vehicle

Abstract

To simplify the vehicle's sensor system and improve detection accuracy. [Solution] A vehicle 1 is provided, in which a first camera 11 and a second camera 12 are positioned in front of the vehicle 1, separated by a predetermined distance, and oriented to photograph the front of the vehicle 1. Each camera comprises a hemispherical wide-angle lens 111, a first image sensor 113 that acquires an image of a first field of view, and a second image sensor 114 that acquires an image of a second field of view that is coaxial with the first field of view, has a narrower angle than the first field of view, and has higher resolution. At least the shooting range of the first field of view of the first camera 113 and the shooting range of the first field of view of the second camera 114 overlap.

Description

Technical Field

[0001] This disclosure relates to a vehicle.

Background Art

[0002] In order to realize an improvement in vehicle functions using a camera while suppressing the number of cameras installed, there is known a vehicle monitoring device that is equipped on a vehicle and photographs a monitoring target within the shooting range by an omnidirectional camera. The omnidirectional camera is attached to a support member supported at a corner portion of a cab, is outside the side surface of the cab, and is disposed within a range from the upper end to the lower end of the windshield 33. The shooting range of the omnidirectional camera includes at least the interior of the cab (see Patent Document 1 below).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the sensor system of a vehicle is required to be further simplified and the detection accuracy improved.

[0005] Therefore, according to one aspect of the present disclosure, simplifying the sensor system of a vehicle and improving the detection accuracy can also be a problem to be solved.

[0006] For those skilled in the art who can read from the embodiments and their descriptions characteristic of the present disclosure described in the specification, drawings, etc. of the present disclosure, problems that are obvious can also be problems to be solved by the divided inventions when a divisional application is made based on the present disclosure.

Means for Solving the Problems

[0007] Aspects and advantages of the embodiments of this disclosure are partially described in the following description of the examples of application, or may be known from the description, or may be known through the implementation of the embodiments.

[0008] (1) The vehicle according to this application example is equipped with a first camera unit in front of the vehicle, in which a first camera and a second camera are positioned at a predetermined distance apart and oriented to photograph the front of the vehicle, and the first camera and the second camera each include a hemispherical wide-angle lens, a first image sensor that acquires an image of a first field of view from the hemispherical wide-angle lens, and a second image sensor that acquires an image of a second field of view that is coaxial with the first field of view from the hemispherical wide-angle lens and has a narrower angle and higher resolution than the first field of view, and at least the shooting range of the first field of view of the first camera and the shooting range of the first field of view of the second camera overlap.

[0009] In this application example, the vehicle's sensor system can be simplified, and detection accuracy can be improved.

[0010] (2) In the vehicle relating to the application example of (1) above, the shooting range of the second field of view of the first camera and the shooting range of the second field of view of the second camera overlap. This makes stereo distance measurement possible, at least at long distances.

[0011] (3) In the vehicle according to the application example of (2) above, a second camera unit is further provided in front of the vehicle, wherein a third camera and a fourth camera are positioned at a predetermined distance apart and oriented to photograph the rear of the vehicle, and the third camera and the fourth camera each include a hemispherical wide-angle lens, a third image sensor that acquires an image of a third field of view from the hemispherical wide-angle lens, and a fourth image sensor that acquires an image of a fourth field of view that is coaxial with the third field of view and has a narrower angle and higher resolution than the third field of view from the hemispherical wide-angle lens. This makes it possible to monitor the driver and to detect objects in the surrounding area.

[0012] (4) In the vehicle relating to the application example of (3) above, a third camera unit is further provided, wherein a fifth camera is positioned at the rear of the vehicle in a direction that photographs the rear of the vehicle, and the fifth camera comprises a hemispherical wide-angle lens, a fifth image sensor that acquires an image of a fifth field of view from the hemispherical wide-angle lens, and a sixth image sensor that acquires an image of a sixth field of view that is coaxial with the fifth field of view and has a narrower angle and higher resolution than the fifth field of view, and the shooting range of the sixth field of view of the fifth camera overlaps with the shooting range of the fourth field of view of the third camera or the fourth camera. This makes it possible to measure stereo distances at least at a distance in the rear.

[0013] (5) In the vehicle relating to the application example of (1) above, within a distance of 1 to 1 from the vehicle forward, at least the range of the adjacent lanes to the left and right is included in either the first field of view of the first camera or the second camera of the first camera unit, and within a distance of 2 to 3 from the vehicle forward, which is further than the 1 distance, at least the range of the adjacent lanes to the left and right is included in either the second field of view of the first camera or the second camera of the first camera unit, which is further than the 2 distance. This makes it possible to measure stereo distances not only at short distances but also at long distances for objects to be detected.

