Vehicle camera with integrated ultrasonic transmitter / receiver array

Abstract

This disclosure relates to a vehicle camera, such as a passenger car or truck, which includes an integrated ultrasonic transmitter and / or receiver array. [Solution] The camera module for a vehicle includes a housing that includes a front surface defining multiple receiver ports and one emitter port; a lens mounted on the front surface of the housing; a camera image sensor positioned behind the lens within the housing to receive light through the lens; multiple ultrasonic sensors; and an ultrasonic transmitter / driver. Each ultrasonic sensor is located within the housing and lies over one of the corresponding receiver ports. The ultrasonic transmitter is located within the housing and lies over the emitter port, transmitting ultrasonic energy through it.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This non - provisional U.S. patent application claims the benefit of U.S. Provisional Patent Application No. 63 / 711424, filed on October 24, 2024, entitled "Vehicle Camera with Integrated Ultrasonic Transmitter / Receiver Array", the entire disclosure of which is hereby incorporated by reference herein.

[0002] (Technical Field) The present disclosure relates to vehicle cameras, such as passenger cars or trucks, that include an integrated ultrasonic transmitter and / or receiver array.

Background Art

[0003] In this section, background information related to the present disclosure is presented, which is not necessarily prior art.

[0004] Cameras can be used for various applications in vehicles, such as parking assistance. Also, ultrasonic sensors can be used to detect objects close to the vehicle.

Summary of the Invention

Means for Solving the Problems

[0005] This section gives a general overview of the present disclosure and does not disclose it comprehensively in its full scope or all its features.

[0006] The present disclosure provides a camera module for a vehicle. The camera module includes a housing defining a plurality of receiver ports and one emitter port on a front surface, a lens attached to the front surface of the housing, a camera image sensor disposed behind the lens within the housing for receiving light through the lens, a plurality of ultrasonic sensors, and an ultrasonic transmitter disposed within the housing, lying across and sending ultrasonic energy through the emitter port. Each ultrasonic sensor is disposed within the housing and lies across one of the corresponding receiver ports.

[0007] The disclosure also provides a vehicle comprising at least one camera module configured to remotely sense objects outside the vehicle. The at least one camera module comprises a housing including a front that defines a plurality of receiver ports and one emitter port; a lens mounted on the front of the housing; a camera image sensor positioned behind the lens within the housing to receive light through the lens; a plurality of ultrasonic sensors; and an ultrasonic transmitter located within the housing and lying over the emitter port to transmit ultrasonic energy through it. Each ultrasonic sensor is located within the housing and lies over one of the corresponding receiver ports.

[0008] Further scope of application will become apparent from the descriptions presented herein. The descriptions and specific examples in this summary are for illustrative purposes only and do not limit the scope of this disclosure.

[0009] The drawings shown herein are for illustrative purposes only of selected embodiments and do not illustrate all possible implementations, nor do they limit the scope of this disclosure. [Brief explanation of the drawing]

[0010] [Figure 1] A side view of the vehicle is shown. [Figure 2] A front perspective view of a first camera module according to one aspect of this disclosure is shown. [Figure 3] Figure 2 shows a rear perspective view of the first camera module, including its internal components. [Figure 4] A front perspective view of a second camera module according to one aspect of this disclosure is shown. [Figure 5] A front perspective view of a third camera module according to one aspect of this disclosure is shown. [Figure 6] A schematic diagram illustrating the spacing and distance between the components of the camera module of this disclosure and the object being viewed is shown. [Figure 7]A schematic diagram illustrating the spacing and distances between components of a camera module according to certain aspects of this disclosure is shown. [Figure 8] A schematic diagram illustrating the spacing and distances between components of a camera module according to certain aspects of this disclosure is shown. [Modes for carrying out the invention]

[0011] Throughout the drawings, the corresponding reference number refers to the corresponding part.

[0012] Herein, exemplary embodiments will be described in more detail with reference to the accompanying drawings. These exemplary embodiments are provided to complete the disclosure and to fully convey its scope to those skilled in the art. Numerous specific details, including examples of specific components, devices, and methods, are described in order to provide a complete understanding of the embodiments of this disclosure. It will be apparent to those skilled in the art that specific details are not required, that exemplary embodiments can be embodied in many different forms, and that they should not be construed as limiting the scope of this disclosure. Some exemplary embodiments do not describe in detail well-known processes, well-known device structures, and well-known techniques.

