Oblique translation vehicle-mounted camera device

Abstract

The invention discloses an oblique translation vehicle-mounted camera device, which comprises a camera main body, an image acquisition unit and an imaging lens, and is characterized in that the imaging lens and the image acquisition unit are sequentially mounted in the camera main body; and the center of the image acquisition unit has a predetermined oblique offset relative to the intersection point of the optical axis of the imaging lens and the plane of the image acquisition unit. By adopting the camera device in which the central point of the image acquisition unit is obliquely translated, the effective area of the image acquisition unit can be utilized to the maximum extent, and the problem of perspective deformation caused by the fact that a camera is obliquely mounted towards the outer side of a vehicle body and the ground due to the acquisition angle requirement is avoided; and meanwhile, a visual field observation area meeting the requirements of GB1508-2022 and ECE R46 laws and regulations can be provided.

Description

Technical Field

[0001] The present invention relates to the field of photography, and in particular to a high-definition vehicle-mounted photography device with no perspective distortion. Background Art

[0002] The function of the rearview mirror camera is to capture images from behind the vehicle and transmit the image signal to the rearview mirror for display, so that the driver can clearly and unobstructedly view the traffic conditions behind the vehicle, providing the driver with safer driving assistance.

[0003] In the design process of rearview mirror cameras, obtaining the clearest image by using a sensor with the lowest possible cost and relatively small size has always been the goal pursued by rearview mirror cameras.

[0004] However, as the research and development of rearview mirror cameras deepened, researchers discovered that clarity is only a basic indicator for evaluating the performance of rearview mirror cameras. Various factors affect the performance of rearview mirror cameras. Perspective distortion, visual differences from traditional convex mirrors, and the magnification ratio of images of distant and near scenes can seriously affect users' safe driving and usage experience.

[0005] Existing in-vehicle rearview cameras all use a coaxial design between the lens optical axis and the sensor center. This design results in a significant portion of the sensor side being used to capture the side of the vehicle, while a significant portion captures the sky, which is not required to be displayed on the screen, resulting in ineffective image utilization. This design is inconsistent with the image cropping and display area standards used by electronic rearview mirrors, affecting the acquisition of high-quality images based on metrics such as magnification and MTF.

[0006] In addition, among the existing solutions, some technicians have proposed using a method of tilting the camera toward the outside of the vehicle and the ground to achieve rearview imaging. However, oblique shooting is more likely to cause perspective distortion problems, and it violates the design principles of glass reflectors. The installation angle will also lead to repeated software development for different models, increasing development costs and material management problems, which does not meet the demands of energy conservation and cost reduction. Summary of the Invention

[0007] In response to the above problems, the present invention hopes to provide a vehicle-mounted camera device that significantly reduces perspective distortion, has high shooting clarity, saves sensor resources, reduces the workload of image correction software code writing and development, and reduces the delay caused by video processing. In addition, in a preferred implementation method, it is hoped that the magnification factor can be reduced for nearby scenes and increased for distant scenes.

[0008] Principle Description

[0009] During the research and development process, the inventors noticed that in the rearview camera device, whether it is the left camera or the right camera, when shooting the image of the rear scene, a large part of the image captured on the sensor cannot be used directly for display, but needs to be cropped and the field of view selected before it can be displayed.

[0010] Taking the left rearview camera as an example, regulatory requirements dictate that the optical axis of the rearview camera be roughly parallel to the longitudinal axis of the vehicle and the ground, and facing directly behind the side of the vehicle. In this case, if conventional camera arrangements are used, with the lens and sensor coaxial, the image captured by the rearview camera would have the left portion representing the scenery behind the vehicle to the left of the optical axis, while the right portion would primarily represent the vehicle body. This portion, obscured by the vehicle body, would be unused in the image.

[0011] Because the left and right, up and down directions of the image projected onto the sensor's imaging unit are opposite, taking the left rearview mirror as an example, the right side of the sensor represents the scene behind the vehicle to the left of the optical axis, while the left side represents the vehicle body. Therefore, with this shooting method, the image on the left side of the sensor is largely wasted, with only a small amount of the vehicle body image captured on the display to display and assist the driver in determining the relationship between the vehicle body and the scene. It should be noted that the left and right sides in this application refer to the left and right sides when the vehicle is moving forward.

