In-vehicle camera system

Abstract

In an in-vehicle camera system equipped with multiple lenses that capture images in different directions, the influence of the orientation of one lens on the image captured by the other lenses is minimized. [Solution] The in-vehicle camera device includes a first image sensor that receives light incident from a first lens whose optical axis is oriented in a first direction, and a second image sensor that receives light incident from a second lens whose optical axis is oriented in a second direction different from the first direction. The in-vehicle camera device includes a case that integrally holds the first image sensor, the second image sensor, the first lens, and the second lens. When the second image sensor is viewed along the optical axis of the second lens, the horizontal axis of the second image sensor along the horizontal direction is tilted at a predetermined angle with respect to the optical axis of the first lens.

Description

Technical Field

[0001] The present invention relates to an in-vehicle camera device including a plurality of lenses facing in different directions from each other.

Background Art

[0002] In recent years, with the improvement of vehicle autonomous driving technology, a large number of camera devices are mounted on vehicles. In particular, in a vehicle such as an automobile, a camera device (hereinafter also referred to as an "in-vehicle camera device") including a plurality of lenses facing in different directions from each other may be mounted (see, for example, Patent Document 1, Patent Document 2, and Patent Document 3).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] An in-vehicle camera device including a plurality of lenses facing in different directions from each other may be mounted on the vehicle side by changing the orientation of the entire camera device so that one lens has a desired orientation according to required specifications. However, when the camera device is mounted on the vehicle with the orientation of one lens as a reference, the orientation of the other lens is restricted. When the orientation of the other lens is restricted, the image captured by the other lens may be affected.

[0005] The object of the present invention is to reduce the influence that the orientation of one lens has on the image captured by the other lenses in an in-vehicle camera device equipped with multiple lenses that capture images in different directions. [Means for solving the problem]

[0006] The present invention comprises a first lens whose optical axis is oriented in a first direction, a first image sensor that receives light incident from the first lens, a second lens whose optical axis is oriented in a second direction different from the first direction, a second image sensor that receives light incident from the second lens, and a case that integrally holds the first image sensor, the second image sensor, the first lens, and the second lens, wherein when the second image sensor is viewed from the optical axis of the second lens, the horizontal axis of the second image sensor along the horizontal direction is tilted at a predetermined angle with respect to the optical axis of the first lens. [Effects of the Invention]

[0007] According to the present invention, in an in-vehicle camera device equipped with multiple lenses that capture images in different directions, even if the camera device is mounted on the vehicle with the orientation of one lens as a reference, it is possible to minimize the impact on the image captured by the other lenses. Other problems, configurations, and effects will be clarified by the following description of embodiments. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view primarily showing an example configuration of an in-vehicle camera device according to this embodiment. [Figure 2] This is a top view showing an example of one side view of the in-vehicle camera device shown in Figure 1, when viewed from above along the vertical direction. [Figure 3] Figure 1 is a side view showing an example configuration of the in-vehicle camera device as viewed from direction B along the optical axis. [Figure 4] Figure 1 is a side view showing an example configuration of the in-vehicle camera device as viewed from the L direction along the optical axis. [Figure 5] Figure 4 is a partial cross-sectional view showing an example of the configuration of the in-vehicle camera device as seen from A-A'. [Figure 6] Figure 5 is an exploded perspective view showing an example of the configuration of the in-vehicle camera device after disassembly. [Figure 7] This is a side view showing an example of the arrangement of the second image sensor in the in-vehicle camera device shown in Figure 4. [Figure 8] This is a schematic side view illustrating an example of an arrangement where the longer side of the second image sensor is parallel to the optical axis of the first lens, for comparison with this embodiment. [Figure 9] This side view schematically shows an example of an arrangement in this embodiment where the longer side of the second image sensor is arranged parallel to the optical axis of the first lens. [Figure 10] This figure shows an example of a lateral image captured by the first lens. [Figure 11] This figure shows an example of a rear-side image taken with the configuration of a comparative example to this embodiment shown in Figure 8. [Figure 12] This figure shows an example of a rear-side image obtained based on a cropped area extracted from a rear-side image captured using the configuration of a comparative example to this embodiment shown in Figure 11. [Figure 13] Figure 9 shows an example of a rear-side image captured by the configuration of this embodiment. [Figure 14] This figure shows a comparative example of a rear-side image from this embodiment and a comparative example to this embodiment. [Modes for carrying out the invention]

