Oblique translation vehicle-mounted camera device

Abstract

The utility model 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 utility model relates to the field of photography, in particular to a high-definition vehicle-mounted photography device without perspective deformation. Background Art

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

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

[0004] However, as the research and development of rearview mirror cameras deepened, researchers found that during the use of rearview mirror cameras, clarity is only a basic indicator for considering its performance. There are many factors that affect the use effect of rearview mirror cameras. Perspective distortion, visual differences from traditional convex mirrors, and the magnification ratio of images formed by distant and near scenes will seriously affect the user's safe driving and usage experience.

[0005] Existing on-vehicle rear-view camera devices all use a coaxial design between the lens optical axis and the sensor center. This design causes a considerable area on one side of the sensor to be used to capture the side image of the vehicle body, and a considerable area captures the sky image that does not need to be displayed on the screen, which becomes an ineffective use area. This is contrary to the image cropping and image display area of ​​the electronic rearview mirror, affecting the acquisition of high-quality images with indicators such as magnification and MTF.

[0006] In addition, among the existing solutions, some technicians have proposed to use an oblique shooting method toward the outside of the vehicle body and the ground to achieve rear-view imaging. However, on the one hand, oblique shooting is more likely to cause perspective distortion problems, and on the other hand, 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. Utility Model Content

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

[0008] Principle

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

[0010] Taking the left rear-view camera device as an example, according to the requirements of the regulations, the optical axis of the rear-view camera device needs to be roughly parallel to the longitudinal axis of the vehicle body and the ground, and facing directly behind the side of the vehicle body. In this case, if the conventional camera device is arranged: the lens and the sensor are coaxial, the left part of the image taken by the rear-view camera device is the scenery behind the vehicle on the left side of the optical axis, and the right part is mainly the image of the vehicle body. The right part is blocked by the vehicle body and becomes an invalid part in the image.

[0011] After the focal plane of the lens is projected onto the plane of the sensor imaging unit, the left, right, up and down directions are opposite. Taking the left rearview mirror as an example, the right side of the sensor is the scene behind the vehicle on the left side of the optical axis, and the left side of the sensor is the body image. Therefore, under this shooting method, most of the image on the left side of the sensor is wasted, and only a small amount of the body image is captured on the display for display and to assist the driver in determining the relationship between the body and the scene. It should be noted that the left and right sides in this application are based on the left and right sides when the vehicle is moving forward.

[0012] Based on the deep understanding of this problem during the research and development process, the utility model provides a camera device with an oblique translation arrangement.

[0013] The oblique translation design of the utility model is that the vertical translation can replace the pitch operation of the existing camera, avoid the perspective deformation problem caused by the pitch operation and realize the downward or upward movement of the target field of view; the horizontal translation can realize the outward extension of the horizontal field of view, reduce the proportion of the vehicle body in the sensor, and reduce the size requirement of the sensor under the same field of view.

[0014] The camera device with an oblique translation setting of the utility model can not only maximize the use of the effective area of ​​the sensor and avoid the perspective deformation problem caused by the inclined setting, but also provide an observation area that meets the requirements of GB1508-2022 and ECER46 regulations.

[0015] The oblique translation camera device of the utility model 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] In addition, since rearview mirror cameras are not currently a mainstream application in the field of optical imaging, there are very few camera products designed specifically for rearview mirror cameras. If cameras are designed for different rearview mirror cameras separately, the cost is too high. Therefore, rearview cameras generally use conventional standardized cameras. When such rearview cameras, whose optical axis of the camera lens is coaxial with the center of the sensor, are used in different car models or have different field of view requirements for rearview cameras, they need to be installed tilted toward the outside of the vehicle body and the ground, and the camera housing mold must be developed separately each time, and the image correction software code must be rewritten.

[0017] Under the technical concept of oblique translation, if different offset designs are required for rear-view cameras of different models, it is also costly to design different cameras. In view of this problem, in the preferred implementation, the utility model designs a universal camera that can be applied to different types of rear-view camera devices. The lens of the utility model develops a large imaging circle lens according to the field of view and image quality requirements, and adopts the minimum pixel sensor that meets the pixel requirements. Compared with conventional cameras, the imaging circle of the imaging lens of the utility model is larger, and the offset installation area is designed, so that the range of sensor installation is significantly larger than that of ordinary cameras. With this installation position design, when different oblique translation adjustments are required for different models, it is only necessary to determine the projection position of the center of the imaging lens at the sensor installation position, and based on the projection position and the offset requirements of the model, the sensor can be installed at different positions of the sensor installation position (or installation area), which can greatly simplify the structural design of the device. In addition, after the oblique translation setting is adopted, the main target area is closer to the center of the image field, and better image quality is obtained.

