Imaging device and moving object

Abstract

To provide an imaging apparatus capable of imaging the periphery of a mobile body, by means of a small number of units and also capable of imaging key parts with high resolution.SOLUTION: The imaging apparatus has imaging means including an optical system that forms a low-resolution area on a central side of a light-receiving surface and a high-resolution area on a peripheral side of the light-receiving surface. The imaging means is arranged on a mobile body so that an image of a lower side and frontward-backward direction of the mobile body is formed by the optical system in the high-resolution region of the light-receiving surface of the imaging means.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an imaging device for imaging the surroundings of a moving object, and to the moving object and the like. [Background technology]

[0002] Conventionally, vehicles such as automobiles are equipped with door mirrors (side mirrors) for checking the left, right and rear. Meanwhile, in recent years, electronic mirror technology has become known that replaces conventional door mirrors with electronic mirrors, in order to improve visibility in bad weather and reduce blind spots, and in this technology images the surroundings of the vehicle using an imaging device and displays the images on a monitor.

[0003] However, with the conventional angle of view of mirrors, blind spots occur around the vehicle when turning right, passing narrow roads (passing oncoming vehicles), parking in narrow parking spaces, etc. In response to this, Patent Document 1 proposes a plan to eliminate blind spots by providing an imaging device that images the rear of the vehicle and an imaging device that images the area around the vehicle at the left and right door mirror positions. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-168877 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the configuration of the patent document requires that imaging devices for capturing images of the periphery of the vehicle and the periphery of the wheels be provided on each of the left and right sides, which results in problems with installation costs.In addition, alignment processing must be performed to correct positional deviations between the images captured by the imaging devices for capturing images of the periphery of the vehicle and the periphery of the wheels on each of the left and right sides, which results in problems with processing costs.

[0006] Therefore, one object of the present invention is to provide an imaging device capable of capturing an image of the periphery of a moving object with a small number of units. [Means for solving the problem]

[0007] One aspect of the present invention is a method for producing a composition comprising the steps of: In the imaging device, an imaging means including an optical system that forms a low-resolution area on the central side of a light receiving surface and a high-resolution area on the peripheral side of the light receiving surface; The imaging means captures an image of a moving object by using the optical system. Rear and front sides, around the tire and an image of the moving object is formed in the high resolution area of ​​the light receiving surface of the imaging means, and the imaging ranges of the high resolution areas are overlapped with each other. The other They are arranged on both sides of the width, a synthesis means for synthesizing images of areas where the imaging ranges of the high resolution areas overlap each other, It is characterized by: Effect of the Invention

[0008] According to the present invention, it is possible to realize an imaging device capable of capturing an image of the periphery of a moving object with a small number of units. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an imaging device 10 according to a first embodiment. [Diagram 2] 1A and 1B are diagrams illustrating the optical characteristics of the optical system 11 according to the first embodiment. [Diagram 3] 2 is a diagram illustrating a vehicle and an imaging range of an imaging device according to the first embodiment. FIG. [Figure 4] 4(A) is a front view of the vehicle shown in FIG. 3, and (B) is a rear view of the vehicle shown in FIG. [Diagram 5] 1A to 1C are diagrams illustrating an example of an image captured by the imaging device 10 disposed on the right side according to the first embodiment. [Figure 6] 2 is a functional block diagram showing an example of the configuration of a processing unit 13 according to the first embodiment. FIG. [Figure 7] 4 is a flowchart illustrating a process flow of an imaging method performed by the imaging device according to the first embodiment. [Figure 8] 11 is a diagram illustrating a vehicle and an imaging range of an imaging device according to the second embodiment. FIG. [Figure 9] 11 is a diagram showing an example of an image captured by an image sensor 12 according to the second embodiment. FIG. [Figure 10] FIG. 11 is a functional block diagram showing an example of the configuration of a processing unit 13 according to the second embodiment. [Figure 11] 10 is a flowchart illustrating a process flow of an imaging method performed by an imaging device according to a second embodiment. [Figure 12] 13 is a diagram illustrating a vehicle and an imaging range of an imaging device according to a third embodiment. FIG. [Figure 13] 13 is a diagram showing an example of an image captured by an image sensor 12 according to a third embodiment. FIG. [Figure 14] FIG. 11 is a functional block diagram showing an example of the configuration of a processing unit 13 according to a third embodiment. [Figure 15] 11 is a flowchart illustrating a process flow of an imaging method performed by an imaging device according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment. In each drawing, the same members or elements are given the same reference numerals, and duplicated descriptions are omitted or simplified.