[0013] The terms used herein are intended solely to describe specific exemplary embodiments and are not intended to be limiting. Where used herein, the singular forms “a,” “an,” and “the” may also include the plural form unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having” are inclusive and thus indicate the presence of the described features, completes, steps, operations, elements, and / or components, but do not exclude the presence or addition of other features, completes, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein should not be construed as necessarily requiring execution in a specific order described or illustrated unless specifically identified as such. It should also be understood that additional or alternative steps may be employed.

[0014] When one element or layer is referred to as “on top of,” “engaged with,” “connected to,” or “joined with” another element or layer, that element or layer may be directly on top of, engaged with, connected to, or joined to the other element or layer, or there may be an intervening element or layer. Conversely, when one element is referred to as “directly on top of,” “directly engaged with,” “directly connected to,” or “directly joined with” another element or layer, there may be no intervening element or layer. Other terms used to describe relationships between elements should be interpreted similarly (e.g., “between” and “directly between,” “adjacent” and “directly adjacent,” etc.). As used herein, the terms “and / or” include any combination relating to one or more of the related enumeration items.

[0015] In this specification, terms such as "first," "second," and "third" may be used to describe various elements, components, regions, layers, and / or sections, but these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms can only be used to distinguish one element, component, region, layer, or section from another region, layer, or section. Terms such as "first," "second," and other numerical terms, when used herein, do not imply order or sequence unless explicitly indicated by the context. Accordingly, the first element, component, region, layer, or section described below may be referred to as the second element, component, region, layer, or section without departing from the teaching of the exemplary embodiments.

[0016] In this specification, spatially relative terms such as “inside,” “outside,” “below,” “downward,” “on the lower side,” “above,” and “upper side” may be used to facilitate the description of the relationship between one element or feature and another, as shown in the figures. Spatially relative terms may be intended to include different orientations of the device during use or operation, in addition to the orientation depicted in the figures. For example, if the device in the figure is turned upside down, an element described as being “below” or “downward” another element or feature will face “above” the other element or feature. Thus, the term “below” can include both upward and downward orientations. The device may be oriented differently (rotated 90 degrees or in another orientation), and the spatially relative descriptors used herein will be interpreted accordingly.

[0017] The present disclosure provides a vehicle camera equipped with an integrated ultrasonic transmitter / receiver array. This vehicle camera can include an ultrasonic phased array consisting of at least one ultrasonic transmitter, at least three ultrasonic (MEMS) receivers, and at least one microcontroller or ASIC that enables ultrasonic-based near-field sensing for functions such as parking assistance. This is packaged in a camera housing. Data transfer with the ultrasonic array can be managed either via separate standards and connectors (e.g., CAN, LIN) or overlaid on the video signal using, for example, time synchronization metadata injection techniques. The present invention provides an integrated solution, for example, for parking assistance features and functions, where the camera provides optical guidance to the driver while distance information to potential obstacles is obtained by the ultrasonic phased array. This information can be communicated to the driver through visual, auditory, and other feedback techniques, including a visual overlay on the camera image.

[0018] FIG. 1 shows a side view of a vehicle 10 including a rear fascia 12, a trunk lid 14, and a front fascia 16. The rear fascia 12 can include a rear bumper or a rear bumper cover, and the front fascia 16 can include a front bumper cover. To monitor the surrounding area of the vehicle 10, a first camera module 20 is attached to each of the rear fascia 12, the trunk lid 14, and the front fascia 16. The trunk lid 14 is an example of a rear closure, and the first camera module 20 can be attached to another rear closure of the vehicle 10, such as a liftgate or a tailgate of an automobile or a pickup truck. Additionally or alternatively, the first camera module 20 can be attached to another exterior structure such as a body panel, a window frame, a side door, or a pillar.

[0019] Figure 2 shows a front perspective view of a first camera module 20 according to one aspect of the present disclosure. The first camera module 20 includes a first housing 30 defining a first front 32. A lens 40 is mounted on the front and positioned to direct and / or focus light. The lens 40 can be used to optically sense an object 8 spaced away from the vehicle 10. The first camera module 20 can provide a field of view to areas not directly visible to the vehicle driver, such as the area directly behind and / or directly in front of the vehicle 10. The first camera module 20 can be used to assist the driver when parking the vehicle 10 or aligning the trailer hitch with the trailer. A generally tubular lens shield 42 extends outward from the first front 32 and surrounds the lens 40. The lens shield 42 can prevent sunlight or other indirect light sources from entering the lens 40, thereby improving the operation of the imaging system.

