivot line between a retracted position and an extended position. For example, and such as Figures 9-11 The camera device 214 includes a housing 222 that supports or houses the camera 215 and is pivotally mounted on the vehicle body 210a and pivots about a generally horizontal pivot line 222a. The housing (and the openings in the body portion or panel) may include a wedge shape similar to the housing described above, or may include any suitable shape, such as... Figures 9-11 The shape shown has an angled rear surface 222c, which provides a hole for the camera 215 to be positioned therein or observed through when the camera device is extended.

[0088] When the camera device extends, the housing portion extends from the vehicle body portion 210a, and when the camera device retracts, the housing portion is received within the vehicle body portion, with the outer surface 222b of the housing substantially flush, coplanar, or corresponding to the outer surface of the vehicle body surrounding the hole or slot. The housing portion and / or body panel may include a sealing element that engages another of the housing portion or body panel around the hole to restrict the intrusion of water and the like into the vehicle body portion throughout the entire range of motion of the camera device. The camera device does not require a fixed travel end. For example, the camera wing may be positioned as needed along a travel path between the retracted and fully extended positions in response to input from the driver. The camera device 214 may also be similar to the camera devices discussed above, so a detailed discussion of the camera device need not be repeated herein.

[0089] Optionally, the camera device may include an elongated wing or arm extending outward from the vehicle body. For example, and referring to... Figures 12-14The camera device 314 includes an arm 322 that supports or houses the camera 315 and is pivotally mounted on the vehicle body 310a and pivots about a generally vertical pivot line 322a. The vehicle body has a slot or hole formed therein, the size of which is designed to allow the arm 322 in its retracted or stowed or non-use position or state. Figure 14 ) and its expansion or use of location or state ( Figure 12 and Figure 13 Move between ).

[0090] In the illustrated embodiment, a spring-loaded or spring-biased gap seal or sealing element or cover or cover element 324 is movably disposed in the vehicle body portion and linked to the arm 322, such that when the arm extends, the sealing element is spring-biased and pushed and moved into the hole to seal at the vehicle body portion to limit the intrusion of water or the like into the vehicle body portion when the camera device 314 extends. Reference Figure 13 and Figure 14 As can be seen, arm 322 is pivotally mounted at pivot element 310b of vehicle body portion 310a, and sealing element 324 is movably mounted on vehicle body portion via a pair of pivotable links 326a, 326b (although only the upper link is shown, the corresponding lower link is pivotally attached to the vehicle body portion below the hole and to the lower portion of the arm and sealing element), which pivots relative to vehicle body portion 310a and relative to sealing element 324 to move the sealing element to engage with vehicle body portion at the hole when the camera device is extended. Figure 13 And when the camera device retracts, the sealing element is moved inward away from the vehicle body (so as to make room within the body for the camera device). Figure 14 Link 326b is pivotally attached to pivot element 310b, while link 326a is pivotally attached to another pivot element 310c spaced apart from pivot element 310b, such that pivoting movement of the links moves sealing element 324 while keeping the sealing element generally parallel to the vehicle body portion 310a. The camera device 314 and sealing element 324 allow the elongated arm 322 to pivot to fully extend the camera device from the vehicle body panel, while occupying a reduced amount of space within the vehicle body portion when the camera device is retracted. The camera device 314 may also be similar to the camera devices discussed above, so a detailed discussion of the camera device need not be repeated here.

[0091] Therefore, the camera wing rotates horizontally out of the vehicle about a vertical pivot line. As the camera wing rotates out, a spring-biased or spring-loaded clearance seal moves about a four-bar linkage to seal the opening in the vehicle body panel. This design provides the benefit of packing space because the distance the camera extends from the vehicle is not directly tied to the overall packing depth (i.e., the length of the camera wing or arm can be increased without needing to increase the packing depth within the vehicle body to include the camera when it is flush with the vehicle). Alternatively, the camera wing or arm can use a slide-out mechanism to further extend the camera from the vehicle. The extension mechanism can include a telescopic mechanism, a four-bar linkage, or a sliding mechanism. Further extension from the vehicle can provide the driver with a wider field of view, which may be beneficial, for example, in towing applications.

[0092] Optionally, for example, and refer to Figures 15-18 The camera device 414 includes an arm 422 that supports or houses the camera 415 and is pivotally mounted on the vehicle body 410a and pivots about a generally vertical pivot line 422a. The vehicle body has a slot or hole formed therein, the size of which allows the arm 422 to be in its retracted or stowed or non-use position or state. Figure 16 and Figure 18 ) and its expansion or use of location or state ( Figure 15 and Figure 17 Move between ).

[0093] In the illustrated embodiment, the gap seal or sealing element 424 is movably arranged in the vehicle body portion and linked to the arm 422, such that when the arm extends, the sealing element moves into the hole to seal at the vehicle body portion, thereby restricting the intrusion of water or the like into the vehicle body portion when the camera device 414 extends. Reference Figure 17 and Figure 18 As can be seen, the arm 422 is pivotally mounted at the pivot element 410b of the vehicle body portion 410a, and the sealing element 424 is pivotally and movably mounted at the second pivot element 410c at the vehicle body portion 410a. It pivots or moves relative to the vehicle body portion 410a as the arm pivots, so that when the camera device expands, the sealing element 424 is moved to engage with the vehicle body portion at the opening. Figure 17 ), and when the camera device retracts, the sealing element is moved inward away from the vehicle body (in order to make room for the camera device within the body). Figure 18In other words, the second pivoting element 410c is pivotable about the pivoting element 410b and pivots according to the rotation of the arm 422 relative to the pivoting element 410b, such that the pivoting element 410c pivots toward the hole when the arm 422 extends and pivots into the hole when the arm 422 retracts. Therefore, when the arm 422 extends, the second pivoting element 410c rotates to provide a pivot point closer to or at the hole of the sealing element 424.

[0094] The camera assembly 414 and sealing element 424 allow the slender arm 422 to pivot to fully extend the camera assembly from the vehicle body panel, while occupying a reduced amount of space within the vehicle body section when the camera assembly is retracted. The camera assembly 414 may also be similar to the camera assemblies discussed above, so a detailed discussion of the camera assembly need not be repeated here. The camera assembly 414 uses a spring-biased or spring-loaded baffle instead of a four-bar linkage to close the gap seal, which requires fewer parts and provides a reduced package size.