[0011] (Embodiment 1) Fig. 1 is a diagram illustrating an imaging device according to a first embodiment of the present invention. The imaging device 10 in Fig. 1 is installed on the side of a vehicle 100 in order to monitor the surroundings of the vehicle 100, and captures images of subjects around the vehicle 100. The imaging device 10 has an optical system 11, an imaging element 12, and a processing unit 13.

[0012] The optical system 11 has at least one lens, and forms an image of light incident from a subject on a light receiving surface (not shown) of an image sensor 12 serving as an image capturing means. The image sensor 12 converts the optical subject image formed by the optical system 11 into an electrical signal, and transmits it to a processing unit 13. The optical characteristics of the optical system 11 will be described in detail later.

[0013] The processing unit 13 is, for example, a system on chip (SOC) / field programmable gate array (FPGA) or the like, and includes a CPU as a computer and a memory as a storage medium. The CPU executes computer programs stored in the memory to perform various controls of the entire system.

[0014] The processing unit 13 also develops the video signal acquired from the imaging device 10 and performs various image processing such as WDR (Wide Dynamic Range) correction, gamma correction, LUT processing, distortion correction, cropping, etc. The processing unit 13 may be provided in an information processing device located away from the vehicle 100.

[0015] Next, a detailed description will be given of the optical characteristics of the optical system 11 of the imaging device 10. Figures 2(A) and (B) are diagrams for explaining the optical characteristics of the optical system 11 according to the first embodiment, and Figure 2(A) is a diagram showing the image height y of the optical system 11 at each half angle of view on the light receiving surface of the imaging element in the form of contour lines.

[0016] 2B is a diagram showing projection characteristics indicating the relationship between image height y, which is the imaging height, and half angle of view θ of optical system 11. In Fig. 2B, the horizontal axis indicates half angle of view (angle between the optical axis and the incident light) θ, and the vertical axis indicates imaging height (image height) y on the light receiving surface (image plane) of imaging device 10.

[0017] 2B, the optical characteristic of the optical system 11 is configured such that the projection characteristic y(θ) changes in the region where the half angle of view θ is small (near the optical axis) and in the region where it is large (region away from the optical axis). In other words, when the increase in image height y per unit half angle of view θ (i.e., the number of pixels per unit angle) is called the resolution, the resolution differs depending on the region.

[0018] This local resolution can be expressed as the differential value dy(θ) / dθ of the projection characteristic y(θ) at the half angle of view θ. In other words, the greater the gradient of the projection characteristic y(θ) in Fig. 2(B), the higher the resolution. Also, the greater the interval between the image heights y at each half angle of view on the contour lines in Fig. 2(A), the higher the resolution.

[0019] In this embodiment, when the half angle of view θ is less than a predetermined half angle of view θa, the area near the center (where the half angle of view θ is less than the predetermined half angle of view θa) formed on the light receiving surface of the sensor is called the low-resolution area 20c, and the outer area where the half angle of view θ is equal to or greater than the predetermined half angle of view θa is called the high-resolution area 20b.

[0020] Also, 20a indicates the entire imaging range (full angle of view). The low-resolution area 20c is a high distortion area, and the high-resolution area 20b is a low distortion area. In the embodiment, the low-resolution area 20c and the high-resolution area 20b of the optical system 11 are configured concentrically, but they do not have to be concentrically. For example, each area may have a distorted shape.

[0021] In addition, the center of gravity of the low-resolution region 20c and the center of gravity of the high-resolution region 20b do not have to coincide with each other, and furthermore, they may be offset from the center of the light receiving surface. In this embodiment, the low-resolution region 20c may be formed on the central side of the light receiving surface of the imaging means, and the high-resolution region 20b may be formed on the peripheral side of the light receiving surface.

[0022] The optical system 11 of this embodiment is configured to satisfy the following equation 1, where f is the focal length, θ is the half angle of view, y is the image height on the image plane, y(θ) is the projection characteristic that expresses the relationship between the image height y and the half angle of view θ, and θmax is the maximum half angle of view of the optical system. 0.2<2×f×tan(θmax / 2) / y(θmax) <0.92...(Math. 1)

[0023] In an optical system with such optical characteristics, the magnification in the radial direction with respect to the optical axis can be adjusted by adjusting the projection characteristic y(θ). This allows the aspect ratio in the radial direction and circumferential direction with respect to the optical axis to be controlled, so that, unlike conventional fisheye lenses, it is possible to obtain a high-resolution image with little distortion in the peripheral area even with a wide angle of view.