[0020] As shown in the figure, the first front surface 32 of the first housing 30 defines a plurality of receiver ports 34 for an ultrasonic sensor. The first camera module 20 shown in Figure 2 includes four receiver ports 34 in a square pattern surrounding the lens 40, and each receiver port 34 has a circular shape. However, the first camera module 20 may include a different number of receiver ports 34, and the receiver ports 34 may have different shapes. Additionally or alternatively, the receiver ports 34 may be arranged in different patterns, such as in one or more rows. The first front surface 32 of the first housing 30 may also define an emitter port 36 for an ultrasonic driver and / or transmitter. The emitter port 36 has a generally rectangular shape and is located below the lens 40. However, the emitter port 36 may have different shapes and / or different positions on the first front surface 32 of the first housing 30.

[0021] FIG. 3 shows a rear perspective view of the first camera module 20. FIG. 3 can include only the front panel 38 that defines the first front surface 32 and the rear surface 39 opposite thereto. The first housing 30 can include other components such as side walls and / or a rear panel that surround the internal components, but they are omitted in FIG. 3 for the purpose of showing the internal components.

[0022] As shown in FIG. 3, the first camera module 20 includes a plurality of ultrasonic sensors 44. Each ultrasonic sensor 44 is disposed on the rear surface 39 and lies across one of the corresponding receiver ports 34. Each ultrasonic sensor 44 can include a microelectromechanical systems (MEMS) device. In some embodiments, the first camera module 20 can include at least three ultrasonic sensors 44. In some embodiments, as shown in FIG. 3, the first camera module 20 can include four ultrasonic sensors 44. However, the first camera module 20 can include a different number of ultrasonic sensors 44.

[0023] The first camera module 20 also includes an ultrasonic transmitter 46, which is also disposed on the rear surface 39 and lies across the emitter port 36 to send ultrasonic energy therethrough. Alternatively, the ultrasonic transmitter 46 may be referred to as a driver / transmitter or a transmitter / driver. The ultrasonic transmitter 46 can convert electrical energy into ultrasonic energy and project the ultrasonic energy in a specific direction. The ultrasonic transmitter 46 can be configured to generate ultrasonic energy having a specific frequency range to detect an object 8 outside the vehicle 10. The first camera module 20 also includes an image sensor 50 of the camera disposed behind the lens 40 on the rear surface 39 of the lens 40 for receiving light through the lens 40. The image sensor 50 of the camera can include an imaging sensor such as a complementary metal oxide semiconductor (CMOS) image sensor.

[0024] In some embodiments, the first housing 30 of the first camera module 20 may include other devices such as a printed circuit board (PCB), one or more processors or microcontroller units (MCUs), application-specific integrated circuits (ASICs), communication interfaces, and / or other circuits for interface connection to the ultrasonic sensor 44, ultrasonic transmitter 46, and / or camera image sensor 50, and / or for communication with external devices or systems.

[0025] Figure 4 shows a front perspective view of the second camera module 120. The second camera module 120 may be the same as or identical to the first camera module 20, except for the differences described herein. The second camera module 120 may be used in place of the first camera module 20 at one or more locations on the vehicle.

[0026] The second camera module 120 includes a second housing 130 that defines a second front 132, which has a different configuration from the first front 32 of the first camera module 20. The second camera module 120 also includes a lens 40 located at or near the center of the second front 132. The second front 132 of the second camera module 120 defines seven receiver ports 34 arranged in an arc extending around the lens 40. The second front 132 of the second camera module 120 also defines an emitter port 36 below the lens 40, which is also arranged in the same arc as the receiver ports 34. Each of the receiver ports 34 and emitter ports 36 is arranged at 45-degree angular intervals along a circle that surrounds the lens 40 and is coaxial with the lens 40.

[0027] Figure 5 shows a front perspective view of the third camera module 220. The third camera module 220 may be the same as or identical to the first camera module 20, except for the differences described herein. The third camera module 220 may be used in place of the first camera module 20 at one or more locations on the vehicle.