[0095] Optionally, the camera device can be translated outward or moved linearly from the vehicle body when extended. For example, and such as Figures 19-21 As shown, the camera device 514 includes a housing portion 522a that houses the camera 515, and when the camera device extends, this housing portion extends laterally outward from the vehicle body portion 510a. When the camera device retracts, the housing portion 522a retracts and is housed in an inner housing portion 522b, which is disposed within and attached to the vehicle body panel or portion 510a. Figure 20 As shown, the camera housing 522a and the receiver or inner housing 522b are angled relative to the vehicle body panel, allowing the camera device to be angled (e.g., rearwardly angled) for a more aerodynamic configuration. The angled configuration also reduces the depth required for the inner housing 522b to receive the outer housing 522a within the side of the vehicle. Optionally, and as such... Figure 22 As shown, the camera device 514' can extend and retract substantially perpendicular to the vehicle body.

[0096] The camera wing, arm, or housing slides out from the vehicle body at an angle to provide a clean and aesthetically pleasing package. The vehicle pocket remains sealed throughout the driving process and provides the ability to have an intermediate position between the two primary positions (fully extended and fully retracted). One or more intermediate positions are adjustable to suit the driver's preference.

[0097] Optionally, the camera device can be moved outward in an arc from the vehicle body when extended. For example, and such as Figures 23-26As shown, the camera device 614 includes a curved outer housing portion 622a that houses the camera 615 and extends outwardly in an arc from the vehicle body portion 610a when the camera device extends. When the camera retracts, the housing portion 622a retracts and is housed in an arc-shaped inner housing portion 622b, which is disposed within and attached to the vehicle body panel or portion 610a. Therefore, the camera wing, arm, or housing can slide out of the vehicle body portion in a curved manner. The arm can be arc-shaped or bent with a radius of curvature toward the camera's field of view (i.e., the arm arcs or bends toward the side of the vehicle in the rearward direction). Figures 23-26 Alternatively, the arm can be bow-shaped or curved, with its radius of curvature opposite to the camera's field of view (i.e., the arm is bow-shaped or curved towards the side of the vehicle in the forward direction). This curve is used to provide a slightly smaller overall package and a more distinctive aesthetic appearance, and can provide improved vehicle aerodynamics.

[0098] Optionally, the camera device may include a detachable pivoting element that, when the camera device is in its extended state, allows the camera wing or outer housing (containing the camera) to pivot in the event of an impact or push. For example, and referring to... Figures 27-31 The camera device 714 includes an outer arm portion or housing portion 722a, which is pivotally attached to an inner arm portion or housing portion 722b at a pivot element or connector 723. When the camera device extends, the pivot connector is outside the vehicle body portion, such that if the outer arm portion 722a is impacted or pushed, the outer arm portion 722a pivots at the pivot connector relative to the inner arm portion 722b and the vehicle body portion 710a. In the illustrated embodiment, the camera arm extends translationally from the vehicle body portion and retracts into a camera wing or receiver or housing portion 725 attached to the inside of the vehicle body portion.

[0099] A pivot joint provides a camera arm or wing with the ability to pivot in its extended position upon impact. Upon impact, the wing's head rotates to absorb the impact without causing damage. After the impact, the head can return to its extended position due to a spring and stop located at the pivot joint (e.g., a torsion spring can push the arm or head back toward a non-pivoted position, where the pivoting element engages the stop to hold the arm or head in that orientation or state). The pivot joint provides the camera arm or wing with the ability to pivot back to its extended position after both forward and backward impacts. In other words, the pivot joint allows the camera arm to rotate in either direction relative to the extended position and return to the extended non-pivoted position. The head can also return to the non-pivoted position when the wing retracts.

[0100] Optionally, and refer to Figures 32-34The camera device or module 814 includes a camera 815 disposed within the vehicle body portion 810a, and a curved mirror element 828 is expandable and retractable relative to the vehicle body portion at a slot or hole formed through the vehicle body portion. In the illustrated embodiment, the camera 815 is disposed at or near an observation hole 810b, through which the camera observes. When the curved mirror element 828 extends, the camera observes the reflective surface of the mirror element to capture image data representing the scene occurring behind the camera as reflected by the curved mirror element. When the mirror element retracts ( Figure 33 The outer edge of the mirror element may be disposed on and corresponding to the outer surface of the vehicle body portion. The vehicle body portion may include a sealing element that engages and seals against the mirror element as it moves between and stops in the extended and retracted positions. The viewing aperture 810b of the camera may also have a sealing element that seals against the surface of the vehicle body when the camera is not viewing through the aperture, or the camera may be provided in a sealing manner at the aperture. For example, the camera lens may be disposed in the aperture and sealed within its position on the vehicle body. The configuration and orientation of the camera and mirror element may utilize aspects of the system described in U.S. Patent No. 10,384,610, the entire contents of which are incorporated herein by reference.

[0101] Therefore, the camera can be entirely within the vehicle body, with a mirror element that remains within the vehicle body when not in use, but extends outwards when deployed. Thus, the camera remains fixed within the vehicle body and protected within it, while the mirror is the only component that can slide out of the vehicle. The mirror is positioned in front of the camera, allowing the camera to obtain the necessary or desired field of view by reflecting light incident on the curved reflective surface of the mirror element. The curved mirror element allows the rear view seen through the camera to be adjusted by changing the mirror's extension outwards from the vehicle. This adjustment can be selected or performed by the driver to provide the desired / desired field of view to the vehicle driver. The curvature of the mirror element allows for a wider field of view without requiring further extension outwards from the vehicle, thus keeping the package size small. The mirror element remains protected while mounted within the vehicle, and the system provides self-cleaning for the mirror element during loading / unloading.

[0102] Therefore, the camera device has different pivot points or axes or paths of movement and can provide vertical or horizontal views, depending on the application. The device can provide pivoting in different directions, such as backward, forward, upward, or downward, and can also pivot into the vehicle body. The device may include an extension mechanism to selectively increase or change the camera's field of view (e.g., in response to user input initiated by the vehicle driver). The device can provide a manual override for extending or retracting, wherein the manual override can be part of the wing, or it can be a lever / button in the passenger compartment, providing a mechanism to force the wing to extend when it is jammed or unpowered. The extended camera wing can be mounted in various locations, such as at the front or rear fenders of the vehicle or at the side or rear doors or similar locations. The camera device includes a camera (e.g., for a CMS or surround-view system or similar) and may also include an illumination source (e.g., for illuminating the ground on the side of the vehicle and / or for illuminating at least a portion of the camera's field of view) and may also include indicators or similar or other electronic accessories.