[0012] Based on the in-depth understanding of this problem during the research and development process, the present invention provides a camera device with an oblique translation setting.

[0013] The oblique translation design of the present invention allows vertical translation to replace the pitch operation of existing cameras, avoiding the perspective distortion problem caused by the pitch operation and achieving downward or upward movement of the target field of view; horizontal translation can achieve outward extension of the horizontal field of view, reducing the proportion of the vehicle body in the sensor, and reducing the size requirements of the sensor under the same field of view.

[0014] The camera device with the oblique translation setting of the present invention can not only maximize the use of the effective area of ​​the sensor and avoid the perspective distortion problem caused by the oblique setting, but also provide an observation area that meets the requirements of GB1508-2022 and ECE R46 regulations.

[0015] The oblique translation camera device of the present invention combines the optical characteristics of barrel distortion of the vehicle-mounted camera, and can also bring about a good visual effect of "reducing the magnification of nearby scenes and increasing the magnification of distant scenes".

[0016] Furthermore, because rearview cameras are not currently a mainstream application in the optical imaging field, there are very few camera products specifically designed for them. Designing cameras specifically for different rearview cameras is prohibitively expensive. Consequently, rearview cameras typically use conventional, standardized cameras. These cameras, with the lens optical axis coaxial with the sensor center, must be installed at an angle toward the vehicle's exterior or the ground when used on different vehicle models or with varying field of view requirements. This requires the development of a separate camera housing mold and rewriting the image correction software code each time.

[0017] Under the technical concept of oblique translation, if different offset designs are required for rearview cameras of different vehicle models, and therefore different camera designs, it is also costly. To address this problem, in a preferred embodiment, the present invention designs a universal camera that can be used with different types of rearview camera devices. The lens of the present invention develops a large imaging circle lens based on the field of view and image quality requirements, and uses a minimum pixel sensor that meets the pixel requirements. Compared to conventional cameras, the imaging lens of the present invention has a larger imaging circle and is designed with an offset mounting area, so the sensor installation range is significantly larger than that of ordinary cameras. With this mounting position design, when different oblique translation adjustments are required for different vehicle models, it is only necessary to determine the projected position of the imaging lens center on the sensor mounting position. Based on this projected position and the offset requirements of the vehicle model, the sensor can be installed at different positions in the sensor mounting position (or mounting area), which can significantly simplify the structural design of the device. Furthermore, after adopting the oblique translation setting, the main target area is closer to the center of the image field, resulting in better image quality.

[0018] Specifically, the present invention provides an oblique translation vehicle-mounted camera device, characterized in that the vehicle-mounted camera device includes a camera body, an image acquisition unit and an imaging lens, the imaging lens and the image acquisition unit are sequentially installed in the camera body, and the center of the image acquisition unit has an oblique offset Z0 and an oblique offset angle θ relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located.

[0019] In a preferred implementation, the oblique offset Z0 and the oblique offset angle θ are calculated based on the following method:

[0020]

[0021]

[0022] Wherein, Y0 ≥ f1(β), Y is the length of the vertical side of the image acquisition unit, Y0 is the longitudinal distance between the far side of the image acquisition unit and the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located; f1 is the relationship function between the image height of the imaging lens at the current sensor position and the longitudinal field of view angle, and β is the angle between the optical axis of the imaging lens and the lower edge of the field of view in the vertical plane;

[0023] X0≥f2(α), where X is the horizontal length of the image sensor, X0 is the horizontal distance between the distal longitudinal side of the image acquisition unit and the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located, f2 is the relationship function between the image width of the imaging lens at the current sensor position and the horizontal field of view angle, and α is the angle between the optical axis of the imaging lens and the edge of the field of view on the side away from the vehicle body in the horizontal plane.