[0009] One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a configuration example of an in-vehicle camera device 1 according to the present embodiment. In FIG. 1, for convenience of explanation, the in-vehicle camera device 1 that should not be visible from the outside is shown by a solid line so that it can be visible. FIG. 2 is a top view showing a configuration example of one side surface when the in-vehicle camera device 1 shown in FIG. 1 is viewed from above, that is, in the D direction, which is a direction perpendicular to both the optical axis 13C and the optical axis 3C. FIG. 3 is a side view showing a configuration example when the in-vehicle camera device 1 shown in FIG. 1 is viewed from the B direction along the optical axis 3C. FIG. 4 is a side view showing a configuration example when the in-vehicle camera device 1 shown in FIG. 1 is viewed from the L direction along the optical axis 13C.

[0010] On both side surfaces of the vehicle, as shown in FIG. 1, camera supports 100 for supporting each in-vehicle camera device 1 are provided. The camera support 100 may be provided not only on the side surface of the vehicle but also at any position on the side portion of the vehicle, for example. The camera supports 100 on both side surfaces have substantially the same configuration and function except for whether they are on the left side or the right side of the vehicle. Hereinafter, the in-vehicle camera device 1 of the camera support 100 on the left side surface of the vehicle will be exemplified and described.

[0011] The camera support 100 is provided on the side surface of the vehicle, for example, on the side surface of the door body near the window in the door of the vehicle. The camera support 100 is a support member that extends substantially parallel to the road surface in the width direction of the vehicle that can travel at least in one of the front and rear directions. The in-vehicle camera device 1 is provided at the tip of the camera support 100.

[0012] The directions used in this embodiment will be described. In this embodiment, the orientation when the in-vehicle camera device 1 is mounted on the camera support 100 on the left side of the vehicle is used. For example, the side refers to the side along the vehicle width direction of a vehicle that can travel at least in one of the front and rear directions. In this embodiment, mainly the left side is referred to. The rear side refers to the diagonally rear of the vehicle, for example, the range visible by a side mirror or an electronic side mirror located on the side of the vehicle. The front refers to the front of the vehicle. The road surface refers to the surface of the road where the vehicle on which the in-vehicle camera device 1 is mounted is located. The horizontal axis described later refers to an axis parallel to the road surface when the in-vehicle camera device 1 is mounted on the camera support 100 on the left side of the vehicle. The vertical axis refers to an axis perpendicular to the road surface.

[0013] As will be described later, in the state where the in-vehicle camera device 1 is tilted and mounted on the camera support 100 on the left side of the vehicle, the optical axis 3C will not be parallel to the horizontal axis. Similarly, in this state, the optical axis 13C will not be parallel to the horizontal axis either.

[0014] The in-vehicle camera device 1 uses a plurality of lenses facing different directions from the tip of the camera support 100. Here, for example, two lenses are used to capture an image of the rear side (hereinafter also referred to as the "rear side image") and an image of the side (hereinafter also referred to as the "side image") of the vehicle. The rear side image captured by the second lens 13A is used as an image to be displayed on an electronic mirror that shows the user a range similar to the range shown by the vehicle's side mirror. By performing image processing such as viewpoint conversion on the side image captured by the first lens 3A, which has a wider angle of view than the second lens 13A, an image can be generated as if the vehicle were seen from a virtual viewpoint located outside the vehicle. Hereinafter, it will be described on the assumption that the camera support 100 provided with the in-vehicle camera device 1 at its tip is provided on the left side of the vehicle. The in-vehicle camera device 1 captures images of the left rear side and the left side of the vehicle from the tip of the camera support 100.

[0015] The in-vehicle camera device 1 is equipped with multiple lenses 3A and 13A facing in different directions. The in-vehicle camera device 1 uses one lens 3A to capture a wide-angle view of the left side of the vehicle along the vehicle's width, while the other lens 13A captures a narrow-angle view of the left rear side. Hereinafter, lens 3A will be referred to as the first lens, and lens 13A as the second lens.

[0016] The optical axis 3C of the first lens 3A is pointed to the left. The optical axis 13C of the second lens 13A is pointed to the left rear side. The direction along the optical axis 13C of the second lens 13A is different from the direction along the optical axis of the first lens 3A. As shown in Figure 2, the angle φ between the direction along the optical axis 13C of the second lens 13A and the direction along the optical axis 3C of the first lens 3A is approximately perpendicular. That is, the optical axis 3C of the first lens 3A and the optical axis 13C of the second lens 13A are, for example, orthogonal.