[0103] Optionally, the camera device may be mounted externally to the vehicle and may include a base portion attached to the side of the vehicle and a pivot portion pivoting relative to the base portion of the camera device. For example, and such as Figure 35 As shown, the camera device 914 includes a base portion 914a configured to be mounted to the side of a vehicle (so that it is at least partially outside the side of the vehicle); and a pivot wing 914b, which is in an extended position relative to the base portion ( Figure 35 The wing 914b pivots between a wing portion and a retracted position (where the wing portion may be located on the side and outside of the vehicle on which the base portion is mounted). The wing portion 914b houses one or more cameras 915 and includes a power folding actuator 930 operable to pivot the wing portion relative to the base portion, such as in response to user input or in response to vehicle gear selection or speed. Due to styling preferences favoring a slimmer wing shape, less space is available within the camera assembly for the actuator.

[0104] like Figures 36-38 As shown, the camera device 1014 may include a thin or elongated device having a thin base portion 1014a configured to attach to the side of a vehicle and a thin wing 1014b pivotally mounted on the base portion 1014a. The wing 1014b houses at least one camera 1015 therein and is pivotable relative to the base portion between a retracted position and an extended position via an electrically folding actuator 1030. Figure 36To reduce space requirements in the camera device (e.g., in the wing or base portion of the camera device), an actuator 1030 is disposed within the side of the vehicle and linked to a pivot element 1032 at the base portion, whereby actuation of the actuator imparts pivot movement to the pivot element 1032 to cause the wing 1014b to pivot relative to the base portion 1014a.

[0105] In the illustrated embodiment, actuator 1030 is connected to pivot element 1032 via link 1034, such as a flexible link, belt, or chain, and the flexible link surrounds driven pivot element 1030a (such as a pulley) of actuator 1030 and pivot element 1032 (such as a pulley) at the base portion. Pivot element 1032 is disposed at the cylindrical portion or pivot tube 1036a of bracket 1036, which is part of or attached to wing 1014b and pivotally attaches the wing to the base portion. Pivot element or pulley 1032 receives or connects to link 1034 and is held at the cylindrical portion of bracket via retainer 1036b (such as a nut). Link connected to pulley passes through and along a channel in the base portion into the side or door of the vehicle. As referenced Figure 38 As shown, the bracket 1036 pivotally mounts the wing 1014b to the base portion 1014a, such that the pivoting motion of the pulley 1032 pivots the bracket 1036 to pivot the wing relative to the base portion.

[0106] The electrically operated folding actuator 1030 is attached to or mounted on the inner base portion or bracket 1014c, extending inward from the outer base portion 1014a into the side or door of the vehicle. Figure 38 As shown, actuator 1030 includes motor 1030b, which operates to rotatably drive pulley 1030a. The actuator includes an upper stop plate 1030c and a lower stop plate 1030d (which may be part of pulley 1030a) that function to hold the wing in a proper stopped position (e.g., in a retracted position and an extended position). The stop plate and pulley are disposed at and along the pivot tube 1030e and held therein by a helical spring 1030f and a retainer 1030g (such as a nut). A washer 1030h (such as a low-friction (e.g., Teflon-coated) washer) may be disposed between the lower surface of spring 1030f and pulley 1030a.

[0107] Therefore, the camera device 1014 can have its actuator 1030 positioned in the side or door of the vehicle on which the camera device is mounted. Using a belt, chain, or other linkage, rotation at the actuator is transmitted from the inner base or actuator pivot to the outer base or cut-line pivot. This allows the camera device to have a wing portion with a thinner or reduced outer profile compared to devices that place the electrically folding actuator at the cut-line or interface between the wing and the base (see, for example...). Figure 35 When the actuator is located in the side or door of the vehicle, the thickness of the wing and base at the pivot joint (where the wing is pivotally attached to the base portion) can be reduced to less than or equal to about 50 mm, such as less than or equal to about 40 mm or less than or equal to about 30 mm.

[0108] Optionally, the camera device may have an actuator disposed remotely from the support arm or wing and transmitting rotation to the camera wing, wherein the actuator is a wire-pull actuator, such as the wire-pull actuator described in U.S. Provisional Serial No. 63 / 202,633, filed June 18, 2021, the entire contents of which are incorporated herein by reference. Such a wire-pull actuator allows for further refinement of the camera wing profile because rotation can be transmitted via (through an actuator remote from the camera wing) pulling a metal cable connected to a pivot element of the wing. The camera wing can be pulled from its retracted position to its extended position via the wire-pull actuator and returned from the extended position to the retracted position via a return spring or biasing element.

[0109] Optionally, and as Figures 39-49 As shown, the camera device 1114 is disposed on the side of the vehicle and is pivotable relative to the vehicle body 1110a. The camera device 1114 includes a support arm or wing 1114b supporting the camera 1115, which is pivotally mounted on the bracket or base portion 1114a and in a retracted position or state ( Figure 39 ) and extended location or state ( Figure 40The wing 1114b is rotatable between the two. The bracket or base portion includes receiving structures for receiving the wing therein and for pivotally mounting the wing and stop assembly therein, having a lower attachment plate 1114c and an upper attachment plate 1114d attached to the base portion to hold the wing and stop assembly in place. The wing 1114b is received in a hole or recess 1125 in the base portion 1114a, which is received in a hole or recess on the side of the vehicle body 1110a (or door), and when in the retracted position, the outer surface of the wing is flush with the outer surface of the base portion or the vehicle. The wing can be pivotally attached to a recess on the side of the vehicle or to the base portion (thereby the base portion, together with the wing and stop assembly mounted therein, can be mounted as a unit or module on the side of the vehicle). The base portion can therefore provide a recess or hole for receiving the retracted or folded wing, and the base portion may have an outer edge or surface coplanar with the outer surface of the vehicle's side, body, or door. When in the extended state, the camera is positioned within the vehicle's external field of view. Additionally, the wing 1114b can be rotated in the opposite direction to the retracted position beyond the extended position to the forward-folded position. Figure 41 and Figure 42 (such as when colliding with an object), and returns from beyond the extended position offset or spring-loaded toward the extended position via the forward-folding wing assembly 1138.