[0014] (6) In the vehicle relating to the application example of (1) above, the first field of view is greater than 180°, and the second field of view is in the range of 20 to 50°, or is a field of view that is 10 to 30% of the first field of view. This makes the acquired image clearer and improves the accuracy of object detection.

[0015] (7) In the vehicle relating to the application example of (3) or (4) above, the orientation of the optical axes of the third camera and the fourth camera is arranged to open outward in the left-right direction of the vehicle rather than in the front-rear direction of the vehicle. This improves the efficiency of utilizing the field of view of the cameras and also improves the accuracy of detecting objects behind adjacent lanes. [Brief explanation of the drawing]

[0016] [Figure 1] It is a schematic diagram showing a top view of a vehicle and the range of the viewing angles of each camera. [Figure 2] It is a schematic diagram for explaining the camera of the present disclosure. [Figure 3] It is a schematic diagram for showing the difference in functions between the first image sensor and the second image sensor. [Figure 4] It is a diagram showing an example of camera arrangement in a front view of a vehicle. [Figure 5] It is a diagram showing an example of camera arrangement in a side view of a vehicle. [Figure 6] It is a diagram showing an example of camera arrangement in a rear view of a vehicle. [Figure 7] It is a schematic diagram showing the relationship between the range of the viewing angle of each camera and the lane. [Figure 8] It is a block diagram showing an example of a vehicle control block. [Figure 9] It shows a specific example of an image that can be acquired by the camera of the present disclosure and test results. [Figure 10] It is a diagram showing an example of camera arrangement in a side view of a general passenger vehicle as an application example.

Mode for Carrying Out the Invention

[0017] For example, the following problems are recognized in the object detection means mounted on a vehicle.

[0018] In a driving support system (ADAS) or a sensor for autonomous driving (AD), a plurality of sensors are combined by making use of features such as long-range / short-range radar, LiDAR, cameras, ultrasonic sensors, etc. However, when the number and types of sensors are large, system coordination for synchronizing each of them becomes complicated, the cost also increases, and the failure rate of the entire system may also deteriorate. Therefore, it is necessary to provide the types and numbers of sensors constituting the system within an appropriate range.

[0019] In addition, various detection means have limitations in the types of objects to be detected. Radar is likely to detect distant objects but it is difficult to detect their contours and shapes in detail. Also, it is difficult to identify whether a moving object in the distance is a human pedestrian. Although it is theoretically possible for LiDAR to detect contours and shapes in detail by acquiring point clouds, there are limitations in the coherence distance and the detection distance is short. Also, it is difficult to detect light-transmitting objects such as glass. Short-range radar has difficulty detecting obstacles far away in the adjacent lane, so it is difficult for vehicles with a large vehicle speed difference like trucks to perform an auto lane change.

[0020] In addition, since the narrow-angle camera has a limited viewing angle, the detection of the horizon within the imaging angle is restricted. Therefore, in associating the three-dimensional position of an object detected by radar with the position of the object on the camera image, it is particularly difficult to ensure consistency, especially in the height direction, which hinders accurate distance measurement.

[0021] Also, cameras that are not narrow-angle have a short detection distance for lanes, so it is difficult to predict curves ahead of the lane, and lane keep assist (LKA) frequently turns off at curves. Also, in curves such as in tunnels where GPS cannot be used, LKA cannot be used either, and there is a possibility of recognizing the wrong lane at branch or merging points.

[0022] And cameras are required in large numbers for each application, such as for lane detection, mirror cams, rear monitors, surround view, driver monitoring, etc.

[0023] Thus, each detection means has its own comparative advantages in terms of long-distance and short-distance detection ranges and detection targets, but since none of them is self-complete, they need to complement each other. Among them, the visible light camera can also use image recognition technology, so it has high versatility in terms of discrimination, but it is necessary to consider both long-distance and short-distance. Generally, there is a varifocal optical system as an optical system that realizes both telephoto and wide-angle with the same coaxial optical axis. However, since the lens is moved to switch between telephoto and wide-angle, it is difficult to simultaneously capture telephoto and wide-angle images.