[0017] The in-vehicle camera device 1 externally comprises a lens barrel 3, a front case 5 on which the lens barrel 3 is mounted, and a rear case 7 fitted into the front case 5. In this embodiment, both the rear case 7 and the front case 5 are sometimes collectively referred to simply as the case. When viewed from direction D, the front case 5 has a configuration in which a plate-shaped member is bent into an L shape.

[0018] On the other hand, the rear case 7, when viewed from direction D, similarly has an L-shaped configuration, but its interior is a hollow box shape. The rear case 7 includes, for example, a cylindrical mounting connector 9. The central axis of the cylindrical mounting connector 9 is, for example, approximately parallel to the optical axis 13C of the second lens 13A. The mounting connector 9 is a connector for inserting and mounting the in-vehicle camera device 1 into a hole on the camera support 100 side. When the mounting connector 9 is mechanically mounted on the camera support 100, it is electrically connected to the vehicle by connecting to a connector on the camera support 100 side.

[0019] In this embodiment, the in-vehicle camera device 1 is supported by a camera support 100 such that the orientation of the second lens 13A changes according to the required specifications. The orientation of the first lens 3A is slightly changed in accordance with the change in the orientation of the second lens 13A. The first lens 3A may have a predetermined angle θ with respect to the horizontal axis H changed, for example, according to the required specifications.

[0020] The following embodiments and specific examples will be described with reference to the longitudinal FB, lateral LR, and vertical VT shown in each drawing. These longitudinal FB, lateral LR, and vertical VT directions are set according to the orientation of the on-board camera device 1 itself. On the other hand, the directions of the vertical axis and horizontal axis in this embodiment are set according to the orientation of the vehicle having a camera support 100 on its side, at which the on-board camera device 1 is tilted at the front end. The direction along the vertical axis is different from the vertical VT. Similarly, the direction along the horizontal axis is different from the longitudinal FB and lateral LR. In the following embodiments, the surface facing upward in the vertical VT is represented as the top surface, and the surface facing downward is represented as the bottom surface. On the other hand, the surface facing sideways in the direction perpendicular to the vertical VT may be represented as the side surface.

[0021] Furthermore, in the following embodiments and specific examples, the terms "form" and "provide" include both integral formation of the components and bonding and welding after they are formed separately. In the following embodiments and specific examples, the term "inside" refers to the closed space side formed by fitting the front case 5 and the rear case 7 together. The term "outside" refers to the side not included in the said space, which is the open space side.

[0022] Lens barrel 3 is a cylindrical lens barrel that supports the lens side of the first lens 3A. Lens barrel 13 is a cylindrical lens barrel that supports the lens side of the second lens 13A.

[0023] The lens barrel 3 is configured such that, for example, multiple cylinders with different diameters are connected together so as to be aligned along their central axes while their central axes coincide. In the lens barrel 3, for example, the diameter of the upper cylinder is larger than the diameter of the lower cylinder. Screw threads are formed on the outer circumferential surface of the lower cylinder of the lens barrel 3.

[0024] As shown in Figure 2, when the in-vehicle camera device 1 is viewed from direction D, a portion of the lens surface 3B of the first lens 3A is exposed from the end of the lens barrel 3. This is because the first lens 3A is a convex wide-angle lens that captures the left side with a wide field of view. On the other hand, when the in-vehicle camera device 1 is viewed from direction D, the lens surface 13B is covered by the lens barrel 13 and cannot be seen. This is because the second lens 13A is a standard lens that captures the left rear side with a narrower field of view than the first lens 3A.

[0025] The front case 5 is formed, for example, in the shape of an L-shaped plate. The corners of the outer surface of the front case 5 are rounded. A hole is formed in the front case 5 into which the lower cylinder of the lens barrel 3 described above can be inserted. On the inner surface of the hole, threads are formed that engage with the threads on the outer surface of the lower cylinder of the lens barrel 3 described above. For the sake of simplicity in the drawing, these threads are omitted. The lens barrel 3 described above is attached to and detached from the front case 5 by screwing its lower cylinder into the hole in the front case 5.