[0110] The forward-folding wing assembly 1138 includes a front cover element or folding wing 1140, a forward return spring 1142, and a forward return linkage 1144. For example... Figure 41 and Figure 42As shown, when wing 1114b folds forward (e.g., by manually pushing the wing forward or by impact with an object), the wing rotates forward toward the vehicle in the opposite direction to the retracted position, beyond the extended position. A space in the vehicle's outer surface, or a forward cavity or forward aperture, accommodates the wing rotating into the forward cavity. When wing 1114b is in the extended and retracted positions, the forward folding wing assembly 1138 positions the forward folding wing 1140 above the forward cavity, and the forward return spring 1142 provides a retaining force to hold the forward folding wing in the cavity to seal the forward cavity and prevent moisture, debris, and other materials from entering it. When wing 1114b rotates beyond the extended position, the wing moves into the forward cavity, and the forward wing 1140 moves from its covered or sealed position to an uncovered or unsealed position to accommodate the wing (e.g., the forward wing can be pushed into the cavity via the pivoting movement of the wing). The forward return spring 1142 biases the forward flap 1140 back toward the cavity-sealed position and, via the engagement of the forward flap and the wing, biases the wing 1114b from the forward-folded position to the extended position. The forward return link 1144 connects the forward return spring 1142 to the forward-folding flap 1140, and when the wing pivots beyond the extended position, the wing 1114b engages the forward-folding flap 1140, such that the forward return spring 1142 provides a biasing force at the wing 1114b via the forward-folding flap 1140. Therefore, the return spring 1142 provides the force required to maintain the seal of the forward flap 1140 when the wing is in the extended and retracted positions. Figure 43 ), and after the wing rotates beyond the extended position, return the wing to the extended position and release it.

[0111] The forward-folding wing 1140 rotates about the same pivot axis as the wing 1114b via a pivot element 1146 disposed around the actuator 1130. The pivot element 1146 may be integrally formed with the forward-folding wing 1140 and connect the forward return link 1144 to the forward-folding wing 1140 to convert the lateral movement of the link and the return spring 1142 into rotational movement of the pivot element 1146 and the wing 1140 about the pivot axis. The forward-folding wing assembly 1138 is assembled to the rest of the camera device 1114 to form a single component that can be mounted with attachment plates 1114c, 1114d within the base portion 1114a.

[0112] like Figure 44 and Figure 45As shown, the forward return spring 1142 is connected to the pivot element 1146 via a link 1144 to provide a biasing force to the forward-folding flap 1140. The pivot element 1146 is attached to the wing pivot, allowing the forward-folding flap and the wing to pivot about the same pivot axis. The forward-folding flap pivots only via manual pivoting or spring-biased pivoting between the extended and forward-folded positions of the wing.

[0113] Optionally, when wing 1114b pivots between a retracted position and an extended position, the wing is pivoted via operation of a cable or pull mechanism that pivots an arm or protrusion 1137 that pivots the wing. The cable or pull mechanism may be attached to the arm or protrusion 1137 to pull at the arm (via a remote actuator located within the door) to pivot wing 1114b from a retracted or folded position to an extended position, such as by utilizing various aspects of the wing and actuator described in U.S. Provisional Application Serial No. 63 / 202,633, filed June 18, 2021, the entire contents of which are incorporated herein by reference.

[0114] For example and Figures 46A-48B As shown, the remote actuator can pull a cable to pivot the wing pivot arm or protrusion 1137 toward the actuator and thus move the wing 1114b from the retracted position. Figure 46A and Figure 46B Pivot to extended position ( Figure 47A and Figure 46B When the remote actuator is operated to pivot wing 1114b from the extended position to the retracted position, the actuator can release the cable or allow the cable to move in the opposite direction, thereby causing the torsion spring to bias the wing towards the retracted position. While wing 1114b pivots between the retracted and extended positions, the forward-folding wing assembly 1138 remains stationary (i.e., the forward wing 1140 is in the sealed position). Figure 46A and 47A As shown, when the wing 1114b pivots between the retracted position and the extended position, the pivoting arm or protrusion 1137 of the wing pivots, while the link 1144 and the pivoting element 1146 remain stationary.

[0115] When the wing is manually pivoted beyond the extended position toward the forward-folding position ( Figure 48A and Figure 48B The locking member of the wing pivot can engage the wing pivot arm or protrusion 1137 and fix the arm or protrusion relative to the mounting base 1114a, such that the wing pivot arm or protrusion, cables, and remote actuator are not subjected to the force of manually pivoting the wing toward the forward-folding position. Therefore, when the wing is pivoted beyond the extended position toward the forward-folding position, the remote actuator and torsion spring are effectively disengaged from the pivotable movement of the wing via the locking member that secures the wing pivot arm or protrusion 1137 to the mounting base 1114a. Figure 48AAs shown, the movement of the wing toward the forward-folding position pushes the forward-folding flap 1140 into the forward cavity, and the compressed forward return spring 1142 provides a biasing force via the forward return link 1144 and the forward-folding flap 1140 to return the wing to its extended position when it is released (i.e., when the force that moved it forward is removed). Alternatively, since the forward return spring 1142 provides a biasing force on the wing 1114b via the engagement of the forward-folding flap 1140 and the wing, the forward return spring 1142 provides the biasing force only when the wing engages the forward-folding flap and pushes the forward-folding flap into the forward cavity.

[0116] Now for reference Figures 49-66 The camera device 1114 is pivotable about an actuator 1130 via a wire pull actuator 1132, which has a stop assembly with an internal or integrated spring, a locking lug 1174, a secondary stop 1136 at the top of the camera wing, and the camera device also has a forward-folding wing assembly or front cover element 1138. The actuator or stop assembly is not directly driven by a cam or motor via a gear train, but is actuated from a remote actuator, such as via a push / pull Bowden cable 1134 attached to the wire pull actuator 1132. The wire pull actuator 1132 rotates the camera wing 1114b by pulling a wire pull arm 1137 connected to the stop assembly. Locking lug 1174 selectively secures or retains the cable pull arm 1137 relative to the fixed attachment plate 1114c at the base portion 1114a of the vehicle, to associate the rotation of the camera wing 1114b with the movement of the cable pull actuator 1132 during electric pivoting of the camera wing 1114b, and to disconnect the rotation of the camera wing from influencing the movement of the cable pull actuator during manual rotation of the camera wing. When the camera wing is manually pivoted to the extended position to hold it there, the secondary stop 1136 engages the camera wing 1114b. Forward folding flap assembly 1138 allows the camera wing 1114b to rotate beyond the extended position and provides biasing force to return the camera wing to the extended position after rotation beyond the extended position.