[0028] The third camera module 220 includes a third housing 230 defining a third front 232, the third front 232 having a different configuration from the first front 32 of the first camera module 20. The third camera module 220 also includes a lens 40 located in or near the center of the third front 232. The third front 232 of the third camera module 220 defines ten receiver ports 34 arranged in the form of two L-shaped groups. Each of the two L-shaped groups includes five receiver ports 34 arranged adjacently along the corresponding lower right and lower left corners of the third front 232. Each of the two L-shaped groups includes three receiver ports 34 stacked vertically and three receiver ports 34 arranged in a horizontal row. One of the receiver ports 34 in each L-shaped group is located in both the vertical stacking and the horizontal row.

[0029] The third front surface 232 of the third camera module 220 also defines two emitter ports 36 below the lens 40, which are stacked vertically along the vertical centerline of the second camera module 120. The lower emitter port 36 is located between each horizontal row of the two L-shaped groups of receiver ports 34 and immediately below them. The upper emitter port 36 is located approximately midway between the lower emitter port 36 and the lens 40. The upper emitter port 36 is also located between each horizontal row of the two L-shaped groups of receiver ports 34 and immediately above them.

[0030] Figure 6 shows a schematic diagram illustrating the spacing and distance between the camera module components and the object 8. The principles described herein are applicable to any of the camera module configurations, such as the first camera module 20, the second camera module 120, and / or the third camera module 220.

[0031] Figure 6 shows an arrangement in which three receivers RX1, RX2, and RX3 are each located at their corresponding receiver ports 34, and the transmitter TX is located at the emitter port 36. Each of the three receivers RX1, RX2, and RX3 is located along a semicircular path 150, with the transmitter TX located at the center of the semicircular path 150. The first receiver RX1 of the three receivers RX1, RX2, and RX3 is located directly above the transmitter TX, at the 12 o'clock position. Lens 40 is located midway between the first receiver RX1 and the transmitter TX. The second receiver RX2 of the three receivers RX1, RX2, and RX3 is located 45 degrees counterclockwise from the first receiver RX1, and the third receiver RX3 of the three receivers RX1, RX2, and RX3 is located 45 degrees clockwise from the first receiver RX1. Of the three receivers RX1, RX2, and RX3, adjacent receivers are spaced apart by a baseline length L. To simplify the diagram, only one baseline length L between the first receiver RX1 and the third receiver RX3 is labeled in Figure 6.

[0032] The transmitter TX can be defined as having coordinates (0,0). Therefore, the coordinates of the three receivers RX1, RX2, and RX3 are (0,R), (-R√2,R√2), and (R√2,R√2), respectively, where R is the radius of the semicircular path of 150.

[0033] The first path between transmitter TX → object 8 → first receiver RX1 is the second (ToF) measurement: ΔT1 = v(d t Let +d1) be given, where v is the speed of sound and d t ΔT2 = v(d) is the distance between transmitter TX and object 8, and d1 is the distance between object 8 and the first receiver RX1. The second path from transmitter TX → object 8 → second receiver RX2 is given by the longest time-of-flight (ToF) measurement: ΔT2 = v(d) t The third path between transmitter TX → object 8 → third receiver RX3 is given by the shortest time of flight (ToF) measurement: ΔT3 = v(d t Give +d3), where d3 is the distance between object 8 and the third receiver RX3.

[0034] The distance d can generally be calculated based on the vertical distance x and the horizontal distance y, as shown in equation (1): JPEG2026097733000002.jpg11157

[0035] Therefore, each of the distances d1, d2, and d3 can be expressed by one of the corresponding equations (2)-(4): JPEG2026097733000003.jpg11157 JPEG2026097733000004.jpg11157 JPEG2026097733000005.jpg11157

[0036] The total round-trip distance of the signals measured by receivers RX1, RX2, and RX3 can be expressed by equations (5)-(7): JPEG2026097733000006.jpg11157 JPEG2026097733000007.jpg11157 JPEG2026097733000008.jpg11157

[0037] The difference between the signals measured by receivers RX1, RX2, and RX3 can be expressed by equations (8)-(9): JPEG2026097733000009.jpg11157 JPEG2026097733000010.jpg11157

[0038] The above system of equations can be solved numerically based on individual ToF measurements, which represent the exact time it takes for the signal to travel from transmitter TX to each receiver RX1, RX2, and RX3 used in this system. Therefore, the semicircular configuration allows for the addition of receivers to improve the system's field of view (FoV) and distance resolution. However, increasing the number of receivers shortens the baseline length L, and consequently, the angular resolution also decreases.