[0026] The rear case 7 is formed in an L-shaped box when viewed from the orientation shown in Figure 2, for example. The corners of the outer surface of the rear case 7 are machined. When the rear case 7 is fitted into the front case 5, a space is formed inside the rear case 7 and the front case 5. The width of the front case 5 and the width of the rear case 7 in the vertical VT direction are configured to be approximately the same.

[0027] As described above, the case collectively referred to in this embodiment includes a rear case 7 and a front case 5. The rear case 7 holds the first lens barrel 3, which encloses the first lens 3A, and the second lens barrel 13, which encloses the second lens 13A, from the rear. The front case 5 holds the first lens barrel 3 and the second lens barrel 13 from the front. In this way, the case integrally holds the first lens 3A and the second lens 13A.

[0028] A connecting portion 2 is provided between the front case 5 and the rear case 7. The connecting portion 2 internally connects the corner of the front case 5 and the corner of the rear case 7, which are created by the angle difference between the first lens barrel 3, which faces to the left as an example of a first direction, and the second lens barrel 13, which faces to the left rear as an example of a second direction.

[0029] The width of the front case 5 in the direction perpendicular to the optical axis 3C of the first lens 3A, i.e., in the front-rear direction FB, is approximately the same as the width of the rear case 7. The rear case 7 is configured to have a mounting connector 9 (not shown) that can be connected to a connector (not shown) on the camera support 100 side, extending in a direction parallel to the optical axis 13C of the second lens 13A. This connector (not shown) is connected to wiring routed from the vehicle.

[0030] Figure 5 is a partial cross-sectional view showing an example configuration of the in-vehicle camera device 1 shown in Figure 4, viewed from A-A'. In Figure 5, almost all cross-sectional configurations are hatched, but some configurations are omitted. Figure 6 is an exploded perspective view showing an example configuration of the in-vehicle camera device 1 shown in Figure 5.

[0031] As shown in Figure 6, the lower cylinder of the first lens barrel 3 is inserted into the hole 5X1 of the front case 5 with a washer 12 in between, and is mounted on the front case 5. On the other hand, the lower cylinder of the second lens barrel 13 is inserted into the hole 5X2 of the front case 5 with a washer 22 in between, and is mounted on the front case 5.

[0032] Inside the in-vehicle camera device 1, the optical axis 3C of the first lens barrel 3 is configured to intersect, for example, perpendicularly with the optical axis 13C of the second lens barrel 13. A first image sensor 6 is positioned on the substrate 4 at the point where the optical axes 3C intersect. The first image sensor 6 is positioned such that its light-receiving surface is perpendicular to, for example, the optical axis 3C.

[0033] On the other hand, a second image sensor 16 is positioned in the substrate 14 at the point where the optical axes 13C intersect. The second image sensor 16 is positioned, for example, perpendicular to the optical axes 13C.

[0034] Circuit board 4 and circuit board 14 are electrically connected. The first image sensor 6 is electrically connected to connector terminal 9A of mounting connector 9 via circuit board 4, and the first image sensor 6 is electrically connected to connector terminal 19A of mounting connector 19 via circuit board 14.

[0035] The first image sensor 6 receives light incident from the first lens 3A. When light incident from the lens surface 3B is focused by the first lens 3A in the first lens barrel 3, the first image sensor 6 detects the light. The light detected by the first image sensor 6 is converted into an electrical signal. This electrical signal is subjected to predetermined signal processing to acquire an image of the left side.

[0036] Meanwhile, the second image sensor 16 receives light incident from the second lens 13A. When light incident from the lens surface 13B is focused by the second lens 13A in the second lens barrel 13, the second image sensor 16 detects the light. The light detected by the second image sensor 16 is converted into an electrical signal. This electrical signal is subjected to predetermined signal processing to acquire an image of the left rear side.

[0037] In the enclosed space inside the rear case 7 shown in Figure 5, multiple image sensors 6 and 16 are provided corresponding to the multiple lenses 3A and 13A, as described above. Specifically, a first image sensor 6 is provided on the surface of the substrate 4, corresponding to the first lens 3A. The center of the first image sensor 6 on the surface facing the first lens 3A corresponds to the optical axis 3C of the first lens 3A. On the other hand, a second image sensor 16 is provided on the surface of the substrate 14, corresponding to the second lens 13A. The center of the second image sensor 16 corresponds to the optical axis 13C of the second lens 13A.