[0117] Camera wing 1114b is in a flush position via wire-driven actuator 1132. Figure 39 ) and extended location ( Figure 40 They can move between ( ). For example, Figure 50As shown, the wire pull actuator 1132 is positioned away from the camera wing and the stop assembly, and provides rotational force at the stop assembly via a cable 1134 attached to the wire pull arm element 1137. As will be discussed below, the wire pull actuator 1132 is electrically operated only, pivoting the camera wing from a flush position to an extended position. The camera wing is returned from the extended position to the flush position via a torque return spring 1168. The cable 1134 attached to the wire pull actuator 1132 may comprise a metallic cable (e.g., steel or other suitable flexible material with sufficient tensile strength) that can only be pulled, not pushed, as pushing the cable could result in bending, damage, or cause the cable to pull away from the wire pull arm element 1137 at the actuator.

[0118] When operated to rotate the camera wing from a flush position to an extended position, the wire pull actuator 1132 has a high initial pull force, such as breaking ice that has accumulated on the outer surface of the camera wing. The wire pull actuator has a variable torque ratio throughout its stroke, with a high ratio at the beginning to obtain high pull force, and a low ratio near the end of its rotation to increase the pulling distance of the cable. The pull begins in a screw-like helical region and then transitions to full rotational motion.

[0119] like Figures 51-54 As shown, the wire pull actuator 1132 includes a cam or motor operable to rotatably connect a pin 1132a to the end of a cable 1134. The pin 1132a is connected to the end of the cable 1134 such that as the pin rotates at the wire pull actuator 1132, the cable 1134 winds or unwinds around a pulley portion. The rotation of the pin 1132a is guided by an arcuate groove in the wire pull actuator, and therefore the torque provided by the actuator is variable based on the guidance of the groove at a given point during rotation.

[0120] Figures 55A-55D Positions 1-4 depict the various stages of the actuator 1132's rotation when operated to pivot the camera wing from a flush position to an extended position. When the actuator is activated, the cam pulley rotates counterclockwise. In position 1 ( Figure 55A Pin 1132a starts from the helical region of the cam and slides along the groove in the housing of the line actuator to reach position 2. Figure 55B Approximately half of the total cam rotation occurs in this region; however, pin 1132a moves a very small distance corresponding to the high initial opening force of the camera wing (high ratio, high force, low travel distance). Once pin 1132a strikes the end of the helical region of the cam at position 3 (… Figure 55C Cable 1134 begins to wind around the pulley section of the cam. Approximately 80% of the bus pull distance occurs here, where the cam uses only 50% of its rotation (low ratio, low force, long travel distance). At position 4 ( Figure 55D The camera wing is in the extended position.

[0121] When actuator 1132 pulls camera wing 1114b to the extended position, the tension generated in cable 1134 helps (along with the stop assembly) hold the camera wing in the extended position. When the camera wing is electrically rotated back to the folded position (i.e., when the actuator rotates in the opposite direction to allow the cable to slack), actuator 1132 begins to release the tension in cable 1134 (i.e., rotating in the opposite direction to when the wing was extended), and torque return spring 1168 helps to untangle cable 1134 from the pulley so that the camera wing can pivot to the folded position. When the cable pull actuator releases the tension on the cable, torque return spring 1168 is used to return the wing to the flush position. In other words, torque return spring is used to rotate the camera wing in the opposite direction to the cable pull actuator (i.e., torque return spring pushes the pivoting of the camera wing, and the cable pull actuator pulls the pivoting of the camera wing via the cable). Torque return spring can directly engage cable pull arm 1137.

[0122] When the camera wing 1114b is manually rotated between the flush position and the extended position, the wire pull actuator 1132 does not rotate, and therefore the wire pull arm 1137 at the stop assembly remains stationary during manual rotation of the camera wing. If the camera wing is manually rotated to a position and not manually rotated back to its original position, the next activation of the wire pull actuator 1132 will resynchronize the wire pull arm 1137 according to the position of the camera wing, and subsequent operation of the wire pull actuator 1132 will pivot the camera wing. For example, if the camera wing is manually rotated from the flush position to the extended position, the wire pull arm (and the wire pull actuator) will remain stationary as if the camera wing were still in the flush position. The next activation of the wire pull actuator will pull the wire pull arm to align with the stop assembly, and the wire pull arm will resynchronize with the camera wing in the extended position, and subsequent activation will release the tension in the cable to electrically rotate the camera wing back to the flush position.

[0123] like Figures 56-65 As shown, the rotational relationship between the cable pull arm 1137 (and therefore the cable pull actuator) and the camera wing 1114b is achieved via a stop assembly of the actuator 1130, which includes a primary stop member 1131 ( Figure 50 Secondary stop component 1133 Figure 51 ), and locking lug component 1174 ( Figure 49 When the wire pull actuator 1132 pulls the wire pull arm 1137 of the actuator 1130 to pivot the camera wing from the flush position to the extended position, the rotation of the wire pull arm is converted into the rotation of the camera wing relative to the attachment plate 1114c fixed to the base portion 1114a of the vehicle, where the camera wing assembly is attached.

[0124] like Figure 58As shown in Figure B, the locking lug 1174 engages and is rotatably secured to the cable pull arm 1137, and also engages the attachment plate 1114c via the cable pull arm to secure the cable pull arm 1137 relative to the attachment plate 1114c when in the lowered position, and to prevent rotation of the cable pull arm (and thus the camera wing). When the camera wing is in the flush position, the locking lug 1174 engages with the attachment plate 1114c at the bracket or base portion 1114a until the cable 1134 is pulled. The locking lug 1174 is connected to the cable pull arm 1137 via a threaded interface, and as the arm rotates via the cable pull actuator (i.e., the cable pulls the cable pull arm), the locking lug 1174 rises, compressing the locking lug compression spring 1176 to pull the locking lug into engagement with the attachment plate. When the locking lug is raised, the stop ring 1178 is rotatable, and the wing is connected to the stop ring via the primary stop 1131.