[0024] In another preferred implementation, Y0≥f1(β+β2), β2 is the design redundancy of the angle between the optical axis of the imaging lens and the lower edge of the field of view in the vertical plane;

[0025] X0≥f2(α+α2), where α2 is the design redundancy of the angle between the optical axis of the imaging lens and the edge of the field of view away from the vehicle body in the horizontal plane.

[0026] In another preferred implementation, the angle β is determined based on the expected or legally required longitudinal field of view edge position below the vehicle side, and the angle α is determined based on the expected or legally required lateral field of view edge position of the vehicle side away from the vehicle body.

[0027] In another preferred implementation, the values ​​of α2 and β2 are greater than or equal to 3°.

[0028] In another preferred implementation, the camera body has an imaging lens interface and an image acquisition unit installation area, and the size of the image acquisition unit installation area is greater than or equal to the imaging size of the target field of view area on the plane where the image acquisition unit installation area is located after imaging by the imaging lens.

[0029] In another preferred implementation, the camera body has an imaging lens interface and an image acquisition unit installation area, and the image acquisition unit installation area is offset in the same direction based on the oblique offset amount Z0 and the oblique offset angle θ.

[0030] In another preferred implementation, the vehicle-mounted camera device includes a left-side camera device and a right-side camera device, and the center of the image acquisition unit of the left-side camera device is offset toward the upper right direction or the lower right direction relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located; the center of the image acquisition unit of the right-side camera device is offset toward the upper left direction or the lower left direction relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located.

[0031] In another preferred implementation, the vehicle-mounted camera device includes a left-side camera device and a right-side camera device, and the center of the image acquisition unit of the left-side camera device is offset toward the upper left or lower left direction relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located; the center of the image acquisition unit of the right-side camera device is offset toward the upper right or lower right direction relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located.

[0032] In another preferred implementation, the imaging circle of the imaging lens is larger than the image acquisition unit installation area and covers the image acquisition unit after displacement, and the imaging lens is an optical lens with barrel distortion.

[0033] It should be noted that the "oblique translation" mentioned in this invention refers to translation in two mutually perpendicular directions within the sensor mounting plane, which can be adjusted according to the specific installation method of the camera. In this application, the "far side horizontal edge" refers to the horizontal edge of the image acquisition unit that is farther from the "intersection point where the optical axis of the imaging lens falls on the plane where the image acquisition unit is located," and the "far side vertical edge" refers to the vertical edge of the image acquisition unit that is farther from the "intersection point where the optical axis of the imaging lens falls on the plane where the image acquisition unit is located."

[0034] Of course, those skilled in the art should understand that although in the present application, especially in the embodiments, the center of the image acquisition unit of the left camera device is offset toward the upper right relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located, this is to provide a field of view to the left, center, and lower left of the left rear of the vehicle; the center of the image acquisition unit of the right camera device is offset toward the upper left relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located, this is to provide a field of view to the right, center, and lower right rear of the vehicle, so that the driver can obtain a wider and distortion-free field of view, but those skilled in the art can adjust the direction and angle of the oblique offset according to the specific application scenario when applying to other scenarios.

[0035] The vehicle-mounted camera system of the present invention can be divided into two groups, left and right, or four groups, namely left front, right front, left rear, and right rear, or used in conjunction with more groups of camera systems. The vehicle-mounted camera systems on both sides are respectively arranged on both sides of the vehicle, but the offset of the left and right camera systems can be different from each other, which is determined by the target field of view required by each side. The positional relationship between the camera body, image acquisition unit, and imaging lens mentioned in the present invention can be fixed in the form of a vehicle-mounted camera system, or can be installed in the vehicle-mounted camera system through an adjustable installation method.

[0036] Those skilled in the art should understand that since offset is a relative concept, the offset of the image acquisition device relative to the main axis of the imaging lens can be achieved by moving the image acquisition unit or by moving the imaging lens in the opposite direction.