[0024] Fig. 3 is a diagram for explaining the imaging range of a vehicle (e.g., an automobile) and an imaging device according to embodiment 1. Fig. 4(A) is a diagram showing the vehicle 100 shown in Fig. 3 as seen from the front, and Fig. 4(B) is a diagram showing the vehicle 100 shown in Fig. 3 as seen from the rear, and shows a schematic vertical angle of view of the imaging device 10. Fig. 3 shows a bird's-eye view of the vehicle 100 from above, and the imaging devices 10 are installed on the right and left sides of the vehicle as a moving object.

[0025] 3, 4(A) and 4(B), the entire imaging range 30a is a schematic representation of the horizontal angle of view of the imaging device 10, and the entire imaging range 30a is disposed so as to include the blind spot diagonally ahead of the driver in the imaging range. In this case, the blind spot may be imaged by either the high-resolution imaging range 30b or the low-resolution imaging range 30c.

[0026] The high-resolution imaging range 30b is a range imaged in the high-resolution region 20b of the imaging device 10, and the low-resolution imaging range 30c is a range imaged in the low-resolution region 20c of the imaging device 10. The entire imaging range 30a corresponds to the entire imaging range (full angle of view) 20a of the imaging device 10.

[0027] 3, 4(A) and 4(B), the angle of view is set so that the vehicle periphery, i.e., the diagonally forward and rearward of the vehicle 100, and the diagonally upward and downward of the vehicle, are included in the high-resolution imaging range 30b of the imaging device 10. The imaging device 10 is disposed so that the high-resolution imaging range 30b includes the tire periphery including the front and rear wheels 31a and 31b of the vehicle and the road surface. That is, the optical system 11 is disposed so that images of the front and rear wheels and the road surface are formed in the high-resolution region.

[0028] That is, one feature of this embodiment is that an imaging means equipped with an optical system is arranged on the moving body so that images of the underside and front and rear directions of the moving body are formed by the optical system in a high-resolution area of ​​the light receiving surface of the imaging means.

[0029] 5 is a diagram showing an example of an image captured by the imaging device 10 arranged on the right side according to embodiment 1. The processing unit 13 processes this image to generate an image to be output to the electronic side mirror as the side rear portion, and an image to be output to the electronic side mirror or some kind of display device as the tire surrounding portion.

[0030] Reference numeral 50a denotes an image area cut out for display on the electronic side mirror as a side rear cut-out area, and shows the side rear of the vehicle. Reference numeral 50b denotes an image area cut out for displaying the tire periphery as a tire periphery cut-out area, and shows the tire periphery on the side of the vehicle. Details of each area will be described later.

[0031] Fig. 6 is a functional block diagram showing a configuration example of the processing unit 13 according to embodiment 1. Note that some of the functional blocks shown in Fig. 6 are realized by causing a CPU serving as a computer (not shown) included in the processing unit 13 to execute a computer program stored in a memory serving as a storage medium (not shown).

[0032] However, a part or all of these may be realized by hardware, which may be a dedicated circuit (ASIC) or a processor (a reconfigurable processor, DSP), etc.

[0033] In addition, the functional blocks shown in Fig. 6 do not have to be built in the same housing, and may be configured by separate devices connected to each other via signal paths. The above explanation regarding Fig. 6 also applies to Figs. 10 and 14.

[0034] 6, when the processing unit 13 receives an image signal from the imaging element 12, first, a development / image processing unit 61 performs development processing and various correction processing such as WDR correction and gamma correction. A cutout unit 52 cuts out a side rear cutout region 50a and a tire peripheral cutout region 50b from the processed image.

[0035] The side rear cut-out region 50a has little distortion due to the optical characteristics of the optical system 11, so a natural display can be obtained even if it is output to an electronic side mirror without distortion correction processing. The cut-out region is preferably cut out from the high resolution region 20b, but is not limited to this, and may partially include the low resolution region 20c with an angle of view less than a predetermined angle.

[0036] It is more preferable to cut out the side rear cutout region 50a so that its center is included in the high resolution region 20b. Since the side rear cutout region 50a is an imaging region displayed on the electronic side mirror, it is preferable to cut out the side rear cutout region 50a from a region that shows the rear in the traveling direction. That is, for example, in the case of the imaging device 10 installed on the right side, it is preferable to cut out the side rear cutout region 50a so that its center is to the right of the center of the imaging region in the view of FIG. 5.