[0125] Locking lug 1174 prevents the lower portion of the camera wing pivot (from which the cable pull arm extends) from rotating when the camera wing is manually rotated. The lower portion of the camera wing pivots only rotates when the cable is pulled. Because locking lug 1174 provides the connection between the cable pull arm 1137 and the attachment plate 1114c, when the camera wing 1114b is manually extended, the locking lug holds the cable pull arm in place and ensures the wing rotates to the correct angle. In other words, the locking lug prevents slack from being created in the cable 1134 when the wing is manually extended, which is caused by external forces acting against the manually rotated camera wing on the cable and the cable pull actuator, which could cause the cable to be pulled toward the cable pull actuator and thus bend, damage, or disconnect. Therefore, when the camera wing 1114b is manually pivoted, the locking lug engages the wire pull arm 1137 and the attachment plate 1114c to fix the wire pull arm relative to the attachment plate, preventing the movement of the camera wing from causing the camera pull arm to move, and effectively disengaging the wire pull actuator from the camera wing during this manual pivoting of the camera wing.

[0126] The locking lug also allows for a lower return torque spring force, and thus a smaller torque return spring 1168 can be used. Using a smaller torque return spring reduces the force load on the cable actuator and cable, and also reduces force loss in the cable pull, which helps in situations where greater force than usual is needed to extend the wing from the flush position to the extended position (such as when the vehicle's exterior surface is icy).

[0127] like Figure 60As shown, locking lug 1174 is keyed to stop ring 1178, and locking lug compression spring 1176 is disposed between locking lug and stop ring. As cable pull arm 1137 is pulled, stop ring 1178 is held in place by the connection between locking lug and attachment plate 1114c. Cable pull lifts locking lug 1174 to release it from its engagement with attachment plate 1114c. Once locking lug is lifted, stop ring 1178 and locking lug 1174 are able to rotate. Camera wing 1114b is connected to stop ring 1178 via primary stop 1131 and rotates with it.

[0128] like Figure 61 As shown, the primary stop 1131 connects the cable arm 1137 and the camera wing 1114b via a stop ring 1178. During manual extension or forward folding (when the camera wing rotates beyond its extended position, such as in the event of a collision with an object), the primary stop 1131 disengages from the camera wing. When the primary stop engages, it lifts the secondary stop 1133 out of its original position. Therefore, no position engages more than one stop, providing more control and more consistent stopping in every position. The primary stop 1131 is loaded with an internal compression spring 1152 to provide the necessary holding force to keep the camera wing in the stopped position.

[0129] like Figure 59A and Figure 62 As shown, a secondary stop 1133 is disposed on top of the camera wing 1114b and connects the camera wing to the upper attachment plate 1114d. It engages with the attachment plate only when the camera wing is manually extended (i.e., rotated from the parked position to the extended position). Once the camera wing has reached the extended position (e.g., approximately 70% of the total rotation range of the camera wing), the secondary stop 1133 can simply engage the camera wing with the attachment plate. In other words, when the camera wing is manually extended, the secondary stop 1133 provides a stopping point for the camera wing and provides a stopping force to hold the camera wing in the extended position. In addition to the secondary stop compression spring positioned above the secondary stop and held by the secondary stop cover, the stopping force of the secondary stop is also determined by the tilt angle of the stop surface.

[0130] Alternatively, the secondary stop 1133 holds the camera wing in place during electronic resynchronization, allowing electronic recovery from the manually extended position. In other words, when the wing has been manually extended, the secondary stop engages the camera wing to hold it in place and can activate a cable pull actuator to pull the cable. The secondary stop prevents the wing from folding forward beyond the extended position and allows the primary stop to re-engage. When the primary stop re-engages, the secondary stop is forced to release. Once the primary stop engages, the wing can be electrically deployed and retracted as usual.

[0131] Therefore, and as Figure 66 As shown in flowchart 1100, the camera wing is pivotable manually or electrically via a wire actuator between a flush position or a retracted position and an extended position. In the retracted position, a primary stop engages with the camera wing. When electrically extended, the primary stop remains engaged and the camera wing pivots to the extended position with the primary stop engaged. If electrically retracted from the extended position with the primary stop engaged, the primary stop remains engaged and the camera wing pivots to the retracted position. Therefore, the primary stop is not released when the camera wing is electrically operated.

[0132] If the camera wing is manually retracted with the primary stop engaged in the extended position, the camera wing retracts with both the primary and secondary stops disengaged (no-stop position). From the retracted no-stop position, an activation of the electric cable pull actuator returns the cable pull arm to its original position via a torsion spring and returns the primary stop to engagement while the camera wing remains retracted.

[0133] When the camera wing is manually extended, the primary stop disengages and the secondary stop engages. If the camera wing is manually retracted in the extended position with the secondary stop engaged, the primary stop re-engages and the camera wing pivots to the retracted position. If the camera wing is electrically retracted in the extended position with the secondary stop engaged, an electrical activation of the pull actuator engages the primary stop in the extended position, and a second electrical activation of the pull actuator causes the camera wing to pivot to the retracted position engaged with the primary stop.

[0134] If, while in the extended position (and with the primary or secondary stop engaged), the camera wing is manually pivoted beyond the extended position in the direction opposite to the retracted position, the camera wing 1114b will fold forward toward the forward-folded position and then return to its original extended position via the forward-folding wing assembly 1138.

[0135] One or more cameras may include any suitable imaging sensor or camera, such as a pixelated imaging array, such as a CMOS imaging array sensor, a CCD sensor or other sensor, such as the types of cameras or sensors disclosed in commonly assigned U.S. Patent Nos. 7,965,336; 5,550,677; 5,760,962; 6,097,023 and 5,796,094, the entire contents of which are incorporated herein by reference.

[0136] An imaging sensor or camera can capture image data for image processing and may include any suitable camera or sensing device, such as, for example, a two-dimensional array (at least 640x480 imaging array, such as a megapixel imaging array, etc.) of multiple photoelectric sensor elements arranged in at least 640 columns and 480 rows, with corresponding lenses focusing the image onto a corresponding portion of the array. The photoelectric sensor array may include multiple photoelectric sensor elements arranged in a photoelectric sensor array having rows and columns. Preferably, the imaging array has at least 500,000 photoelectric sensor elements or pixels, and more preferably at least one million photoelectric sensor elements or pixels. The imaging array may capture color image data, such as via spectral filtering at the array, such as via RGB (red, green, and blue) filters or via red / red complementary color filters, or such as via RCC (red, transparent, transparent) filters, etc. The logic and control circuitry of the imaging sensor may operate in any known manner, and image processing and algorithmic processing may include any suitable methods for processing images and / or image data.