[0039] The path length difference ΔL between two adjacent receivers (RX3 and RX1) can be expressed as shown in equation (10): JPEG2026097733000011.jpg6157 Here, v is the speed of sound, and L is the baseline length between two adjacent receivers (RX1 and RX3), which can be expressed by equation (11): JPEG2026097733000012.jpg11157

[0040] The baseline length L and the path length difference ΔL can be expressed as the hypotenuse and the side opposite the interior angle α, as shown in Figure 6. This arrangement gives equations (12)-(15): JPEG2026097733000013.jpg11157 JPEG2026097733000014.jpg6157 JPEG2026097733000015.jpg11157 JPEG2026097733000016.jpg11157

[0041] It is possible to simultaneously improve both the FoV (field of view) and angular resolution without changing the number of transmitters or receivers. However, this may require placing receivers RX1, RX2, and RX3 on a larger semicircular path 150, which may necessitate sensors that are unacceptably large for a given application.

[0042] An alternative solution that can provide cost savings may include using two or more transmitters TX to create more virtual array channels. For example, a configuration with one transmitter TX and three receivers RX1, RX2, and RX3 provides three channels. Figure 7 shows an alternative configuration with one transmitter TX positioned at the center of a semicircular path 150, arranging five receivers RX1, RX2, RX3, RX4, and RX5. The configuration in Figure 7 includes a first receiver RX1 positioned directly above the lens 40, a second receiver RX2 positioned spaced apart from the first receiver RX1 and below and to the side of the first receiver RX1 along the semicircular path 150 intersecting the first receiver RX1, and a third receiver RX3 positioned spaced apart from the first receiver RX1 and on the semicircular path 150 below the first receiver RX1 and opposite the second receiver. The arrangement shown in Figure 7 also includes a fourth receiver RX4 and a fifth receiver RX5, each positioned on the semicircular path 150 at a constant angular distance from the first receiver RX1, the second receiver RX2, and the third receiver RX3. Each of the receivers RX1, RX2, RX3, RX4, and RX5 can be spaced apart from each other at a 45-degree angle, so as shown in Figure 7, the fourth receiver RX4 and the fifth receiver RX5 are on opposite sides of the centerline of the semicircular path 150. However, the receivers RX1, RX2, RX3, RX4, and RX5 may be spaced apart at different angular distances.

[0043] Figure 8 shows an alternative configuration comprising two transmitters TX, TX2 and three receivers RX1, RX2, and RX3, providing six channels. The configuration shown in Figure 8 includes a first transmitter TX located at the center of the semicircular path 150, and a second transmitter TX2 located directly above the first transmitter TX on the radius of the semicircular path. However, the two transmitters TX, TX2 may have different positions and / or configurations, such as a side-by-side configuration (not shown).

[0044] The transmitter TX and receivers RX1, RX2, and RX3 configuration described herein has been shown to provide sufficient horizontal coverage with good angular resolution. In addition, the provided configuration is relatively easy to implement and has relatively low material costs. Furthermore, the provided configuration allows for the estimation of the angle of arrival (AoA) using known sensing algorithms such as delayed-sum beamforming. Moreover, by combining the AoA estimation with Time-of-Flight (ToF), a three-dimensional (3D) point cloud can be obtained, which can be used to determine the position of object 8 in 3D space.

[0045] Figure 7 shows a schematic diagram illustrating the spacing and distances between components of a camera module according to certain aspects of this disclosure, and Figure 8 shows a schematic diagram illustrating the spacing and distances between components of a camera module according to certain aspects of this disclosure.

[0046] This disclosure provides a camera module for a vehicle. The camera module includes a housing including a front panel defining a plurality of receiver ports and one emitter port; a lens mounted on the front panel of the housing; a camera image sensor positioned behind the lens within the housing to receive light through the lens; a plurality of ultrasonic sensors; and an ultrasonic transmitter positioned within the housing and lying over the emitter port to transmit ultrasonic energy through it. Each ultrasonic sensor is positioned within the housing and lies over one of the corresponding receiver ports.

[0047] In some embodiments, multiple receiver ports are arranged in an arc. For example, receiver port 34 may be arranged as shown in Figure 4 or as shown in Figure 5.

[0048] In some embodiments, the lens is located within the arc. For example, as shown in Figure 4, the lens 40 can be placed at the center of the arc. Alternatively, as shown in Figure 6, the lens 40 can be located midway between the center and the arc along the radius. However, the lens 40 can also be located elsewhere within the arc.