[0037] Since the electronic side mirror is a monitor that simulates a mirror, a process for performing left-right inversion is included in either the processing unit 13 or the electronic side mirror. The video signal of the side rear cut-out area 50a is transmitted to the electronic side mirror via the electronic side mirror video transmission unit 64, and a correction unit (not shown) that performs distortion correction and the like may be provided between the cut-out unit 52 and the electronic side mirror video transmission unit 64.

[0038] 5, the range (area) cut out by the cutout unit 52 may be cut out so as to include the periphery of the front and rear tires of the vehicle. Each area cut out by the cutout unit 52 may be set appropriately according to an area in real space corresponding to the image to be displayed. In other words, the display range and the area in real space may be set by the user.

[0039] Moreover, the cut-out tire peripheral portion cut-out region 50b is subjected to distortion correction processing in the distortion correction section 63. Here, the distortion correction section 63 functions as a distortion correction means for correcting distortion of at least the image obtained from the low resolution region.

[0040] The video signal is then displayed on, for example, a display device for a side view monitor via tire surroundings portion video transmission unit 65. Alternatively, the video signal may be partially superimposed and displayed in a picture-in-picture manner on, for example, the lower side of the screen of an electronic side mirror displaying a side rear video image. These display devices function as display means for cutting out and displaying at least one of the images of the underside and the front and rear directions of the vehicle.

[0041] Fig. 7 is a flowchart for explaining a processing flow of an imaging method by the imaging device according to embodiment 1. Note that the operation of each step of the flowchart in Fig. 7 is performed by a CPU or the like as a computer in the processing unit 13 executing a computer program stored in a memory.

[0042] In step S10, the processing unit 13 performs image processing such as development processing and various corrections on the video signal received from the imaging element 12. Next, in step S11, the processing unit 13 performs processing to cut out areas corresponding to the side rear cut-out area 50a and the tire peripheral portion cut-out area 50b described above.

[0043] Next, in step S12, the electronic side-mirror image transmission unit 64 transmits the image of the cut-out side rear cut-out region 50a to the electronic side-mirror. Next, in step S13, a distortion correction process is performed on the image of the cut-out tire peripheral portion cut-out region 50b. After that, in step S14, the tire peripheral portion image transmission unit 65 transmits the image of the tire peripheral portion cut-out region 50b after the distortion correction process to a display device for displaying the tire peripheral portion.

[0044] In this way, by installing the imaging device 10 facing sideways, it is possible to capture high-resolution images of the periphery of the vehicle and the tire periphery with a small number of imaging devices. Furthermore, by capturing images in the high-resolution area 20b with a predetermined angle of view or more, it is possible to obtain images of the rear side and tire periphery with high resolution and little distortion. In the first embodiment, a tire is described as an example of a wheel, but the wheel is not limited to a tire.

[0045] (Embodiment 2) In the first embodiment, the image capturing device 10 is disposed on the left and right side of the vehicle, and the arrangement and processing that can monitor the periphery of the side of the vehicle and the tire periphery are described. In the second embodiment, the image capturing device arrangement and processing that can monitor the front and side rear of the vehicle and the tire periphery are described. Note that the explanation of the same points as in the first embodiment will be omitted or simplified.

[0046] Hereinafter, a second embodiment of the present invention will be described with reference to Fig. 8. Fig. 8 is a diagram for explaining a vehicle and an imaging range of an imaging device according to the second embodiment, and is a diagram looking down on the vehicle 100 from above.

[0047] 8, the imaging devices 10 are installed on the right front side surface (around the right front end portion) and the left front side surface (around the left front end portion) of the vehicle 100. That is, in the second embodiment, the imaging devices 10 are arranged on both sides in the lateral direction of the front of the moving body, and are arranged so that the front and rear sides of the vehicle 100 as a moving body, and the area around the tires can be monitored.

[0048] 8 shows a schematic representation of the horizontal angle of view of the imaging device 10, and is wider than the entire imaging range 30a in embodiment 1. In addition, the high-resolution imaging ranges 30b of the left and right imaging devices 10 overlap in the forward portion of the vehicle 100, and the overlapping range is shown as a forward overlapping range 70a.

[0049] In this way, in the second embodiment, the image of the moving object in the forward and backward directions in the high-resolution imaging range 30b corresponding to the high-resolution region of the optical system includes an image ahead of the moving object, and the imaging ranges of the high-resolution regions of the multiple imaging devices are arranged to overlap each other. Also, the high-resolution region includes the blind spot of the driver diagonally ahead of the moving object.