[0024] The vehicle disclosed in this disclosure, which can solve the above-mentioned problems, employs an optical system using cameras for object and lane detection and distance measurement. Specifically, this optical system captures images obtained from one lens simultaneously with two sensors. One is a telephoto lens focused on distant subjects, and the other is a wide-angle lens focused on nearby subjects. By pairing such telephoto / wide-angle cameras, a front camera unit capable of distance measurement and object recognition, similar to a stereo camera, can be constructed. Alternatively, the paired telephoto / wide-angle cameras can be positioned almost back-to-back, creating a pair of omnidirectional cameras. This also enables driver monitoring. Furthermore, cameras can be placed at the rear, and the rearward-facing cameras can be paired to create a rear camera unit capable of distance measurement and object recognition, similar to a stereo camera. This allows for the necessary object detection functions while reducing the type and number of cameras and other sensors.

[0025] The above is an overview; details will be explained below. For the sake of explanation, in the following, we will tentatively define the forward direction of the vehicle as "forward," the opposite direction (reverse direction) as "rear," and left and right as relative to the vehicle facing forward. Furthermore, we will tentatively define the longitudinal direction as the vehicle length direction and the lateral direction as the vehicle width direction. In addition, we will tentatively define the direction perpendicular to both the vehicle length direction and the vehicle width direction as the vertical direction. We will tentatively define the vehicle as being on a level road surface and in a posture where the vertical direction coincides with the vertical direction (downward coincides with the direction of gravity). In this posture, we will tentatively define the vertically upward direction as the height direction.

[0026] Furthermore, the specifications of this disclosure include detailed descriptions of embodiments with drawings to aid in understanding the invention. In each drawing, the scale may differ from that of actual objects in order to make each component, area, etc., recognizable. The embodiments described herein are merely illustrative, and those skilled in the art will understand that the invention is implementable even if some specific details are omitted or modified. In addition, detailed descriptions of well-known technologies may be omitted to ensure clarity in the specifications. Where numerical labels such as "1st," "2nd," etc. are used in the descriptions, they are for identifying each element and do not define the number of elements. In general, the singular form may be understood to include the plural form, and the plural form may include the singular form.

[0027] Figure 1 is a schematic diagram showing a top view of vehicle 1 and the field of view range of each camera. In this disclosure, a truck vehicle is used as an example to explain vehicle 1. However, the term "vehicle" is not limited to truck vehicles and may include, for example, extremely compact ultra-compact mobility vehicles, kei cars, three-box passenger cars such as compact cars and sedans, SUVs, crossovers, minivans, one-box cars, light vans and long-wheelbase vans, buses, and special vehicles such as ambulances, fire trucks and aerial work platforms, without being limited by vehicle height or length.

[0028] An example configuration for vehicle 1 being a truck will be described. Vehicle 1 may consist of a chassis frame, a cab 7 mounted on the front of the chassis frame, and a cargo box 8 mounted on the rear of the cab 7 on the chassis frame. Wheels may also be mounted on the lower part of the chassis frame via a suspension mechanism.

[0029] The vehicle 1 is equipped with a first camera unit 10 at the front, in which a first camera 11 and a second camera 12 are spaced a predetermined distance apart and positioned to photograph the area in front of the vehicle.

[0030] Furthermore, the vehicle 1 is equipped with a second camera unit 20 located in front of it, in which a third camera 23 and a fourth camera 24 are spaced a predetermined distance apart and positioned to photograph the rear of the vehicle 1.

[0031] Furthermore, the vehicle 1 is further equipped with a third camera unit 30, which includes a fifth camera 35 positioned at the rear of the vehicle 1 to photograph the area behind the vehicle 1.

[0032] Here, we will describe the first to fifth cameras. Figure 2 is a schematic diagram illustrating the cameras of this disclosure. Here, we will use the first camera as an example and explain it with the assigned reference numerals, but the same applies to the second, third, fourth, and fifth cameras.

[0033] In Figure 2, the first camera 11 includes a lens 111, a first image sensor 113 that acquires an image of a first field of view S1R from the lens 111, and a second image sensor 114 that acquires an image of a second field of view S2R that is coaxial with the first field of view S1R and has a narrower angle and higher resolution than the first field of view S1R.

[0034] Furthermore, the housing 110 of the first camera 11 is equipped with a light-splitting element 112 that splits the light transmitted through the lens 111 into light incident on the first image sensor 113 and light incident on the second image sensor 114. In addition, if necessary, it may be equipped with a first focus control element 113F that controls the focus of the light incident on the first image sensor 113 and a second focus control element 114F that controls the focus of the light incident on the second image sensor 114. The first image sensor 113 and the second image sensor 114 acquire images coaxially by sharing the same lens 111, but can be adjusted to different focal lengths, angles of view, and field of view in order to acquire different images.