[0018] Specifically, the utility model 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 field of view edge in the vertical plane;

[0023] X0≥f2(α), X is the length of the horizontal side of the image sensor, X0 is the lateral distance between the far 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 and the lateral field of view angle of the imaging lens at the current sensor position, and α is 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.

[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 camera device and a right camera device, and the center of the image acquisition unit of the left 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 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 camera device and a right camera device, and the center of the image acquisition unit of the left 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; the center of the image acquisition unit of the right 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.

[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 the present invention refers to the translation in two mutually perpendicular directions within the sensor installation plane, which can be adjusted according to the specific installation method of the camera. The "far side horizontal edge" in this application refers to the horizontal edge of the two horizontal edges 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 two vertical edges 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 direction 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 and lower part of the left rear side of the vehicle; the center of the image acquisition unit of the right camera device is offset toward the upper left direction 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 and lower part of the right rear side 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 device of the utility model can be divided into two, left and right, or four, left front, right front, left rear, and right rear, or used in conjunction with more sets of camera devices. The vehicle-mounted camera devices on both sides are respectively arranged on both sides of the vehicle, but the offsets of the left and right camera devices can be different from each other, which needs to be determined according to the needs of the target field of view on both sides. The positional relationship of the camera body, image acquisition unit, and imaging lens mentioned in the utility model can be solidified by being fixed in the vehicle-mounted camera device, or can be installed in the vehicle-mounted camera device by 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 utility model can not only maximize the use of the effective area of ​​the image acquisition unit and avoid the perspective deformation 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 utility model 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 of vehicles can be realized through the camera structure of the present application, and different models can be suitable 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 the sensor in an existing ordinary camera. Figure 1 A is a schematic view (or main view) from the lens direction toward the sensor direction; B is a schematic diagram of a top view cross section;

[0040] Figure 2 Schematic diagram of the positional relationship between the lens and the sensor in the vehicle-mounted camera device of the utility model. Figure 2 A is a schematic diagram of the position relationship between the sensor and the lens viewed from the lens direction toward the sensor direction (or called the main view); B is a schematic diagram of a top view, and C is a schematic diagram of 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 various components as viewed from the camera direction (front perspective), and part B is a schematic diagram from a top view;

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

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

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

[0045] Fig.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] Fig.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 is further described in detail below in conjunction with embodiments and drawings, but the implementation manner of the present invention is not limited thereto.

[0048] Figure 1 , Figure 3 The positional relationship between the lens and the image acquisition unit (a sensor is used here) in the conventional camera device is shown in FIG. As can be seen from the figure, the intersection point where the optical axis of the lens 30 in the conventional camera device intersects with the center of the image acquisition unit 20 falls on the center O of the sensor.

[0049] Figure 2 , Figure 4 Taking the rear-view camera installed on the left side of the vehicle as an example, a schematic diagram is provided to represent the positional relationship between the lens, sensor and camera housing in the oblique translation vehicle-mounted camera device in an embodiment of the utility model. The sensor is offset to the upper right (with the direction in front of the vehicle as the positive direction). For the rear-view 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 part A of the camera body 10, the image acquisition unit 20 is represented by a wireframe, but in fact it is located behind the imaging lens 30) and the imaging lens 30. The imaging lens 30 and the image acquisition unit 20 are sequentially installed in the camera body 10. A lens barrel is provided at the front end of the camera body 10, and the imaging lens 30 is installed in the lens barrel. A camera main board PCBA is provided in the middle or rear part of the camera body 10, and an image acquisition unit installation position is provided on the camera main board, and the image acquisition unit 20 is installed on the image acquisition unit installation position.

[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, and the intersection does not fall at the center of the image acquisition unit 20, but falls at the 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 (such as Figure 8 The angle θ in the figure).

[0052] This offset is calculated and determined in advance when the camera is designed, and is implemented when the imaging lens and the image acquisition unit are installed. This offset is achieved by translating the imaging lens or the image acquisition unit. In this embodiment, the translation of the image acquisition unit is described as an example, but those skilled in the art should understand 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 in an oblique direction relative to the intersection of the main axis of the imaging lens and the plane where the image acquisition unit is located. The "oblique direction" 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 the 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 field of view edge in the vertical plane;

[0058] X0≥f2(α), X is the length of the horizontal side of the image sensor, X0 is the lateral distance between the far 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 and the lateral field of view angle of the imaging lens at the current sensor position, and α is 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.

[0059] Preferably, Y0≥f1(β+β2), β2 is the redundant design amount 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), 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.