[0050] Fig. 9 is a diagram showing an example of an image captured by the imaging element 12 according to the second embodiment, and shows an example of an image captured by the imaging element 12 when the imaging device 10 is arranged as shown in Fig. 8. Fig. 9 shows an example of an image from the imaging device 10 arranged on the right front side. An imaging device 10 is also arranged around the end of the left front side, but a description thereof will be omitted.

[0051] In the second embodiment, the processing unit 13 processes the image as shown in Fig. 9 to generate a right rear side cut-out region 50a as an image to be displayed on the electronic side mirror, and also generates a tire peripheral portion cut-out region 50b of the tire peripheral portion as an image to be displayed on a part of the electronic side mirror or another display device.

[0052] Furthermore, in the second embodiment, an image is generated for displaying on some kind of display device the view ahead of the vehicle 100. The front cut-out region 90a is a region cut out for the view showing the view ahead of the vehicle, and will be described in detail later.

[0053] Fig. 10 is a functional block diagram showing a configuration example of the processing unit 13 according to the embodiment 2. In Fig. 10, when the processing unit 13 receives an image signal from the imaging element 12, first, the development / image processing unit 61 performs development processing and various correction processing such as WDR correction and gamma correction. The cropping unit 101a crops out a side rear cropping region 50a, a tire peripheral portion cropping region 50b, and a front cropping region 90a from the processed image.

[0054] The video signal of the side rear cut-out region 50a is transmitted to an electronic side mirror (not shown) via an electronic side mirror image transmission unit 64. Note that a correction unit (not shown) that performs distortion correction and the like may be provided between the cut-out unit 101a and the electronic side mirror image transmission unit 64.

[0055] The tire peripheral portion cut-out region 50b is subjected to distortion correction processing in a distortion correction unit 63. Thereafter, the video signal is displayed, for example, on a display device for a side view monitor via a tire peripheral portion video transmission unit 65. Alternatively, the video signal may be partially superimposed and displayed in a picture-in-picture manner, for example, on the lower side of the screen of an electronic side mirror that displays a side rear image.

[0056] The front cutout region 90a is a region used for an image displaying the front of the vehicle 100, and the range (region) cut out by the cutout unit 101a may be cut out so as to include the front part of the vehicle. In other words, it is sufficient to cut out the part of the high-resolution imaging range 30b and the low-resolution imaging range 30c captured by the imaging device 10 that corresponds to the front of the vehicle.

[0057] It is sufficient to cut out at least the portion overlapping with the imaging device 10 arranged around the front end of the left and right sides of the vehicle 100, as shown in the front overlapping range 70a. Also, each area cut out by the cutout unit 101a may be set appropriately according to an area in real space corresponding to the image displaying the front of the vehicle. In other words, the range or area in real space displaying the front of the vehicle may be set by the user.

[0058] The image of the cut-out front cut-out region 90a is subjected to distortion correction processing in the distortion correcting unit 63, and then transmitted to the front partial image integrating unit 103a via the front partial image transmitting unit 102a.

[0059] The front partial image integrating unit 103a performs a process of integrating two front partial images generated by two imaging devices 10 arranged around the left and right front side edges of the vehicle 100. As the integration process, a position adjustment process is performed on the images of the two front cut-out areas 90a cut out from the two imaging devices 10 to correct the positional deviation between the images.

[0060] Then, the two images after the alignment process are combined to generate an integrated front image. In this way, the front partial image combination unit 103a functions as a combination unit that combines images of areas where the imaging ranges of the high-resolution areas overlap each other.

[0061] The output of the front partial image integrator 103a is supplied to, for example, a display device arranged on the instrument panel of the vehicle 100 or other information processing device for displaying the integrated front image.

[0062] Fig. 11 is a flowchart for explaining the processing flow of an imaging method by an imaging device according to embodiment 2, and explains the processing flow when forward monitoring is performed in embodiment 2. Note that the operation of each step of the flowchart in Fig. 11 is performed by a CPU or the like as a computer in processing unit 13 executing a computer program stored in a memory.

[0063] In step S10, the processing unit 13 performs image processing such as development processing and various corrections on the video signal received from the imaging element 12. Next, in step S21, the processing unit 13 performs processing to cut out areas corresponding to the side rear cut-out area 50a, the tire peripheral portion cut-out area 50b, and the front cut-out area 90a described above.