[0035] The light splitting element 112 can be, for example, a half mirror, a beam splitter, or the like. The first focus control element 113F and the second focus control element 114F may also be, for example, one or more fixed-focus lenses, focus adjustment lenses, liquid crystal variable focus elements, variable-shape mirrors, acousto-optic elements (AODs), electro-optic elements (EODs), aperture diaphragms, variable aperture diaphragms, or the like. Furthermore, the light splitting element 112 may be given the function of splitting light and controlling the focus on each image sensor by combining these elements.

[0036] Lens 111 can be a so-called hemispherical wide-angle lens or a fisheye lens. Lens 111 may also consist of multiple lens groups positioned between the lens and the image sensor.

[0037] Figure 3 is a schematic diagram illustrating the functional differences between the first image sensor 113 and the second image sensor 114. The first image sensor 113 is primarily used to obtain images at close range and has multiple pixels 113P to obtain wide-angle images. In contrast, the second image sensor 114 is primarily used to obtain images at long distances and has multiple pixels 114P. Since the image acquired by the first image sensor 113 covers a wide area, it may use pixels larger than the pixels 114P of the second image sensor 114 to collect more light. The image acquired by the second image sensor 114 may use smaller pixels than the pixels 113P of the first image sensor 113 to ensure clarity even at long distances, and may also have a larger number of pixels. This makes it possible to simultaneously acquire both a wide-angle image at close range and a clear telephoto image at long distances, even when sharing light acquired coaxially from the same lens 111. In this embodiment, the first image sensor 113 and the second image sensor 114 have different numbers of pixels, but it is also possible to use the same number of pixels.

[0038] For example, the first image sensor 113 can be configured with a resolution of approximately 2K (1920 x 1080 pixels), and the second image sensor 114 can be configured with a high resolution of approximately 4K (1920 x 1080 pixels).

[0039] As a result, the first image sensor 113 acquires an image with a first field of view S1R from the lens 111. The first field of view S1R is a solid angle, but in a planar view, it is possible to acquire an image in the range of over 180° to 190° around the optical axis. The second image sensor 114 acquires an image with a second field of view S2R from the lens 111, which is coaxial with the first field of view S1R and has a narrower angle and higher resolution than the first field of view S1R. The second field of view S2R is also a solid angle, but in a planar view, it is preferably set to acquire an image in the range of 20° to 50° around the optical axis, and more preferably set to acquire an image in the range of 20° to 40° around the optical axis. The reason for this will be explained later.

[0040] In this disclosure, for the sake of simplicity, the image acquired within the camera's field of view may be referred to as the "field of view." Strictly speaking, the field of view refers to the angle of view (angle) that the camera can capture, and is distinct from the image of the shooting range obtained by that field of view. The actual shooting range of the camera and the image acquired within that shooting range are limited in the angular direction by the field of view, and in the distance direction by a predetermined depth of field or the resolution of the image sensor.

[0041] Returning to Figure 1, similarly, the second camera 12 acquires an image at the first field of view S1L and an image at the second field of view S2L, which is coaxial with the first field of view S1L, has a narrower angle, and higher resolution than the first field of view S1L. The third camera 23 acquires an image at the third field of view S3R and an image at the fourth field of view S4R, which has a higher resolution than the third field of view S3R. The fourth camera 24 acquires an image at the third field of view S3L and an image at the fourth field of view S4L, which has a higher resolution than the third field of view S3L. The fifth camera 35 acquires an image at the fifth field of view S5 and an image at the sixth field of view S6, which is coaxial with the fifth field of view S5, has a narrower angle, and higher resolution than the fifth field of view S5.

[0042] Therefore, there is at least a region S1RL in which the shooting range of the first field of view S1R of the first camera 11 and the shooting range of the first field of view S1L of the second camera 12 overlap. There is also a region S2RL in which the shooting range of the second field of view S2R of the first camera 11 and the shooting range of the second field of view S2L of the second camera 12 overlap. There is also a region S1S3R in which the shooting range of the first field of view S1R of the first camera 11 and the shooting range of the first field of view S3R of the third camera 23 overlap. Furthermore, there is also a region S1S3L in which the shooting range of the first field of view S1L of the second camera 12 and the shooting range of the first field of view S3L of the fourth camera 24 overlap. Furthermore, there is an overlapping region S4R6 between the shooting range of the third camera 23 with its fourth field of view S4R and the shooting range of the fifth camera 35 with its sixth field of view S6, and an overlapping region S4L6 between the shooting range of the fourth camera 24 with its fourth field of view S4L and the shooting range of the fifth camera 35 with its sixth field of view S6.