[0037] Beneficial effects

[0038] The camera device with the oblique translation setting of the present invention can not only maximize the use of the effective area of ​​the image acquisition unit and avoid the perspective distortion problem caused by oblique shooting, but also provide a maximized field of view that meets regulatory standards. If the oblique translation camera device of the present invention is used in combination with the barrel distortion optical feature of the lens, it can also bring about a good visual effect of "reducing the magnification of nearby scenes and increasing the magnification of distant scenes." In addition, the present application proposes a camera structure that uses a large imaging circular lens with different offset settings, so that it is suitable for different sensor offsets, so that rearview mirror camera devices suitable for various models can be realized through the camera structure of the present application, and different models can be adapted by adjusting the offset at the sensor mounting position. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Schematic diagram of the positional relationship between the lens and sensor in an existing ordinary camera. Figure 1 A is a schematic view (or main view) looking from the lens toward the sensor; B is a top view cross-sectional view;

[0040] Figure 2 Schematic diagram of the positional relationship between the lens and the sensor in the vehicle-mounted camera device of the present invention. Figure 2 A is a schematic diagram of the position relationship between the sensor and the lens as seen from the lens toward the sensor (or a main view); B is a top view, and C is a left view.

[0041] Figure 3 for Figure 1 Schematic diagram of the positional relationship between the lens, sensor and body in an ordinary camera. Figure 3Part A is a schematic diagram of the positional relationship of the various components as seen from the camera direction (main perspective), and Part B is a schematic diagram from above;

[0042] Figure 4 A schematic diagram of the positional relationship between the lens, sensor, and camera body in the vehicle-mounted camera device of the present invention; Figure 4 Part A is a schematic diagram of the positional relationship of each component as seen from the camera direction (main perspective), Part B is a schematic diagram of the positional relationship of each component from the left; Part C is a schematic diagram of the positional relationship of each component from the top.

[0043] Figures 5-10 is a schematic diagram showing the field of view of a camera device, taking the camera device on the left as an example;

[0044] Figure 11 The image is taken horizontally by an existing vehicle-mounted camera device facing directly behind the vehicle;

[0045] Figure 12 The images are taken by an existing vehicle-mounted camera device that is installed tilted toward the outside of the body and the ground.

[0046] Figure 13 The image is taken by the vehicle-mounted camera device of the present application toward the rear of the vehicle in an observation area that meets the requirements of GB1508-2022, ECE R46 mandatory regulations and ISO16505 recommended regulations. DETAILED DESCRIPTION

[0047] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0048] Figure 1 、 Figure 3 : shows the positional relationship between the lens and the image acquisition unit (here, a sensor) in a conventional camera device. As can be seen from the figure, the intersection point where the optical axis of the lens 30 and the center of the image acquisition unit 20 in the conventional camera device intersect falls at the center O of the sensor.

[0049] Figure 2 、 Figure 4 Taking the rearview camera installed on the left side of the vehicle as an example, a schematic diagram is provided to show the positional relationship between the lens, sensor and camera housing in the oblique translation vehicle-mounted camera device in an embodiment of the present invention. The sensor is offset to the upper right (with the direction in front of the vehicle as the positive direction). For the rearview camera on the right side, the sensor is offset to the upper left.

[0050] The oblique translation vehicle-mounted camera device of this embodiment includes a camera body 10, an image acquisition unit 20 ( Figure 2In section A of the image acquisition unit 20, the image acquisition unit 20 is represented by a wireframe, but is actually located behind the imaging lens 30. The imaging lens 30 and the image acquisition unit 20 are sequentially mounted within the camera body 10. A lens barrel is provided at the front of the camera body 10, and the imaging lens 30 is mounted within the lens barrel. A camera mainboard PCBA is provided in the middle or rear of the camera body 10, and a mounting position for the image acquisition unit is provided on the camera mainboard. The image acquisition unit 20 is mounted within the mounting position for the image acquisition unit.

[0051] Compared with the existing camera device, in this embodiment, the optical axis of the lens 30 in the camera device does not intersect with the center O of the image acquisition unit 20. The intersection does not fall at the center of the image acquisition unit 20, but falls at position O'. The line between OO' is the oblique offset Z0 of the image acquisition unit 20, and the acute angle between OO' and the x-axis is the offset angle (e.g., Figure 8 The angle θ in the figure).