[0064] Next, in step S12, the electronic side-mirror image transmission unit 64 transmits the image of the cut-out side rear cut-out region 50a to the electronic side-mirror. Next, in step S13, a distortion correction process is performed on the image of the cut-out tire peripheral portion cut-out region 50b. After that, in step S14, the tire peripheral portion image transmission unit 65 transmits the image of the tire peripheral portion cut-out region 50b after the distortion correction process to a display device for displaying the tire peripheral portion.

[0065] Next, in step S22, distortion correction processing is performed on the image of the cut-out front cut-out region 90a. Then, in step S23, the front partial image transmission unit 102a transmits the front partial image of the front cut-out region 90a that has been subjected to distortion correction processing to the front partial image integration unit 103a, where the images are combined after being aligned.

[0066] The synthesized partial front image is supplied to, for example, a display device arranged on the instrument panel of the vehicle 100 or other information processing device for displaying the integrated front image, as described above, and displayed thereon.

[0067] As described above, by arranging the two imaging devices 10 around the front end portions of the left and right sides, it is possible to capture high-resolution images of the periphery of the vehicle, particularly the sides and rear, the front of the vehicle, and the tire periphery, with a small number of imaging devices. In addition, by capturing images in the high-resolution area 20b with a predetermined angle of view or more, it is possible to obtain high-resolution, less-distorted images of the sides and rear and tire periphery.

[0068] (Embodiment 3) In the third embodiment, an image capturing device arrangement and processing suitable for monitoring the rear and tire periphery will be described. Note that the description of the same points as in the first and second embodiments will be omitted or simplified.

[0069] Hereinafter, a third embodiment of the present invention will be described with reference to Fig. 12. Fig. 12 is a diagram for explaining the vehicle and the imaging range of the imaging device according to the third embodiment, and shows a state in which the vehicle 100 is viewed from above.

[0070] Fig. 12 shows an example of an arrangement suitable for monitoring the rear of the vehicle 100 and the area around the tires. In the third embodiment, the imaging devices 10 are installed on the right rear side (around the right rear end) and the left rear side (around the left rear end) of the vehicle 100, as shown in Fig. 12. That is, in the third embodiment, the imaging devices 10 are arranged on both sides in the lateral width direction at the rear of the moving body, respectively, and an arrangement is provided that allows monitoring of the rear and side rear of the vehicle 100 as a moving body, and the area around the tires.

[0071] In addition, the entire imaging range 30a in Figure 12 shows the horizontal angle of view of the imaging device 10, and the rear part of the vehicle is overlapped by the high-resolution imaging ranges 30b of the left and right imaging devices 10, and the overlapped range is shown as the rear overlapped range 70b.

[0072] Thus, in embodiment 3, the forward and backward images of the moving body in the high-resolution imaging range 30b corresponding to the high-resolution area of ​​the optical system include images behind the moving body, and the imaging ranges of the high-resolution areas of the multiple imaging devices are arranged so as to overlap with each other.

[0073] Fig. 13 is a diagram showing an example of an image captured by the image sensor 12 according to the third embodiment. Fig. 13 shows an image captured by an image capture device disposed at the rear end of the right side surface. An image capture device 10 is also disposed around the end of the left rear side surface, but a description thereof will be omitted.

[0074] In the third embodiment, the processing unit 13 processes an image as shown in FIG. 13 to generate a tire peripheral portion cut-out region 50b of the tire peripheral portion as an image to be displayed on a part of an electronic side mirror or another display device.

[0075] Furthermore, in the third embodiment, an image is generated for displaying on some kind of display device the rear of the vehicle 100. The rear cut-out region 90b is a region cut out for an image displaying the rear of the vehicle, and will be described in detail later.

[0076] FIG. 14 is a functional block diagram showing an example of the configuration of the processing unit 13 according to the third embodiment. In FIG. 14, when the processing unit 13 receives an image signal from the image sensor 12, first, a development / image processing unit 61 performs various correction processes such as development processing, WDR correction, and gamma correction.

[0077] The cropping unit 101b crops out a tire periphery cropped region 50b and a rear cropped region 90b from the processed image. The image signal of the tire periphery cropped region 50b is subjected to distortion correction processing by a distortion correction unit 63, and then displayed on a display device for a side view monitor, for example, via a tire periphery portion image transmission unit 65. Alternatively, it may be partially superimposed and displayed in a picture-in-picture manner, for example, on the lower side of the screen of an electronic side mirror displaying a side rear image.