[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 it is 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 position 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 translation of the optical axis of the imaging lens and the intersection of the plane where the image acquisition device is located. In the figure, X and Y are the lengths of the horizontal and vertical sides of the image sensor, respectively, Y0 is the ordinate of the edge position in the sensor offset direction or the longitudinal distance between the edge position in the sensor offset direction and the intersection of the optical axis and the sensor plane, similarly, X0 is the abscissa of the edge position in the sensor offset direction or the lateral distance between the edge position in the sensor offset direction 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 deduced that:

[0071]

[0072]

[0073] In the formula, X and Y are known quantities, and only X0 and Y0 need to be determined 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 regulations, 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 vision, the DE line, from Fig. 9 From the side view, point C needs to be covered. Therefore, the value of angle β can be determined by simply determining the position of the front boundary line of the field of view required by the regulations (or expected to be covered). As for the field of view above the optical axis, it is not necessary to consider it because it is the sky area and the field of view is sufficient. After the sensor is offset, it is necessary to ensure that the field of view boundary can be imaged on the sensor.

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

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

[0078] Fig. 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 Fig.10 From the side view, the lateral field of view needs to cover point E. Therefore, the value of the angle α can be determined by simply determining the farthest point E of the lateral field of view required by the regulations (or expected to be covered). As for the field of view on the right side of the optical axis in the figure, since it is the vehicle body, the field of view is sufficient and can be ignored. After the sensor is offset, it is necessary to ensure that the field of view boundary point E can be imaged on the sensor.

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

[0081] Fig.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 two functions f1(β) and f2(α) can be determined when the imaging lens leaves the factory. They can also be measured by irradiating the imaging lens with a thin beam of monochromatic light (weak laser) from different field angles and measuring the corresponding image height position on the sensor. Considering that the refractive index of different colors of light is different, the middle band of visible light can be used for testing. Some lens design manufacturers will also provide data corresponding to the half-image height and field angle through software simulation for query, eliminating the need for complex function calculations or tests.

[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 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 in three different ways using the same lens and image acquisition unit.

[0085] Fig.11 The image is taken by an existing on-vehicle camera device facing 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 passes through the center of the image acquisition device. It can be seen from the shooting effect diagram that the field of view below and the field of view on the right edge are obviously insufficient, which does not meet the field of view requirements of GB1508-2022 and ECE R46 regulations, and seriously affects the driver's observation of side scenes and potential dangers.

[0086] Fig.12 This is an image taken by an existing on-vehicle camera device that is tilted toward the outside of the vehicle body and the ground at the rear side 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 passes through the center of the image acquisition device. This is the camera structure and shooting method used by most rear-view cameras at present. As can be seen from the figure, due to the deflection of its optical axis downward and outward from the vehicle body, it has a larger field of view, but the photographed target plate has obvious perspective deformation, the position of the cone barrel is twisted relative to the actual situation, and the clarity in the middle and far distance is obviously insufficient.

[0087] Fig.13In order to use the vehicle-mounted camera device of the present application to shoot images directly behind 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 shooting with the arrangement of the cameras in the present application, the image has a larger field of view, the target plate does not show perspective deformation, the front end cone barrel does not twist, there is no obvious distortion, and the clarity of the scenery in the medium and far 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, 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 are 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 explanations of the exemplary implementations of the present invention, and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute limitations on the scope of the present invention, and any obvious changes such as equivalent transformations, simple replacements, etc. based on the technical solution of the present invention, without departing from the spirit and scope of the present invention, fall within the protection scope 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, wherein 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.

2. The vehicle-mounted camera device according to claim 1, characterized in that: 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 field of view edge in the vertical plane; X0≥f2(α), X is the length of the horizontal side of the image sensor, X0 is the lateral distance between the far 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 and the lateral field of view angle of the imaging lens at the current sensor position, and α is 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.

3. The vehicle-mounted camera device according to claim 2, characterized in that: in, Y0≥f1(β+β2), β2 is the design redundancy of the angle between the optical axis of the imaging lens and the edge of the lower 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, characterized in that: The angle β is determined based on an expected or legally required longitudinal viewing edge position below the vehicle side, and the angle α is determined based on an 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, 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.

7. The vehicle-mounted camera device according to claim 2, characterized in that: 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.

8. The vehicle-mounted camera device according to claim 1, characterized in that: The vehicle-mounted camera device includes a left camera device and a right camera device, and the center of the image acquisition unit of the left 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 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.

9. The vehicle-mounted camera device according to claim 1, characterized in that: The vehicle-mounted camera device includes a left camera device and a right camera device, and the center of the image acquisition unit of the left 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; the center of the image acquisition unit of the right 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.

10. The vehicle-mounted camera device according to claim 3, characterized in that: 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