[0038] As shown in Figure 6, a first image sensor 6 is provided on the surface of substrate 4, corresponding to the first lens 3A. The center of the first image sensor 6 on the surface facing the first lens 3A corresponds, for example, to the optical axis 3C of the first lens 3A. On the other hand, a second image sensor 16 is provided on the surface of substrate 14, corresponding to the second lens 13A. The center of the second image sensor 16 on the surface facing the second lens 13A corresponds, for example, to the optical axis 13C of the second lens 13A. Substrates 4 and 14 are held in a case, which holds the first image sensor 6 and the second image sensor 16. The case integrally holds the first image sensor 6, the second image sensor 16, the first lens 3A, and the second lens 13A.

[0039] The in-vehicle camera device 1 includes a first lens 3A whose optical axis 3C is directed to the left as an example of a first direction, and a first image sensor 6 that receives light incident from the first lens 3A. The in-vehicle camera device 1 also includes a second lens 13A whose optical axis 13C is directed to the left rear as an example of a second direction different from the left side, and a second image sensor 16 that receives light incident from the second lens 13A. The in-vehicle camera device 1 also includes a case that integrally holds the first image sensor 6, the second image sensor 16, the first lens 3A, and the second lens 13A.

[0040] The case comprises a rear case 7 that holds a first lens barrel 3 containing a first lens 3A and a second lens barrel 13 containing a second lens 13A from the rear. Furthermore, the case comprises a front case 5 that holds the first lens barrel 3 and the second lens barrel 13 from the front. The case comprises a connecting part 2 that connects the corner of the front case 5 and the corner of the rear case 7 internally, which are created by the angle difference between the first lens barrel 3, which faces to the left as an example of a first direction, and the second lens barrel 13, which faces to the left rear as an example of a second direction.

[0041] The first image sensor 6 is configured, for example, in the shape of a thin plate. The first image sensor 6 detects the light focused by the first lens 3A. The second image sensor 16 is configured, for example, in the shape of a thin plate. The second image sensor 16 detects the light focused by the second lens 13A.

[0042] A distinctive feature of this embodiment is that the second image sensor 16 is mounted on the surface of the substrate 14 at a predetermined angle inclined with respect to the horizontal axis. Details of the configuration in which the second image sensor 16 is mounted at a predetermined angle will be described later.

[0043] Figure 7 is a side view showing an example of the arrangement of the second image sensor 16 in the in-vehicle camera device 1 shown in Figure 4. Figure 7 illustrates an example of the arrangement of the second image sensor 16 housed inside the first lens barrel 3 by making part of the configuration of the second lens barrel 13 transparent so that it can be seen from the outside.

[0044] As described above, the in-vehicle camera device 1 is supported by the camera support 100 such that the first lens 3A is pointed downward by an angle θ with respect to the horizontal axis H. The optical axis 3C of the first lens 3A is tilted downward by an angle θ with respect to the horizontal axis H.

[0045] On the other hand, the second image sensor 16, which corresponds to the second lens 13A, is positioned parallel to the horizontal axis H. Specifically, the second image sensor 16 appears rectangular when viewed from the orientation shown in the figure, as described above. The orientation shown in the figure corresponds to viewing from direction L in the example shown in Figure 1. The longer side of the second image sensor 16 in the longitudinal direction shown in Figure 7 is, for example, parallel to the horizontal axis H. On the other hand, the shorter side of the second image sensor 16 in the transverse direction is, for example, perpendicular to the horizontal axis H.

[0046] In other words, the second image sensor 16, which corresponds to the second lens 13A, is positioned tilted to the right by an angle θ with respect to the optical axis 3C of the first lens 3A. That is, when the second image sensor 16 is viewed along the optical axis 13C of the second lens 13A, the horizontal axis H of the second image sensor 16 is tilted by a predetermined angle θ with respect to the optical axis 3C of the first lens 3A. The reason for positioning the second image sensor 16 at an angle θ in this way will be explained later.

[0047] Next, we will specifically explain why the second image sensor 16 is positioned at an angle θ in this embodiment. In the following, to make it easier to understand the effects of this embodiment, we will describe this embodiment while giving examples of comparative examples to this embodiment.

[0048] Figure 8 is a schematic side view illustrating an example of arrangement where the long side of the second image sensor 16, corresponding to the second lens 13A, is parallel to the optical axis 3C of the first lens 3A, for comparison with this embodiment. In other words, the configuration shown in Figure 8 is different from that of this embodiment. Figure 8 shows an example of the arrangement of the second image sensor 16 housed inside the lens barrel 3, with a portion of the lens barrel 13's structure visible through the lens barrel 13 so that it can be seen from the outside.