[0049] In some embodiments, an arc defines a section of a circle. For example, as shown in Figure 4, the arc can be circular. Alternatively, as shown in Figure 6, the arc can define a semicircle. However, the arc can have a non-circular shape, such as a parabola or a section of an ellipse.

[0050] In some embodiments, the emitter port is located on an arc. For example, as shown in Figure 4, the emitter port 36 may be located on or adjacent to an arc.

[0051] In some embodiments, the emitter port is located at the center of the arc. For example, as shown in Figure 6, the emitter port 36 can be located at the center of a semicircle.

[0052] In some embodiments, the emitter port is located on the radius of the arc. For example, as in the camera module arrangement shown in Figure 6, the emitter port 36 is located just above or just below the center of the arc, and the second emitter port can be located directly above or directly below the emitter port 36, as in the two emitter ports 36 of the third camera module 220 shown in Figure 5.

[0053] In some embodiments, the front of the housing further defines a second emitter port, in which case the camera module further includes a second ultrasonic transmitter located within the housing and lying above the second emitter port, transmitting ultrasonic energy through it. For example, the two emitter ports 36 and the corresponding ultrasonic transmitters can be arranged as shown in Figure 5.

[0054] In some embodiments, the emitter port and the second emitter port are located in a stacked configuration below the lens. For example, the two emitter ports 36 can be arranged as shown in Figure 5.

[0055] In some embodiments, the multiple receiver ports may include at least three receiver ports. For example, receiver port 34 may be arranged as shown in Figure 6. In some embodiments, the multiple receiver ports may include at least five receiver ports. In some embodiments, the multiple receiver ports may include at least seven receiver ports. For example, receiver port 34 may be arranged as shown in Figure 4.

[0056] In some embodiments, the ultrasonic sensors include a first receiver positioned directly above the lens, a second receiver positioned spaced apart from the first receiver and below and to the side of the first receiver along a semicircular path intersecting the first receiver, and a third receiver positioned spaced apart from the first receiver and on the semicircular path below the first receiver and opposite the second receiver. For example, the receiver port 34 may be arranged as shown in Figure 6.

[0057] In some embodiments, the ultrasonic transmitter is located at the center of the semicircular path. For example, as shown in Figure 6, the ultrasonic transmitter can be aligned with the emitter port 36 at the center of the semicircular path.

[0058] In some embodiments, the camera module further includes a fourth and a fifth receiver, each positioned on a semicircular path at a fixed angular interval from the first, second, and third receivers. For example, as shown in Figure 7, the fourth and fifth receivers can be aligned with their corresponding receiver ports 34.

[0059] In some embodiments, the multiple receiver ports are arranged in the form of two L-shaped groups, each L-shaped group containing five receiver ports arranged adjacently along the corresponding lower right and lower left corners of the front of the housing. For example, a camera module may have an arrangement as shown in Figure 5.

[0060] In some embodiments, the front of the housing further defines a second emitter port, and the camera module further includes a second ultrasonic transmitter located within the housing, lying above the second emitter port and transmitting ultrasonic energy through it, with each of the emitter port and the second emitter port located below the lens in a stacked configuration. For example, the camera module may have two emitter ports 36 in a stacked configuration below the lens 40, as shown in Figures 5 and / or 8.

[0061] The disclosure also provides a vehicle comprising at least one camera module configured to remotely sense objects outside the vehicle. The at least one camera module comprises a housing including a front that defines a plurality of receiver ports and one emitter port; a lens mounted on the front of the housing; a camera image sensor positioned behind the lens within the housing to receive light through the lens; a plurality of ultrasonic sensors; and an ultrasonic transmitter located within the housing and lying over the emitter port to transmit ultrasonic energy through it. Each ultrasonic sensor is located within the housing and lies over one of the corresponding receiver ports.

[0062] In some embodiments, at least one camera module is positioned in at least one of the vehicle's back fascia, front fascia, or rear enclosure.

[0063] In some embodiments, multiple receiver ports are arranged in an arc. For example, receiver port 34 may be arranged as shown in Figure 4 or as shown in Figure 6.

[0064] In some embodiments, the arc defines a section of a circle, and the emitter port is located at the center of the arc. For example, as shown in Figure 6, the emitter port 36 may be located at the center of a semicircular arc.