[0078] The rear cut-out area 90b is an area used for an image displaying the rear of the vehicle 100, and the range (area) cut out by the cut-out unit 101b may be cut out so as to include the rear part of the vehicle. In other words, it is sufficient to cut out the part corresponding to the rear of the vehicle from among the high-resolution imaging range 30b and the low-resolution imaging range 30c captured by the imaging device 10.

[0079] It is sufficient to cut out at least the portion overlapping with the image capturing device 10 arranged around the rear end of the left and right sides of the vehicle 100, as shown in the rear overlapping range 70b. The area cut out by the cutout unit 101b may be set appropriately according to the area in real space corresponding to the image displaying the rear of the vehicle. In other words, the range or area in real space displaying the rear of the vehicle may be set by the user.

[0080] Moreover, the image of the cut-out rear cut-out region 90b is subjected to distortion correction processing in the distortion correcting section 63, and then transmitted to the rear partial image integrating section 103b via the rear partial image transmitting section 102b.

[0081] The rear partial image integrating unit 103b performs processing to integrate two rear partial images generated by two imaging devices 10 arranged around the left and right rear side edges of the vehicle 100. As the integration processing, a position adjustment processing is performed on the images of the two rear cut-out areas 90b cut out from the two imaging devices 10 to correct the positional deviation between the images.

[0082] Then, the two images after the positioning process are synthesized to generate an integrated rear image. In this way, the rear partial image synthesis unit 103b functions as a synthesis unit that synthesizes images of the rear area where the imaging ranges of the high-resolution areas overlap each other.

[0083] The output of the rear partial image integration unit 103b is supplied to, for example, a display device arranged on the instrument panel of the vehicle 100, a rearview mirror monitor, or other information processing device for displaying the integrated rear image.

[0084] Fig. 15 is a flowchart for explaining the processing flow of the imaging method by the imaging device according to the embodiment 3, and explains the processing flow when performing rear monitoring. Note that the operation of each step of the flowchart in Fig. 15 is performed by a CPU or the like as a computer in the processing unit 13 executing a computer program stored in a memory.

[0085] In step S10, the processing unit 13 performs image processing such as development processing and various corrections on the video signal received from the imaging element 12. Next, in step S31, the processing unit 13 performs processing to cut out areas corresponding to the tire periphery cut-out area 50b and the rear cut-out area 90b described above.

[0086] Next, in step S13, distortion correction processing is performed on the image of the cut-out tire periphery region 50b. After that, in step S14, the tire periphery image transmission unit 65 transmits the image of the tire periphery region 50b after the distortion correction processing to a display device for displaying the tire periphery.

[0087] Next, in step S32, distortion correction processing is performed on the image of the rear cutout area 90b that has been cut out. Then, in step S33, the rear partial image transmission unit 102b transmits the rear partial image of the rear cutout area 90b that has been subjected to distortion correction processing to the rear partial image integration unit 103b, where the rear partial image is aligned and then synthesized.

[0088] As described above, the synthesized rear partial image is supplied to and displayed on a display device arranged, for example, on the instrument panel of the vehicle 100, a rearview mirror monitor, or other information processing device for displaying the integrated rear image.

[0089] As described above, by arranging the two imaging devices 10 near the rear end portions of the left and right sides, it is possible to capture high-resolution images of the periphery of the vehicle, particularly the rear of the vehicle and the tire periphery, with a small number of imaging devices. In addition, by capturing an image in the high-resolution area 20b with a predetermined angle of view or more, it is possible to obtain high-resolution, less-distorted images of the rear and tire periphery.

[0090] Although the present invention has been described in detail based on the preferred embodiment, the present invention is not limited to the above embodiment, and various modifications are possible based on the gist of the present invention, and are not excluded from the scope of the present invention. The above embodiment includes the following combinations.

[0091] (Configuration 1) An imaging device having an imaging means equipped with an optical system that forms a low-resolution area on the central side of a light-receiving surface and a high-resolution area on the peripheral side of the light-receiving surface, the imaging means being positioned on the moving body such that images of the lower side and the front and rear directions of the moving body are formed in the high-resolution area of ​​the light-receiving surface of the imaging means by the optical system.

[0092] (Configuration 2) The imaging device according to configuration 1, wherein the image of the moving object in the forward / backward direction includes an image in front of the moving object.

[0093] (Configuration 3) The imaging device according to configuration 1 or 2, wherein the image of the moving object in the forward / backward direction includes an image behind the moving object.