[0137] Optionally, the camera may have a wide field of view on the side of the vehicle and / or may have an adjustable field of view and / or may capture images for use in other vision systems, such as top-down or bird's-eye view vision systems for the vehicle or surround view vision systems at the vehicle, such as by utilizing aspects of the vision systems described in U.S. Patent Nos. 10,071,687; 9,900,522; 9,762,880; 9,126,525 and / or 9,041,806, and / or U.S. Publication Nos. US-2015-0022664 and / or US-2012-0162427, the entire contents of which are incorporated herein by reference.

[0138] The specific embodiments described may be changed and modified without departing from the principles of the invention, which are intended to be limited only by the scope of the appended claims as interpreted in accordance with the principles of patent law.

Claims

1. A vehicle camera monitoring system, comprising: an electronic control unit, ECU, disposed at a vehicle equipped with the vehicle camera monitoring system, wherein the ECU comprises electronic circuitry and associated software; a support arm pivotably disposed at a side of the vehicle, wherein the support arm has a base end attached at the side and a distal end opposite the base end; a camera disposed at the distal end of the support arm; wherein the camera comprises a lens and an imager, and wherein the imager comprises a two-dimensional imaging array having at least one million photosensors arranged in rows and columns; wherein the support arm is pivotable between a stowed position and an extended position; wherein, with the support arm in the stowed position, the support arm is located at an aperture in the side of the vehicle and an outer surface of the support arm is coplanar with an outer surface of the side; wherein, with the support arm in the stowed position and the outer surface of the support arm coplanar with the outer surface of the side, the camera is located within the outer surface of the side; wherein, with the support arm in the extended position, the support arm is extended from the side such that the camera is located outside the side of the vehicle; a cover element covering the aperture at the side at least when the support arm is in the extended position; wherein the cover element is movable between a covering position in which the cover element covers the aperture and a non-covering position in which the cover element does not cover the aperture; wherein, with the support arm in the extended position, the cover element is in the covering position, and wherein, with the support arm in the stowed position, the cover element is in the non-covering position; wherein the support arm is pivotable beyond the extended position in an opposite direction from the stowed position, and wherein, when the support arm is pivoted beyond the extended position in the opposite direction from the stowed position, the support arm is at least partially received at a forward aperture in the side of the vehicle; a forward cover element movable between a forward covering position in which the forward cover element covers the forward aperture and a forward non-covering position in which the forward cover element does not cover the forward aperture; wherein the forward cover element is in the forward covering position when the support arm is in the extended position and when the support arm is in the stowed position, and wherein, when the support arm is pivoted beyond the extended position in the opposite direction from the stowed position and the support arm is at least partially received at the forward aperture, the forward cover element is moved from the forward covering position to the forward non-covering position; wherein, when the support arm is pivoted beyond the extended position in the opposite direction from the stowed position and is at least partially received at the forward aperture, a biasing element biases the forward cover element toward the forward covering position; wherein, with the support arm in the extended position, the camera captures image data and provides the captured image data to the ECU; and Wherein the captured image data is processed at the ECU to at least one selected from the group consisting of: (i) displaying a video image derived from the image data captured by the camera and provided to the ECU, and (ii) detecting objects present outside the vehicle and in the field of view of the camera.

2. The camera monitoring system for vehicles according to claim 1, wherein, The cover element is movably mounted at a side of the vehicle via a pair of parallel links that pivot to move the cover element between a covering position and a non-covering position.

3. The camera monitoring system for vehicles according to claim 1, wherein, The cover element is spring biased toward the covering position.

4. The camera monitoring system for vehicles according to claim 1, wherein, The cover element is pivotally mounted at a side of the vehicle and pivots between a covering position and a non-covering position.

5. The camera monitoring system for vehicles according to claim 4, wherein, The support arm and the cover element are pivotable about a common pivot axis.

6. The camera monitoring system for vehicles according to claim 4, wherein, The support arm and the cover element are pivotable about different pivot axes.

7. The camera monitoring system for vehicles according to claim 1, wherein, The front cover element is disposed forward of the pivot axis of the support arm.

8. The camera monitoring system for vehicles according to claim 1, wherein, The front cover element is spring biased toward the front covering position, and wherein the support arm is spring biased toward the extended position when the support arm is pivoted beyond the extended position in a direction opposite the stowed position.

9. The camera monitoring system for vehicles according to claim 1, wherein, The biasing element biases the support arm toward the extended position when the support arm is pivoted beyond the extended position in a direction opposite the stowed position and is at least partially received at the front aperture.

10. The camera monitoring system for vehicles of claim 1, comprising: A base portion mounted at an aperture at a side of the vehicle, wherein the support arm is received in a recess of the base portion when in the stowed position.

11. The camera monitoring system for vehicles of claim 1, comprising: A video display screen disposed in the vehicle, wherein the video display screen displays a video image derived from the image data captured by the camera and provided by the ECU.

12. The camera monitoring system for vehicles according to claim 11, wherein, The video display screen comprises a video mirror display screen disposed at an interior mirror assembly of the vehicle.

13. A vehicle camera monitoring system comprising: An electronic control unit (ECU) disposed at a vehicle equipped with the vehicle camera monitoring system, wherein the ECU comprises electronic circuitry and associated software; A base portion disposed at a side of the vehicle, the base portion comprising a recess within the side of the vehicle; A support arm pivotally disposed at the base portion, wherein the support arm has a base end pivotally attached at the base portion and a distal end opposite the base end; A camera disposed at the distal end of the support arm; Wherein the camera comprises a lens and an imager, and wherein the imager comprises a two-dimensional imaging array having at least one million photosensors arranged in rows and columns; Wherein the support arm is pivotable between a stowed position and an extended position; Wherein, with the support arm in the stowed position, the support arm is at least partially within the recess of the base portion and an outer surface of the support arm is coplanar with an outer surface of the side of the vehicle; Wherein, with the support arm in the stowed position and the outer surface of the support arm coplanar with the outer surface of the side, the camera is within the outer surface of the side; Wherein, with the support arm in the extended position, the support arm is extended from the side such that the camera is outside the side of the vehicle; A cover element covering the recess at the base portion at least when the support arm is in the extended position; wherein the cover element is pivotable between a cover position in which the cover element covers the recess and a non-cover position in which the cover element does not cover the recess, wherein the cover element is spring biased towards the cover position; wherein, in the case that the support arm is in the extended position, the cover element is in the cover position, and wherein, in the case that the support arm is in the stowed position, the cover element is in the non-cover position; wherein the support arm is pivotable beyond the extended position in the opposite direction from the stowed position, and wherein, when the support arm is pivoted beyond the extended position in the opposite direction from the stowed position, the support arm is at least partially received at the forward aperture at the side portion of the vehicle; a forward cover element movable between a forward cover position in which the forward cover element covers the forward aperture and a forward non-cover position in which the forward cover element does not cover the forward aperture; wherein the forward cover element is in the forward cover position when the support arm is in the extended position and when the support arm is in the stowed position, and wherein the forward cover element moves from the forward cover position to the forward non-cover position when the support arm is pivoted beyond the extended position in the opposite direction from the stowed position and the support arm is at least partially received at the forward aperture; wherein the biasing element biases the forward cover element towards the forward cover position when the support arm is pivoted beyond the extended position in the opposite direction from the stowed position and is at least partially received at the forward aperture; wherein, in the case that the support arm is in the extended position, the camera captures image data and provides the captured image data to the ECU; a video display screen disposed in the vehicle; and wherein the captured image data is processed at the ECU to display a video image at the video display screen derived from the image data captured by the camera and provided to the ECU.