[0049] The optical axis 13C of the second lens 13A is located at the intersection of the vertical axis V and the horizontal axis H. The vertical axis V and the horizontal axis H are set to intersect at the optical axis 13C of the second lens 13A. The vertical axis V represents the axis along the vertical direction when the in-vehicle camera device 1 is supported by the camera support 100. For this reason, the vertical axis V is different from the vertical direction VT described above. The horizontal axis H represents the axis along the horizontal direction when the in-vehicle camera device 1 is supported by the camera support 100. For this reason, the horizontal axis H is different from the front-rear direction FB and the left-right direction LR described above. These vertical axis V and horizontal axis H are the same in Figure 9, which will be described later.

[0050] In the comparative example to this embodiment shown in Figure 8, unlike this embodiment, the long side of the second image sensor 16 is configured to be parallel to the optical axis 3C of the first lens 3A, rather than to the horizontal axis H. The long side of the second image sensor 16 is angled downward by an angle θ with respect to the horizontal axis H, which is parallel to the road surface RS, so as to face the direction of the road surface RS.

[0051] Figure 9 is a schematic side view illustrating an example of arrangement in this embodiment, where the long side of the second image sensor 16 corresponding to the second lens 13A is arranged parallel to the optical axis 3C of the first lens 3A. Figure 9 corresponds to a simplified configuration example of the configuration shown in Figure 7 described above. Figure 9 shows an example of arrangement of the second image sensor 16 housed inside the second lens barrel 13, with a portion of the second lens barrel 13's structure visible through the lens barrel 13 so that it can be seen from the outside.

[0052] The optical axis 13C of the second lens 13A is located at the intersection of the vertical axis V and the horizontal axis H. The definitions of the vertical axis V and the horizontal axis H are as described above, so we will omit further explanation.

[0053] As described above, the longer side of the second image sensor 16 does not point in the direction of the road surface RS, but is parallel to the horizontal axis H.

[0054] The optical axis 3C of the first lens 3A is at a predetermined angle θ with respect to the horizontal axis H, which is parallel to the road surface RS. The horizontal axis H of the second image sensor 16 is tilted at the same predetermined angle θ with respect to the optical axis 3C of the first lens 3A.

[0055] The structure of the in-vehicle camera device 1 according to this embodiment is as described above. Next, an example of an image captured by the in-vehicle camera device 1 will be explained in comparison with an image captured by a comparative example to this embodiment.

[0056] Figure 10 shows an example of a lateral image captured by the first lens 3A. Figures 11 to 14 show examples of rear-lateral images captured by the second lens 13A. The image in Figure 10 is rounded because it was captured using the first lens 3A, which is capable of capturing a wide area.

[0057] Figure 11 shows an example of a rear-side image taken with the configuration of a comparative example to the embodiment shown in Figure 8. Figures 12 and 13 show examples of rear-side images taken with the configuration of the embodiment shown in Figure 9. Figure 14 shows an example of cropping the rear-side images shown in Figures 11, 12, and 13.

[0058] The side view image shown in Figure 10 is captured using the first lens 3A and the first image sensor 6, which are mounted in a orientation that allows them to photograph the left side of the vehicle, as described above. The side view image will be similar regardless of the arrangement of the second image sensor 16 corresponding to the second lens 13A. That is, whether the second image sensor 16 is arranged as in the comparative example shown in Figure 8 or as in the embodiment shown in Figure 9, the side view images captured using both will be similar.

[0059] The lateral image shown in Figure 10 includes a first object indicated by the first arrow YA and a second object indicated by the second arrow PA, which will be used in the description below. In this embodiment, each object is represented as a white rectangle for easier visibility in the image. The first and second objects are shown as white rectangles in the illustrated example. Although these objects are shown as white rectangles, this does not indicate that a part of the lateral image is missing, but simply indicates their position within the image. These objects are used to indicate whether or not they are within the field of view of the range that can ultimately be used as a lateral image, as will be described later.

[0060] On the other hand, when rear-side images are captured using, for example, the configuration of the comparative example shown in Figure 8, the images are tilted as shown in Figure 11. This is because, as described above, the first lens 3A is tilted downward by an angle θ with respect to the horizontal axis and supported by the camera support 100, causing the second lens 13A to tilt downward and to the left by the same angle θ. Therefore, the rear-side images captured by the second lens 13A are tilted downward and to the left as shown in Figure 11.