[0052] This offset is pre-calculated during camera design and implemented during installation of the imaging lens and image acquisition unit. This offset is achieved by translating the imaging lens or image acquisition unit. While this embodiment describes the translation of the image acquisition unit as an example, those skilled in the art will appreciate that this translation can also be achieved by translating the imaging lens.

[0053] Specifically, during the design, the center of the image acquisition unit is offset obliquely relative to the intersection of the main axis of the imaging lens and the plane where the image acquisition unit is located. The "oblique" here refers to an offset at a certain angle (non-right angle) relative to the vertical or horizontal direction, and the offset direction is perpendicular to the optical axis of the imaging lens.

[0054] The oblique offset Z and oblique offset angle θ of the center of the image acquisition unit relative to the imaging lens are calculated based on the following method:

[0055]

[0056]

[0057] Wherein, Y0 ≥ f1(β), Y is the length of the vertical side of the image acquisition unit, Y0 is the longitudinal distance between the far side of the image acquisition unit and the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located; f1 is the relationship function between the image height of the imaging lens at the current sensor position and the longitudinal field of view angle, and β is the angle between the optical axis of the imaging lens and the lower edge of the field of view in the vertical plane;

[0058] X0≥f2(α), where X is the horizontal length of the image sensor, X0 is the horizontal distance between the distal longitudinal side of the image acquisition unit and the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located, f2 is the relationship function between the image width of the imaging lens at the current sensor position and the horizontal field of view angle, and α is the angle between the optical axis of the imaging lens and the edge of the field of view on the side away from the vehicle body in the horizontal plane.

[0059] Preferably, Y0≥f1(β+β2), where β2 is the redundant design value of the angle between the optical axis of the imaging lens and the lower edge of the field of view in the vertical plane; X0≥f2(α+α2), where α2 is the redundant design value of the angle between the optical axis of the imaging lens and the edge of the field of view on the side away from the vehicle body in the horizontal plane.

[0060] The following is a detailed description of the calculation process of the oblique offset:

[0061] like Figure 5-7 Shown is a schematic diagram of the field of view of a rear-view camera device installed on the left side of a vehicle;

[0062] In the picture, in the picture:

[0063] A: Camera installation point (here simplified to one point);

[0064] B: Draw a vertical line from the camera installation point downwards and intersect the projection point on the ground;

[0065] C: Draw a perpendicular line through point A to line DE, and the intersection of the perpendicular line and line DE is marked as C;

[0066] DE: is the front boundary line of the field of vision for this vehicle model as stipulated by the law, where D is the end point of the front boundary line close to the vehicle body; E is the end point of the front boundary line away from the vehicle body;

[0067] The line segment |AB| represents the camera installation height;

[0068] The line segment |BC| is the horizontal distance between the camera installation location and the front boundary line of the field of view specified by the regulations;

[0069] The line segment |DC| is the distance the camera extends out of the vehicle body;

[0070] Figure 8The figure shows the positional relationship of the image acquisition device (sensor) relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition device is located. In the figure, X and Y are the horizontal and vertical lengths of the image sensor, respectively. Y0 is the vertical coordinate of the edge position in the direction of sensor offset, or the longitudinal distance between the edge position in the direction of sensor offset and the intersection of the optical axis and the sensor plane. Similarly, X0 is the horizontal coordinate of the edge position in the direction of sensor offset, or the horizontal distance between the edge position in the direction of sensor offset and the intersection of the optical axis and the sensor plane. O is the center of the sensor, and O' is the intersection of the optical axis and the sensor plane. Based on the positional relationship in the figure, it can be inferred that:

[0071]

[0072]

[0073] In the formula, X and Y are known quantities. You only need to determine X0 and Y0 to calculate the offset and offset angle.

[0074] X0 and Y0 are quantities related to the field of view requirements and the lens and sensor parameters.