[0043] This allows for monitoring the entire surroundings of the vehicle without blind spots, using images from the first field of view S1R, the first field of view S1L, the third field of view S3R, the third field of view S3L, and the fifth field of view S5. Furthermore, it can be used for side monitoring, rearview monitoring, surround view, obstacle detection near the vehicle, and lane detection near the vehicle.

[0044] Furthermore, the images from the second field of view S2R and the second field of view S2L can be used for detecting distant subjects and lanes, as well as for stereo distance measurement based on parallax.

[0045] Furthermore, the images from the fourth field of view (S4R) and the fourth field of view (S4L) can be used for side monitoring and detection of obstacles far behind the vehicle.

[0046] Furthermore, by using the images from the region S4R6 where the shooting range of the third camera 23's fourth field of view S4R overlaps with the shooting range of the fifth camera 35's sixth field of view S6, and the region S4L6 where the shooting range of the fourth camera 24's fourth field of view S4L overlaps with the shooting range of the fifth camera 35's sixth field of view S6, it is possible to perform stereo distance measurement on distant vehicles in adjacent lanes.

[0047] Next, examples of the arrangement of each camera in the vertical direction of the vehicle 1 of this disclosure are shown. Figure 4 shows the camera arrangement in a front view of the vehicle 1, Figure 5 shows the camera arrangement in a side view of the vehicle 1, and Figure 6 shows the camera arrangement in a rear view of the vehicle 1.

[0048] In Figure 4, the cab 7 of vehicle 1 may, for example, have a front panel 71 and front pillars 73R and 73L located on the left and right sides above the front panel 71, with a windshield 72 between the left and right front pillars 73R and 73L. The cab 7 may also have doors on both the left and right sides, and each door may have a door glass. Inside the cab 7, a driver's seat may be provided on one side of the vehicle, and a passenger seat on the other side.

[0049] The first camera 11 and the third camera 23 may be supported by a support portion 75R attached to the cab 7 by a mounting portion 74R, for example. The second camera 12 and the fourth camera 24 may be supported by a support portion 75L attached to the cab 7 by a mounting portion 74L, for example. Such mounting portions 74R, 74L, and support portions 75R, 75L are merely examples of components for mounting cameras in desired positions, and those skilled in the art can freely design and construct them for their purpose. For example, the mounting portion 74R and support portion 75R, and the mounting portion 74L and support portion 75L may be an integrated component or separate components. Additionally, mounting sections 74R and 74L may be attached to front pillars 73R and 73L.

[0050] The heights of the first camera unit 10, including the first camera 11 and the second camera 12, are preferably aligned to a height 10H as shown in the figure. The heights of the second camera unit 20, including the third camera 23 and the fourth camera 24, are preferably aligned to a height 20H as shown in the figure. Furthermore, the heights 10H and 20H may be positioned within the vertical height range of the windshield 72. Since the second camera unit 20 can also be used as a driver monitor, such an arrangement may be preferable. When the first camera unit 10 and the second camera unit 20 are positioned back to back, the heights of the first camera 11 and the second camera 12 and the third camera 23 and the fourth camera 24 may be aligned. When cameras facing the front of the vehicle and cameras facing the rear of the vehicle are compactly positioned back to back with their heights aligned, coaxial optical axes facing opposite directions may be used without offsetting the optical axes. This allows for miniaturization of the camera unit.

[0051] The first camera 11, the second camera 12, the third camera 23, and the fourth camera 24 may be located further outward from the cab 7 in the left-right direction. In particular, such placement may be preferable for the third camera 23 and the fourth camera 24 in order to acquire rearward images. These cameras can also be placed in positions corresponding to where conventional mirrors such as under mirrors, side under mirrors, and side mirrors were located.

[0052] As shown in Figure 5, the optical axis 121X of the second camera 12 and the optical axis 241X of the fourth camera 24 can be positioned at an angle of 10° to 20° downward from the horizontal. Furthermore, the second camera 12 and the fourth camera 24 may be positioned lower than the vehicle height VH and in front of the front end DP of the driver's position. This is because, as mentioned above, they can also be used as driver monitors. The same applies to the optical axis 111X of the first camera 11 and the optical axis 231X of the third camera 23.

[0053] As shown in Figure 6, the fifth camera 35 of the third camera unit 30 can be positioned, for example, above the cargo box 8. Although not shown, the optical axis 351X of the fifth camera 35 can also be tilted 10° to 20° below the horizontal. As for the rear camera, there is no need to monitor the driver, nor does it obstruct the driver's view, so it is sufficient to place one near the center.