[0061] For a vehicle to use the rear-side image, it is necessary to convert the tilted field of view (SRV) to a horizontal angle relative to the road surface so that it is easily visible to the vehicle driver. In the comparative example, it is conceivable to remove the unnecessary area NVA from the field of view (SRV) shown in Figure 11, cut out the area CA shown by the dashed line, and use this as the rear-side image.

[0062] However, if the rear-lateral image is an image displayed on the screen of an electronic mirror, the captured image must be displayed on the screen on the electronic mirror without delay. In this case, excessive image processing that causes delays in image display should be avoided. Furthermore, the cropping area CA includes the first object indicated by the first arrow YA, but does not include the second object indicated by the second arrow PA. This is because the second object indicated by the second arrow PA is included in the unnecessary area NVA and is therefore removed.

[0063] When this cropping is performed, the cropped area CA becomes a rear-lateral image with a width W1, as shown in Figure 12. As mentioned above, this rear-lateral image includes the first object indicated by the first arrow YA, but does not include the second object indicated by the second arrow PA. Therefore, the cropped area CA shown in Figure 12 is a relatively narrower image compared to the field of view SRV shown in Figure 11.

[0064] On the other hand, when a rear-side image is captured using the configuration example of this embodiment shown in Figure 9, for example, it does not appear tilted as shown in Figure 11, but rather as an untilted cutout area CA as shown in Figure 13. This is because, as described above, the first lens 3A is tilted downward by an angle θ with respect to the horizontal axis H and supported by the camera support 100, causing the second lens 13A to tilt downward and to the left by the same angle θ, but the second image sensor 16 is positioned tilted by a predetermined angle θ as described above. Therefore, the rear-side image captured by the second lens 13A appears tilted, as shown in Figure 13, and is not visually apparent.

[0065] In the above description, the rear-side images of the comparative example and this embodiment were illustrated separately, but below, the rear-side images from both will be superimposed for explanation. Figure 14 shows a comparative example of the rear-side image from this embodiment and the rear-side image from the comparative example.

[0066] In the illustrated example, the rear-side image according to this embodiment and the rear-side image according to the comparative example to this embodiment are similar in that they have a field of view SRV of width W2. However, the rear-side image according to this embodiment and the rear-side image according to the comparative example to this embodiment differ in whether or not they are taken at an angle. That is, the rear-side image according to this embodiment is an image with an angle of view SRV that is not tilted. On the other hand, the rear-side image according to the comparative example to this embodiment is an image with an angle of view SRV that is tilted.

[0067] In the rear-side image according to this embodiment, since it is not taken at an angle, the entire range across the field of view SRV can be utilized. On the other hand, in the rear-side image according to the comparative example to this embodiment, the area around the vehicle is taken at an angle relative to the road surface, so even if a wide area is captured across the field of view SRV with width W2, image processing is required to cut out the cut-out area CA shown by the dashed line.

[0068] The rear-side image according to this embodiment is a wide-area image with a width W2 in the horizontal direction of the illustrated example, in which the first object indicated by the first arrow YA and the second object indicated by the second arrow PA are reflected. On the other hand, the rear-side image according to the comparative example to this embodiment is an image with a narrower width W1 than the rear-side image according to this embodiment.

[0069] On the other hand, the rear-side image according to this embodiment is a wide-area image in the vertical direction of the illustrated example. On the other hand, the rear-side image according to the comparative example to this embodiment is a narrower-area image than the rear-side image according to this embodiment.

[0070] Therefore, as shown in Figure 6 above, this embodiment, in which the second image sensor 16 is positioned at an angle θ with respect to the horizontal axis H, can provide a wider range of horizontal rear-side images than the comparative example to this embodiment described above.

[0071] The in-vehicle camera device 1 according to this embodiment includes a first lens 3A whose optical axis 3C is oriented in a first direction, and a first image sensor 6 that receives light incident from the first lens 3A. The in-vehicle camera device 1 also includes a second lens 13A whose optical axis 13C is oriented in a second direction different from the first direction, and a second image sensor 16 that receives light incident from the second lens 13A. The in-vehicle camera device 1 includes a front case 5 and a rear case 7 as examples of cases that integrally hold the first image sensor 6, the second image sensor 16, the first lens 3A, and the second lens 13A. When the in-vehicle camera device 1 is viewed along the optical axis 13C of the second lens 13A, the horizontal axis H along the horizontal direction of the second image sensor 16 is tilted at a predetermined angle θ with respect to the optical axis 3C of the first lens 3A.