[0094] (Configuration 4) The imaging device according to any one of configurations 1 to 3, wherein the high resolution area includes a blind spot for a driver diagonally ahead of the moving object.

[0095] (Configuration 5) An imaging device described in any one of configurations 1 to 4, characterized in that the moving body has front and rear wheels, and the optical system is arranged so that images of the front and rear wheels and the road surface are formed in the high-resolution area.

[0096] (Configuration 6) Let f be the focal length of the optical system, θ be a half angle of view, y be the image height on the image plane, y(θ) be a projection characteristic expressing the relationship between the image height y and the half angle of view θ, and θmax be the maximum half angle of view of the optical system. 0.2<2×f×tan(θmax / 2) / y(θmax) <0.92 6. The imaging device according to any one of configurations 1 to 5, wherein the following is satisfied.

[0097] (Configuration 7) A moving body, comprising the imaging device according to configuration 1, disposed on a side of the moving body.

[0098] (Configuration 8) A moving body, characterized in that the imaging device according to configuration 1 or 2 is disposed on both sides in the width direction of the moving body, at the front or rear, respectively.

[0099] (Configuration 9) A moving body according to configuration 8, characterized in that the imaging ranges of the high resolution areas of the imaging devices respectively arranged on both sides in the width direction at the front or rear of the moving body are arranged so as to overlap each other.

[0100] (Configuration 10) The moving body according to configuration 9, further comprising a synthesis means for synthesizing images of areas where the imaging ranges of the high resolution areas overlap each other.

[0101] (Configuration 11) The moving body according to any one of configurations 7 to 10, further comprising display means for cutting out and displaying at least one of the images of the lower side and the forward and backward directions of the moving body.

[0102] (Configuration 12) The moving body according to any one of configurations 7 to 11, further comprising a distortion correcting means for correcting distortion of at least the image obtained from the low resolution region.

[0103] In order to realize a part or all of the control in the above-mentioned embodiment, a computer program that realizes the functions of the above-mentioned embodiment may be supplied to an imaging device or the like via a network or various storage media. Then, a computer (or a CPU, MPU, or the like) in the imaging device or the like may read and execute the program. In this case, the program and the storage medium storing the program constitute the present invention. [Explanation of symbols]

[0104] 10: Imaging device 11:Optical system 12: Image sensor 13: Processing section 20b: High resolution area 20c: Low resolution area 30a: Entire imaging range 30b: High-resolution imaging range 30c: Low resolution imaging range 31a: Front wheel 31b: Rear wheel 50a: Lateral posterior cutout area 50b: Cut-out area around the tire 61: Development / image processing section 52: Cutting section 63: Distortion correction section 64: Electronic side mirror image transmission unit 65: Tire surroundings video transmission section 70a: Front overlap range 70b: Rear overlapping range 90a: Front cutout area 90b: Rear cutout area 101a: Cutting section 101b: Cut-out section 102a: Front part video transmission unit 102b: Rear video transmission section 103a: Front image integration unit 103b: Rear image integration unit

Claims

1. an imaging means including an optical system that forms a low-resolution area on the central side of a light receiving surface and a high-resolution area on the peripheral side of the light receiving surface; the imaging means are disposed on both sides in the lateral width direction of the front of the moving body such that images of the sides, rear and front of the moving body and a periphery of a tire are formed in the high resolution areas of the light receiving surfaces of the imaging means by the optical system, and imaging ranges of the high resolution areas overlap each other; a synthesis means for synthesizing images of areas where the imaging ranges of the high resolution areas overlap each other, 1. An imaging device comprising:

2. An imaging means having an optical system that forms a low-resolution area on the central side of a light receiving surface and a high-resolution area on the peripheral side of the light receiving surface, the imaging means are disposed on both sides in the lateral width direction of the rear of the moving body such that images of the sides of the moving body, the rear of the moving body, and a periphery of a tire are formed in the high resolution areas on the light receiving surfaces of the imaging means by the optical system, and imaging ranges of the high resolution areas overlap each other; a synthesis means for synthesizing images of areas where the imaging ranges of the high resolution areas overlap each other, 1. An imaging device comprising:

3. Let f be the focal length of the optical system, θ be the half angle of view, y be the image height on the image plane, y(θ) be the projection characteristic expressing the relationship between the image height y and the half angle of view θ, and θmax be the maximum half angle of view of the optical system. 0.2<2×f×tan(θmax / 2) / y(θmax)<0.92 3. The imaging device according to claim 1, wherein the following is satisfied:

Images