[0054] Figure 7 is a schematic diagram showing a top-down view of vehicle 1, as shown in Figure 1, and the field of view range of each camera. It is drawn focusing on the relationship between the lane in which vehicle 1 is traveling and the adjacent lanes, the overlapping field of view range of each camera, and the distance to the vehicle. In this diagram, the explanation of the components common to Figure 1 is omitted.

[0055] Figure 7 shows the lane L1 in which vehicle 1 is traveling, and the adjacent lanes L2 and L3 to its left and right. For example, the width of one lane is 5m.

[0056] The third camera 23 and fourth camera 24 of the second camera unit 20 are located at the rear of the vehicle, and in order to monitor the range of adjacent lanes, the optical axis 231X of the third camera 23 and the optical axis 241X of the fourth camera 24 may be positioned so that they are oriented outward in the left-right direction of the vehicle rather than in the front-rear direction of the vehicle. The reason for this is that if the third camera 23 and fourth camera 24 were configured as an omnidirectional camera by placing them back-to-back with the first camera 11 and second camera 12, respectively, the field of view would be obstructed by parts of the vehicle body such as the cargo box, resulting in wasted field of view. For example, if the field of view S4N in a plan view of the fourth field of view angles S4R and S4L is 40°, the field of view can be effectively utilized by positioning the optical axes of each camera so that they are oriented outward by S4N / 2° = 20°. Furthermore, since the cameras of this disclosure can acquire a hemispherical field of view image, the driver can also be captured even if the field of view is slightly flared to the left and right.

[0057] Furthermore, monitoring of adjacent left and right lanes can be performed at short distances within the image capture range of the first field of view angles S1R and S1L. For example, within a first distance D1 forward from vehicle 1, the first camera unit 10, either the first camera 11 or the second camera 12, may include at least the range of the adjacent left and right lanes within either the first field of view angle S1R or S1L.

[0058] However, it is preferable to be able to monitor adjacent left and right lanes even at a distance. It is also preferable to be able to detect curves in the lanes at a distance. Therefore, the range of at least the adjacent left and right lanes may be included in either the second field of view S2R or S2L of the first camera 11 or the second camera 12 of the first camera unit 10, between the second distance D2, which is further than the first distance D1, and the third distance D3, which is further than the second distance D2, in the distance between the vehicle 1 and the second distance D2. Here, for example, the first distance D1 is 20m in front of the vehicle, the second distance D2 is 60m, and the third distance D3 is 80m. This makes it easier to detect obstacles in the adjacent lanes at a distance, as well as curves in the lanes and signs, and enables, for example, automatic lane changes for trucks with large speed differences.

[0059] As described above, the processor in the control unit can perform various detection function processing using the acquired images. Figure 8 is a block diagram showing an example of a vehicle control block. In this figure, the optical system 100 of the vehicle 1 may output images and information acquired by the first camera unit 10 having a first camera 11 and a second camera 12, images and information acquired by the second camera unit 20 having a third camera 23 and a fourth camera 24, and images and information acquired by the third camera unit 30 having a fifth camera 35.

[0060] The processing unit 200 may generally be various computing devices, and may use one or more processors 210 and memory 220 to perform processing of various detection functions using images and information acquired by the optical system 100.

[0061] The output from the processing unit 200 can be presented to the driver using the display unit 300, the audio output unit 400, etc., and may also be stored in a memory unit (not shown). Furthermore, the vehicle control unit 500 may perform an automatic driving function using the output from the various detection functions.

[0062] (Examples) Figure 9 shows specific examples and test results of images that can be acquired at the first field of view (wide-angle) and second field of view (telephoto) of the first camera 11 and second camera 12 of the first camera unit 10. In this table, examples of images of people and signs that can be acquired when the second field of view (telephoto) is 20°, 40°, and 50°, relative to the first field of view (wide-angle) of 190°, which is greater than 180°. These images show the clarity with one eye, not both.

[0063] In this figure, while the image quality in absolute evaluation depends on the specific performance of each camera, it is clear that the image quality in relative evaluation tends to become blurred as the second field of view approaches the first field of view. Therefore, those skilled in the art need to narrow the second field of view in plan view to an appropriate range. However, it is clear that the image becomes sharper by making the second field of view narrower than the first field of view.