14. The camera monitoring system for vehicles according to claim 13, wherein, The cover element is pivotally mounted at the base portion via a pair of parallel links that pivot to move the cover element between the cover position and the non-cover position.

15. The camera monitoring system for a vehicle according to claim 13, wherein, The support arm and the cover element are pivotable about a common pivot axis.

16. The vehicular camera monitoring system of claim 13, wherein, The support arm and the cover element are pivotable about different pivot axes.

17. The vehicular camera monitoring system of claim 13, wherein, The forward cover element is disposed forward of the pivot axis of the support arm.

18. The vehicular camera monitoring system of claim 13, wherein, The forward cover element is spring biased towards the forward cover position, and wherein the support arm is spring biased towards the extended position when the support arm is moved beyond the extended position in the opposite direction from the stowed position.

19. The vehicular camera monitoring system of claim 13, wherein, The biasing element biases the support arm towards the extended position when the support arm is moved beyond the extended position in the opposite direction from the stowed position and is at least partially received at the forward aperture.

20. The vehicular camera monitoring system of claim 13, wherein, The video display screen comprises a video mirror display screen disposed at an interior mirror assembly of the vehicle.

21. The vehicular camera monitoring system of claim 13, wherein, The support arm is pivotable relative to the side of the vehicle via an actuator, and wherein the actuator comprises a drive portion disposed within the side of the vehicle, and wherein the drive portion comprises an electric motor, and wherein the actuator comprises a link connected between (i) the drive portion and (ii) the support arm, and wherein, when the electric motor is operated, the drive portion moves the link to pivot the support arm relative to the base portion.

22. The vehicular camera monitoring system of claim 21, wherein, The link comprises a flexible cable.

23. The vehicular camera monitoring system of claim 21, wherein, The link comprises a belt engaged with a pulley of the drive portion and a pulley of the support arm.

24. A vehicle camera monitoring system comprising: an electronic control unit, ECU, at a vehicle equipped with the vehicle camera monitoring system, wherein the ECU comprises electronic circuitry and associated software; a support arm having (i) a base end pivotally attached at a side of the vehicle and (ii) a distal end opposite the base end; a camera disposed at the distal end of the support arm; wherein the camera comprises: a lens and an imager, and wherein the imager comprises a two-dimensional imaging array having at least one million photosensors arranged in rows and columns; wherein the support arm is pivotable between a stowed position and an extended position; wherein, with the support arm in the stowed position, the support arm is located at an aperture at the side of the vehicle and an outer surface of the support arm is coplanar with an outer surface of the side; wherein, with the support arm in the stowed position and the outer surface of the support arm coplanar with the outer surface of the side, the camera is located within the outer surface of the side; wherein the support arm is pivotable beyond the extended position in an opposite direction from the stowed position, and wherein, when the support arm is pivoted beyond the extended position in the opposite direction from the stowed position, the support arm is at least partially received at a forward aperture at the side of the vehicle; wherein, with the support arm in the extended position, the support arm is extended from the side such that the camera is located outside the side of the vehicle; wherein the support arm is pivotable relative to the side of the vehicle via an actuator; wherein the actuator comprises a drive portion disposed within the side of the vehicle, and wherein the drive portion comprises an electric motor; wherein the actuator comprises a link connected between (i) the drive portion and (ii) the support arm; wherein, when the electric motor is operated, the drive portion moves the link to pivot the support arm relative to the side of the vehicle; a forward covering element movable between a covering position in which the forward covering element covers the forward aperture and a non-covering position in which the forward covering element does not cover the forward aperture; wherein the forward covering element is in the covering position when the support arm is in the extended position and when the support arm is in the stowed position, and wherein the forward covering element is moved from the covering position to the non-covering position when the support arm is pivoted beyond the extended position in an opposite direction from the stowed position and the support arm is at least partially received at the forward aperture; wherein, when the support arm is pivoted beyond the extended position in the opposite direction from the stowed position and is at least partially received at the forward aperture, a biasing element biases the forward covering element toward the covering position; wherein, with the support arm in the extended position, the camera captures image data and provides the captured image data to the ECU; and wherein the captured image data is processed at the ECU to at least one selected from the group consisting of (i) displaying a video image derived from the image data captured by the camera and provided to the ECU, and (ii) detecting an object present outside the vehicle and in the field of view of the camera.

25. The vehicular camera monitoring system of claim 24, comprising: a video display screen disposed in the vehicle, wherein the video display screen is operable to display a video image derived from the image data captured by the camera and provided by the ECU.

26. The vehicular camera monitoring system of claim 25, wherein, The video display screen comprises a video mirror display screen disposed at an interior rearview mirror assembly of the vehicle.

27. The vehicular camera monitoring system of claim 24, wherein, The link comprises a flexible cable.

28. The vehicular camera monitoring system of claim 24, wherein, The link comprises a belt that engages the pulley of the drive portion and the pulley of the support arm.

29. The vehicular camera monitoring system of claim 24, further comprising: a cover element that covers the aperture at the side at least when the support arm is in the extended position.

30. The vehicular camera monitoring system of claim 29, wherein, The cover element is movable between a covering position in which the cover element covers the aperture at the side and a non-covering position in which the cover element does not cover the aperture at the side.

31. The vehicular camera monitoring system of claim 30, wherein, The cover element is in the covering position with the support arm in the extended position, and wherein the cover element is in the non-covering position with the support arm in the stowed position.

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