[0075] like Figure 9-10 The following table shows the relationship between the angle β in the vertical plane and the angle α in the horizontal plane and the optical axis of the imaging device and its field of view. In the vertical direction, in order to obtain more downward vision and ensure the vertical field of view required by the law, the angle β should cover the range from the optical axis of the camera device to the front boundary line of the vehicle's side field of view, the DE line, from Figure 9 From a side view, point C must be covered. Therefore, the β angle can be determined by simply determining the front boundary of the field of view (FOV) required by regulations (or expected coverage). The field of view above the optical axis is sufficient because it encompasses the sky and can be ignored. However, after sensor offset, the FOV boundary must be imaged on the sensor.

[0076] Therefore, we can get Y0≥f1(β);

[0077] f1 is the relationship function between the image height of the imaging lens at the current sensor position and the longitudinal field of view angle.

[0078] Figure 9 The included angle β1 between the optical axis of the imaging lens and the horizontal direction may be 0. When the angle is 0, the imaging lens shoots horizontally.

[0079] Similarly, from Figure 10 From the side view, the lateral field of view must cover point E. Therefore, the value of angle α can be determined by simply determining the farthest point E in the lateral field of view required by law (or expected to be covered). The field of view to the right of the optical axis in the figure is sufficient because it covers the vehicle body and can be ignored. However, after the sensor is offset, it is necessary to ensure that the boundary point E of the field of view is imaged on the sensor.

[0080] Furthermore, X0≥f2(α); f2 is the relationship function between the lateral image width and the lateral field angle of the imaging lens at the current sensor position.

[0081] Figure 10 The included angle α1 between the optical axis of the central imaging lens and the vehicle body (the center line of the vehicle body) may be 0. When the angle is 0, the imaging lens faces directly behind the vehicle body.

[0082] The f1(β) and f2(α) functions are determined at the time the imaging lens leaves the factory. Alternatively, actual measurements can be performed by illuminating the imaging lens with a thin beam of monochromatic light (weak laser light) from different field-of-view angles and measuring the corresponding image height position on the sensor. Given the varying refractive indices of different colors, testing can be performed in the middle wavelength range of visible light. Some lens manufacturers also provide data on the correlation between half-image height and field-of-view angle through software simulation, eliminating the need for complex function calculations or testing.

[0083] More preferably, Y0≥f(β+β2), X0≥(α+α2), β2 is the design redundancy of the angle between the optical axis of the imaging lens and the lower edge of the field of view in the vertical plane, and α2 is the redundant design amount of the angle between the optical axis of the imaging lens and the edge of the field of view on the side away from the vehicle body in the horizontal plane.

[0084] Figure 11-13 This is a comparison of images obtained by shooting the same test scene using the same lens and image acquisition unit using three different shooting methods.

[0085] Figure 11 The image is captured by an existing on-board camera device facing directly behind the vehicle. The optical axis of the imaging lens in this camera device is parallel to the normal of the image sensor and passes through the center of the image acquisition device. As can be seen from the shooting effect image, the field of view below and to the right edge is significantly insufficient, failing to meet the field of view requirements of GB1508-2022 and ECE R46 regulations, seriously affecting the driver's observation of side scenes and potential hazards.

[0086] Figure 12 This image was captured by a conventional on-board camera device, tilted toward the ground and toward the outside of the vehicle's rear side. The optical axis of the imaging lens in this camera is parallel to the normal of the image sensor and passes through the center of the image acquisition device. This is the camera structure and shooting method currently used by most rearview cameras. As can be seen in the image, the downward deflection of the optical axis, toward the outside of the vehicle, provides a wider field of view. However, the captured target exhibits significant perspective distortion, the position of the cone is distorted relative to reality, and clarity is significantly reduced in mid- and long-range shots.

[0087] Figure 13In order to use the image taken by the vehicle-mounted camera device of the present application toward the rear of the vehicle, the optical axis of the imaging lens in the camera device is parallel to the normal of the image sensor, and the optical axis is offset to the upper left relative to the center of the image acquisition device (close to the side of the vehicle body, from the upper left of the driver's perspective). It can be seen from the figure that when the camera arrangement in the present application is used for shooting, the image has a larger field of view, there is no perspective deformation of the target plate, the front end cone barrel is not twisted, there is no obvious distortion, and the clarity of the scenery in the medium and long distance field of view is higher.