[0064] In the pedestrian detection shown in Figure 8, the confidence level based on the pedestrian detection model capable of detecting pedestrians from images was good at a distance of 100m, with a second field of view (telephoto) of 20° (○), 92.7% (○) at 40° (○), and 89.7% (○) at 50°. Furthermore, at a distance of 150m, the confidence level was good at 20° and 40°, with a second field of view (telephoto) of 20° (○), 8.4% (○) at 40° (○), and 48.8% (△) at 50°. Therefore, for example, the second field of view may be set to acquire images in the range of 20° to 50°. More preferably, it may be set to acquire images in the range of 20° to 40° centered on the optical axis. Alternatively, the field of view may be set to be 10 to 30% of the first field of view.

[0065] (Examples of application) Figure 10 shows the camera arrangement in a side view when the vehicle is a regular passenger car. The system of this disclosure can also be applied to vehicle 1C, which is a passenger car with a lower ride height than a truck. As shown in this figure, the first camera unit 10 and the second camera unit 20 can be placed back-to-back, with the heights of the first camera 11 (not shown as it is located on the opposite side) and the second camera 12, and the third camera 23 (not shown as it is located on the opposite side) and the fourth camera 24 aligned, in positions corresponding to the door mirrors and side mirrors of a regular passenger car.

[0066] This approach offers advantages such as allowing for a more compact camera unit design in regular passenger cars, which have a lower ride height than trucks and buses.

[0067] As a result, the ADAS / AD sensor system can be simplified, its cost reduced, and its failure rate lowered. Furthermore, it will be possible to detect pedestrians from a distance, enabling remote control of pedestrian-related collision mitigation braking. Additionally, detection accuracy will be improved, allowing for the detection of obstacles in adjacent lanes at a distance, enabling automatic lane changes for trucks with large speed differences.

[0068] Furthermore, it will be possible to detect subjects that were previously difficult to detect with radar, improving the accuracy of unintended acceleration suppression. In addition, the curve prediction performance will be improved, the accuracy of lane keeping on curves will be improved, and it will be less likely to recognize the wrong lane when merging or diverging.

[0069] While several implementations have been described and presented herein, various other means and / or structures may be used to perform the functions and / or obtain one or more of the results and / or benefits described herein, and each of such variations and / or modifications may be considered within the scope of the implementations described herein. Those skilled in the art can recognize and confirm many equivalents to the particular implementations described herein simply by using customary experimentation.

[0070] For example, in some embodiments, [1] It is a vehicle, The vehicle is equipped with a first camera unit, which comprises a first camera and a second camera positioned at a predetermined distance apart and oriented to photograph the area in front of the vehicle. The first camera and the second camera are, respectively, A hemispherical wide-angle lens, A first image sensor that acquires an image of a first field of view from the hemispherical wide-angle lens, The system includes a second image sensor that acquires an image from the hemispherical wide-angle lens of a second field of view that is coaxial with the first field of view and has a narrower angle and higher resolution than the first field of view, The vehicle is such that the shooting range of the first field of view of the first camera and the shooting range of the first field of view of the second camera overlap. [2] The shooting range of the second field of view of the first camera and the shooting range of the second field of view of the second camera overlap. [3] The vehicle is further provided with a second camera unit, which comprises a third camera and a fourth camera positioned at a predetermined distance apart and oriented to photograph the rear of the vehicle. The third camera and the fourth camera are, respectively, A hemispherical wide-angle lens, A third image sensor that acquires an image of a third field of view from the hemispherical wide-angle lens, The system includes a fourth image sensor that acquires an image of a fourth field of view from the hemispherical wide-angle lens, which is coaxial with the third field of view and has a narrower angle and higher resolution than the third field of view. [4] The vehicle is further equipped with a third camera unit, which has a fifth camera positioned behind the vehicle in a direction that photographs the area behind the vehicle. The fifth camera is, A hemispherical wide-angle lens, A fifth image sensor that acquires an image of a fifth field of view from the hemispherical wide-angle lens, The system includes a sixth image sensor that acquires an image of a sixth field of view that is coaxial with the fifth field of view and has a narrower angle and higher resolution than the fifth field of view, from the hemispherical wide-angle lens, The shooting range of the sixth field of view of the fifth camera overlaps with the shooting range of the fourth field of view of the third camera or the fourth camera. [5] Within a distance of a first extent forward from the vehicle, the first field of view of either the first camera or the second camera of the first camera unit includes at least the range of the adjacent lanes to the left and right. Between a second distance greater than the first distance and a third distance greater than the second distance, the second field of view of either the first camera or the second camera of the first camera unit includes at least the range of the adjacent lanes to the left and right. [6] The first field of view is an angle greater than 180°. The second field of view is within the range of 20 to 50°, or is a field of view that is 10 to 30% of the first field of view. [7] The optical axes of the third and fourth cameras are positioned to open outwards in the left-right direction of the vehicle rather than in the front-rear direction of the vehicle.