[0065] In some embodiments, the front of the housing further defines a second emitter port, in which case the camera module further includes a second ultrasonic transmitter located within the housing and lying above the second emitter port, transmitting ultrasonic energy through it. For example, the two emitter ports 36 and the corresponding ultrasonic transmitters can be arranged as shown in Figure 5.

[0066] The above descriptions relating to embodiments are provided for illustrative and explanatory purposes only. They are not exhaustive or limiting to the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable and can be used in selected embodiments, even if not specifically illustrated or described, where appropriate. Embodiments can also be modified in various ways. Such modifications should not be considered departures from the disclosure, and all such modifications are included within the scope of the disclosure. [Explanation of Symbols]

[0067] 8 objects 20. First camera module 30 First Housing 32 First front 34 Receiver Ports 36 Emitter Ports 40 lenses 42 Lens Shield

Claims

1. A camera module for vehicles, A housing including a front panel defining multiple receiver ports and one emitter port, The lens attached to the front surface of the housing, A camera image sensor is positioned behind the lens within the housing to receive light through the lens, A plurality of ultrasonic sensors, each of which is located within the housing and lying on one of the corresponding receiver ports, An ultrasonic transmitter, disposed within the housing and lying above the emitter port, transmits ultrasonic energy through it, A camera module equipped with the following features.

2. The camera module according to claim 1, wherein the plurality of receiver ports are arranged in an arc.

3. The camera module according to claim 2, wherein the lens is located within the arc.

4. The camera module according to claim 2, wherein the aforementioned arc defines a section of a circle.

5. The camera module according to claim 2, wherein the emitter port is located on the circular arc.

6. The camera module according to claim 2, wherein the emitter port is located at the center of the arc.

7. The camera module according to claim 2, wherein the emitter port is located on the radius of the arc.

8. The camera module according to claim 1, wherein the front surface of the housing further defines a second emitter port, and the camera module further includes a second ultrasonic transmitter disposed within the housing and lying over the second emitter port and transmitting ultrasonic energy through it.

9. The camera module according to claim 8, wherein each of the emitter port and the second emitter port is located below the lens in a stacked configuration.

10. The camera module according to claim 1, wherein the plurality of receiver ports include at least three of the receiver ports.

11. The aforementioned multiple ultrasonic sensors are A first receiver positioned directly above the aforementioned lens, A second receiver is located along a semicircular path that intersects with the first receiver, spaced apart from the first receiver and positioned below and to the side of the first receiver, A third receiver is located spaced apart from the first receiver, below the first receiver and on the semicircular path opposite to the second receiver, A camera module according to claim 1, including the above.

12. The camera module according to claim 11, wherein the ultrasonic transmitter is located at the center of the semicircular path.

13. The camera module according to claim 11, further comprising a fourth receiver and a fifth receiver, each positioned on the semicircular path at a constant angular distance from the first receiver, the second receiver, and the third receiver.

14. The camera module according to claim 1, wherein the plurality of receiver ports are arranged in the form of two L-shaped groups, each L-shaped group comprising five receiver ports arranged adjacently along the corresponding lower right corner and lower left corner of the front surface of the housing.

15. The front surface of the housing further defines a second emitter port, The camera module further includes a second ultrasonic transmitter located within the housing and lying above the second emitter port, through which ultrasonic energy is transmitted. The camera module according to claim 14, wherein each of the emitter port and the second emitter port is located below the lens in a stacked configuration.

16. A vehicle comprising at least one camera module configured to remotely sense an object outside the vehicle, wherein the at least one camera module is A housing including a front panel defining multiple receiver ports and one emitter port, The lens attached to the front surface of the housing, A camera image sensor is positioned behind the lens within the housing to receive light through the lens, A plurality of ultrasonic sensors, each of which is located within the housing and lying on one of the corresponding receiver ports, An ultrasonic transmitter, disposed within the housing and lying above the emitter port, transmits ultrasonic energy through it, Vehicles including this.

17. The vehicle according to claim 16, wherein the at least one camera module is located in at least one of the back fascia, front fascia, or rear closure of the vehicle.

18. The vehicle according to claim 16, wherein the plurality of receiving ports are arranged in an arc.

19. The vehicle according to claim 18, wherein the arc defines a section of a circle, and the emitter port is located at the center of the arc.

20. The vehicle according to claim 16, wherein the front surface of the housing further defines a second emitter port, and the camera module further includes a second ultrasonic transmitter disposed within the housing and lying over the second emitter port and transmitting ultrasonic energy through it.

Images