[0072] With this configuration, even if the orientation of the first lens 3A, which is an example of one of the multiple lenses that photograph in different directions, is changed, it is less likely to affect the image captured by the second lens 13A, which is an example of the other lens.

[0073] In this embodiment, the case described above includes a rear case 7 that holds the first lens barrel 3 containing the first lens 3A and the second lens barrel 13 containing the second lens 13A from the back. The case includes a front case 5 that holds the first lens barrel 3 and the second lens barrel 13 from the front. Furthermore, the case includes a connecting part 2 that connects the corner of the front case 5 and the corner of the rear case 7 internally, which are created by the angle difference between the first lens barrel 3, which faces to the left as an example of a first direction, and the second lens barrel 13, which faces to the left rear as an example of a second direction. In this way, even if the orientation of the first lens 3A housed in the case is changed, it is less likely to affect the image captured by the second lens 13A, which is also housed in the case.

[0074] In this embodiment, the optical axis 3C of the first lens 3A forms a predetermined angle θ with respect to the horizontal axis H parallel to the road surface RS. The horizontal axis H of the second image sensor 16 is tilted at the same predetermined angle θ with respect to the optical axis 3C of the first lens 3A. In this way, even if the orientation of the first lens 3A, whose optical axis 3C forms a predetermined angle θ with respect to the road surface RS is changed, it is less likely to affect the image captured by the second lens 13A.

[0075] In this embodiment, the first lens 3A can have a predetermined angle θ changed according to the required specifications. In this way, even if the orientation of the first lens 3A is changed by changing the predetermined angle θ according to the required specifications, it is less likely to affect the image captured by the second lens 13A.

[0076] In this embodiment, the optical axis 3C of the first lens 3A and the optical axis 13C of the second lens 13A are orthogonal. In this configuration, even if the orientation of the first lens 3A is changed, it is less likely to affect the image captured by the second lens 13A, in a configuration where the optical axis 3C and the optical axis 13C of the second lens 13A are orthogonal.

[0077] The present invention is not limited to the embodiments described above, but includes various modifications and equivalent configurations within the spirit of the appended claims. For example, the embodiments described above are described in detail for the purpose of illustrating the present invention, and the present invention is not necessarily limited to having all the configurations described. Each element described in parallel in this embodiment may be configured such that at least one of the elements is connected in series with respect to the other elements. [Explanation of Symbols]

[0078] 1: In-vehicle camera device, 3: Lens barrel, 3A: First lens, 3C: Optical axis, 5: Front case, 6: First image sensor, 7: Rear case, 13: Lens barrel, 13A: Second lens, 13C: Optical axis, 14: Substrate, 16: Second image sensor, H: Horizontal axis, θ: Angle, φ: Angle

Claims

1. A first lens whose optical axis points in a first direction, A first image sensor that receives light incident from the first lens, A second lens whose optical axis is oriented in a second direction different from the first direction, A second image sensor that receives light incident from the second lens, The system comprises the first image sensor, the second image sensor, the first lens, and a case that integrally holds the second lens, When the second image sensor is viewed along the optical axis of the second lens, the horizontal axis of the second image sensor, along its horizontal direction, is tilted at a predetermined angle with respect to the optical axis of the first lens. An in-vehicle camera device characterized by the following features.

2. The aforementioned case is, A rear case that holds the first lens barrel containing the first lens and the second lens barrel containing the second lens from the back, A front case that holds the first lens barrel and the second lens barrel from the front, A connecting portion that connects the corner of the front case and the corner of the rear case internally, which are created by the angle difference between the first lens barrel facing the first direction and the second lens barrel facing the second direction, The in-vehicle camera device according to claim 1, characterized by comprising the above.

3. The optical axis of the first lens makes the predetermined angle with respect to the horizontal axis parallel to the road surface. The horizontal axis of the second image sensor with respect to the horizontal direction is tilted at the predetermined angle with respect to the optical axis of the first lens. The in-vehicle camera device according to claim 1, characterized in that...

4. The optical axis of the first lens and the optical axis of the second lens are perpendicular to each other. The in-vehicle camera device according to claim 1, characterized in that...

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