[0088] In summary, it can be seen that the oblique translation vehicle-mounted camera device of the present application can reduce perspective distortion, obtain high-definition images, expand the effective field of view area, save sensor resources, reduce the amount of image correction software code writing, and reduce the delay caused by video processing.

[0089] Although the principles of the present invention have been described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are merely illustrative of the present invention and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute a limitation on the scope of the present invention. Without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformations and simple substitutions based on the technical solution of the present invention fall within the scope of protection of the present invention.

Claims

1. A vehicle-mounted camera device with oblique translation, characterized in that: The vehicle-mounted camera device includes a camera body, an image acquisition unit, and an imaging lens. The imaging lens and the image acquisition unit are sequentially installed in the camera body. The center of the image acquisition unit has an oblique offset Z0 and an oblique offset angle θ relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located.

2. The vehicle-mounted camera device according to claim 1, wherein: The oblique offset Z0 and the oblique offset angle θ are calculated based on the following method: Wherein, Y0 ≥ f1(β), Y is the length of the vertical side of the image acquisition unit, Y0 is the longitudinal distance between the far side of the image acquisition unit and the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located; f1 is the relationship function between the image height of the imaging lens at the current sensor position and the longitudinal field of view angle, and β is the angle between the optical axis of the imaging lens and the lower edge of the field of view in the vertical plane; X0≥f2(α), where X is the horizontal length of the image sensor, X0 is the horizontal distance between the distal longitudinal side of the image acquisition unit and the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located, f2 is the relationship function between the image width of the imaging lens at the current sensor position and the horizontal field of view angle, and α is the angle between the optical axis of the imaging lens and the edge of the field of view on the side away from the vehicle body in the horizontal plane.

3. The vehicle-mounted camera device according to claim 2, wherein: in, Y0 ≥ f1 (β + β2), β2 is the design redundancy of the angle between the optical axis of the imaging lens and the lower edge of the field of view in the vertical plane; X0≥f2(α+α2), where α2 is the design redundancy of the angle between the optical axis of the imaging lens and the edge of the field of view away from the vehicle body in the horizontal plane.

4. The vehicle-mounted camera device according to claim 2, wherein: The angle β is determined based on the expected or legally required longitudinal viewing edge position below the vehicle side, and the angle α is determined based on the expected or legally required transverse viewing edge position of the vehicle side away from the vehicle body.

5. The vehicle-mounted camera device according to claim 3, characterized in that: The values ​​of α2 and β2 are greater than or equal to 3°.

6. The vehicle-mounted camera device according to claim 1, characterized in that: The camera body has an imaging lens interface and an image acquisition unit installation area. The size of the image acquisition unit installation area is greater than or equal to the imaging size of the target field of view area on the plane where the image acquisition unit installation area is located after imaging by the imaging lens.

7. The vehicle-mounted camera device according to claim 2, characterized in that: The camera body has an imaging lens mount and an image acquisition unit installation area, and the image acquisition unit installation area is offset in the same direction based on the oblique offset amount Z0 and the oblique offset angle θ.

8. The vehicle-mounted camera device according to claim 1, wherein: The vehicle-mounted camera device includes a left-side camera device and a right-side camera device. The center of the image acquisition unit of the left-side camera device is offset toward the upper right or lower right direction relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located; the center of the image acquisition unit of the right-side camera device is offset toward the upper left or lower left direction relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located.

9. The vehicle-mounted camera device according to claim 1, wherein: The vehicle-mounted camera device includes a left-side camera device and a right-side camera device. The center of the image acquisition unit of the left-side camera device is offset toward the upper left or lower left direction relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located; the center of the image acquisition unit of the right-side camera device is offset toward the upper right or lower right direction relative to the intersection of the optical axis of the imaging lens and the plane where the image acquisition unit is located.

10. The vehicle-mounted camera device according to claim 3, wherein: The imaging circle of the imaging lens is larger than the installation area of ​​the image acquisition unit and covers the image acquisition unit after displacement. The imaging lens is an optical lens with barrel distortion.

Images