[0071] The embodiments described in [1] to [7] above can be combined in any way. For example, one may combine all or some of the embodiments described in [1] with at least some of the embodiments of at least one invention described in [2] and onward. In particular, it is preferable to create an invention that combines the invention described in [1] with at least some of the embodiments of at least one invention described in [2] and onward. Alternatively, one may extract any configuration from the embodiments described in [1] to [7] and combine the extracted configurations. The applicant of this application intends to obtain rights to inventions that include these configurations. Furthermore, even if there are descriptions such as "in the case of..." or "when...", these do not mean that the configuration is limited to that case or time. These are merely examples of better configurations, and the applicant intends to obtain rights to configurations that do not fall under these cases or times. Also, even if there is a sequence of descriptions, the order is not limited to that sequence. Configurations with some parts deleted or the order rearranged are also disclosed, and the applicant intends to obtain rights to them as well. [Explanation of Symbols]

[0072] 1 vehicle 7 Cab 8 packing boxes 9 wheels 10. First camera unit 11. First camera 12. Second camera 20. Second camera unit 23 The third camera 24 The fourth camera 30 Third Camera Unit 35 The fifth camera 71 Front Panel 72 Windshield 73R, 73L Front Pillar 74R, 74L mounting section 75R, 75L support part 100 Optical Systems 110 cabinets 111 Lens 112 Optical Splitter 113 First image sensor 114 Second image sensor 200 Processing Units 210 processors 220 memory 300 Display 400 Audio output section 500 Vehicle Control Unit

Claims

1. It is a vehicle, The vehicle is equipped with a first camera unit, which comprises a first camera and a second camera positioned at a predetermined distance apart and oriented to photograph the area in front of the vehicle. The first camera and the second camera are, respectively, A hemispherical wide-angle lens, A first image sensor that acquires an image of a first field of view from the hemispherical wide-angle lens, The system includes a second image sensor that acquires an image from the hemispherical wide-angle lens of a second field of view that is coaxial with the first field of view and has a narrower angle and higher resolution than the first field of view, A vehicle in which the shooting range of the first field of view of the first camera and the shooting range of the first field of view of the second camera overlap at least.

2. The vehicle according to claim 1, wherein the shooting range of the second field of view of the first camera and the shooting range of the second field of view of the second camera overlap.

3. The vehicle further comprises a second camera unit positioned in front of the vehicle, comprising a third camera and a fourth camera spaced a predetermined distance apart and oriented to photograph the rear of the vehicle. The third camera and the fourth camera are, respectively, A hemispherical wide-angle lens, A third image sensor that acquires an image of a third field of view from the hemispherical wide-angle lens, The system includes a fourth image sensor that acquires an image of a fourth field of view from the hemispherical wide-angle lens, which is coaxial with the third field of view and has a narrower angle and higher resolution than the third field of view. The vehicle according to claim 2.

4. The vehicle is further equipped with a third camera unit, which includes a fifth camera positioned behind the vehicle in a orientation that photographs the area behind the vehicle. The fifth camera mentioned above is A hemispherical wide-angle lens, A fifth image sensor that acquires an image of a fifth field of view from the hemispherical wide-angle lens, The system includes a sixth image sensor that acquires an image of a sixth field of view from the hemispherical wide-angle lens, which is coaxial with the fifth field of view and has a narrower angle and higher resolution than the fifth field of view. The shooting range of the sixth field of view of the fifth camera overlaps with the shooting range of the fourth field of view of the third camera or the fourth camera. The vehicle according to claim 3.

5. Within a distance of a first extent forward from the vehicle, the first field of view of either the first camera or the second camera of the first camera unit includes at least the range of the adjacent lanes to the left and right. Between a second distance greater than the first distance and a third distance greater than the second distance, the second field of view of either the first camera or the second camera of the first camera unit includes at least the range of the adjacent lanes to the left and right. The vehicle according to claim 1.

6. The first field of view is an angle greater than 180°, The vehicle according to claim 1, wherein the second field of view is in the range of 20 to 50°, or is a field of view that is 10 to 30% of the first field of view.

7. The optical axes of the third and fourth cameras are positioned to open outward in the left-right direction of the vehicle rather than in the front-rear direction of the vehicle. The vehicle according to claim 3 or claim 4.

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