Mobile body, imaging system, and imaging device

Abstract

To provide a movable body and an imaging system that comprise imaging means picking up images of part and the outside of the movable body and can improve convenience.SOLUTION: An imaging system has an imaging apparatus 100 that is provided at the rear of a movable body 10. The imaging apparatus 100 has an optical system 110 and an image pickup device 140 that form a subject image on an imaging surface. The optical system 110 forms an image in a first area having a high imaging magnification, and an image in a second area on a peripheral side having an imaging magnification lower than that of the first area. A light receiving surface of the image pickup device 140 has an area in which light from a subject is incident through the first area along an optical axis of the optical system 110, and an area in which the light is incident through the second area. The imaging apparatus 100 is arranged such that the optical axis of the optical system 110 passes through an opening provided in the movable body 10 and light from the rear of the movable body 100 is incident on the imaging surface.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a moving body equipped with an imaging system and an imaging system mounted on the moving body, and particularly relates to the position and angle of view of an imaging unit.

Background Art

[0002] Examples of moving bodies equipped with an imaging device include vehicles that travel on public roads, such as automobiles. As an imaging device mounted on a vehicle, a camera that captures the front of the vehicle or a camera that captures the rear of the vehicle is used. In particular, a camera mounted on the rear of the vehicle facing the rear is mainly used for rear monitoring during driving. An electronic rearview mirror or inner mirror (hereinafter referred to as an "electronic rearview mirror") having a function to replace a conventional optical rearview mirror has a function of displaying an imaging image (rear image) of the rear of the vehicle. For example, an image captured by a rear monitoring camera when the vehicle is reversing is displayed on the electronic rearview mirror.

[0003] Patent Document 1 discloses a monitoring system that presents a rear image that does not give the user a sense of discomfort even when a camera that captures the rear is installed offset from the center of the rear of the vehicle. A rear monitoring camera is installed on the rear of the vehicle offset from the center line in the longitudinal direction of the vehicle. When generating a rear image of the vehicle from the captured image, image processing is performed so that the vertical center in the rear image substantially coincides with the center line in the longitudinal direction of the vehicle.

[0004] In addition, a camera attached to the rear of a vehicle, particularly a rear monitoring camera when the vehicle is reversing, is generally mounted downward from the center of the vehicle.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the prior art of Patent Document 1, although there is an advantage that a rear image as seen from the center of the vehicle can be displayed when the vehicle is reversing, large-scale image processing is required to generate the rear image. Therefore, a time lag occurs due to the time required for image processing, and there is a concern that a large-scale processing unit is required for image processing. Further, the rear monitoring camera is mounted downward from the center of the rear part of the vehicle and performs wide-angle shooting. If the image quality of a detailed part in the captured image is low, the function of the electronic rearview mirror that displays the rear image may deteriorate. An object of the present invention is to provide a moving body and an imaging system that include imaging means for imaging a part of the moving body and the outside, and that can enhance convenience.

Means for Solving the Problems

[0007] The moving body according to an embodiment of the present invention is a moving body in which imaging means is mounted with respect to an opening, and the imaging means includes an optical system that forms an image of a subject in a first region having a relatively high imaging magnification and an image of a subject in a second region having a relatively lower imaging magnification than the first region, and an imaging element that generates image data from the image of the subject formed on a light receiving surface by the optical system. The imaging means can image a part of the moving body and the outside through the opening with respect to the moving body. a first display means that acquires and displays image data of a first output region where light mainly passing through the first region is incident on a light receiving surface of the imaging device; a second display means that acquires and displays image data of a second output region where light mainly passing through the second region is incident on the light receiving surface of the imaging device; and a control means that controls to display an image based on the image data of the second output region having a wider range than the first output region on the second display means, wherein the imaging device acquires the image data of the second output region by receiving light passing through part or all of the first region and part of the second region It is characterized by this.

Effects of the Invention

[0008] According to the present invention, it is possible to provide a moving body and an imaging system that include imaging means for imaging a part of the moving body and the outside, and that can enhance convenience.

Brief Description of the Drawings

[0009]

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Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The present invention is applicable to a moving body (vehicle, ship, other moving device) provided with an opening at an end. In the embodiment, an example of an imaging system in which one imaging device is arranged near the opening at the rear of the vehicle is shown. The imaging unit is arranged at a position where the optical axis of the optical system passes through the opening at the end in the direction opposite to the traveling direction of the vehicle, and it is possible to acquire a rear image including an image of a part of the vehicle.

[0011] [First Embodiment] FIG. 1 is a side view of the moving body and the imaging system according to this embodiment. FIG. 2 is a system configuration diagram of the imaging system according to this embodiment. An imaging device 100 is mounted on the moving body 10. The moving body 10 of this embodiment is a vehicle traveling on a public road such as an automobile, in which a driver 500 is on board and it can move to an arbitrary place. The front-rear direction along the traveling direction of the moving body 10 is defined as the Y-axis direction, and the vertical direction perpendicular to the ground is defined as the Z-axis direction. Regarding the Y-axis direction, the front side is defined as the +Y side, and the rear side is defined as the -Y side. Also, regarding the Z-axis direction, the upper side is defined as the +Z side, and the lower side is defined as the -Z side.

[0012] The imaging device 100 has an optical system 110 that forms an optical subject image from external light. The optical system 110 can form images in the first and second regions around its optical axis 115. The first region is a high-resolution region where the optical imaging magnification is relatively high, and the second region is a peripheral resolution region where the optical imaging magnification is lower compared to the high-resolution region. The high-resolution region and the peripheral resolution region will be described later with reference to FIG. 3.

[0013] The imaging device 100 includes an imaging element 140 and a signal processing unit 145. The imaging element 140 photoelectrically converts the light captured by the optical system 110 into an electrical signal. The external light incident on the optical system 110 reaches the imaging element light receiving surface (hereinafter referred to as the light receiving surface) 141 and is converted into an electrical signal. The signal processing unit 145 performs a process of converting the electrical signal from the imaging element 140 into a predetermined image signal. The signal processing unit 145 transmits the converted image signal to the image processing device 160. In addition to this embodiment, there is also a form in which the image processing device 160 includes a signal processing unit 145 inside. Also, a configuration in which the imaging device 100 and the image processing device 160 are integrated may be used.

[0014] The image processing device 160 includes a control unit 170 and a memory unit 180. The control unit 170 includes a CPU (Central Processing Unit) and performs controls such as image processing, various signal controls, and selection of an output destination. A plurality of display units that respectively display images with different angles of view are connected to the image processing device 160. For example, the control unit 170 performs image display control of the first display unit 400 and the second display unit 410. The memory unit 180 temporarily stores and stores image data and the like.

[0015] In FIG. 1, the imaging range 300 of the high-resolution region and the imaging range 310 of the peripheral resolution region related to the imaging device 100 are shown separately. The imaging range 300 of the high-resolution region is an imaging range centered on the optical axis 115 of the optical system 110. The imaging range 310 of the peripheral resolution region is configured such that the region on the +Z side of the moving body 10 with respect to the optical axis 115 of the optical system 110 is narrow and the region on the -Z side is wide. That is, the imaging range in the first direction orthogonal to the optical axis 115 of the optical system 110 is relatively narrow, and the imaging range in the second direction, which is the direction opposite to the first direction, is relatively wide.

[0016] FIG. 3 is a schematic diagram showing the positional relationship between the imaging device 140 and the subject image formed by the optical system 110. The optical axis 115 corresponds to the optical center of the optical system 110 of the imaging device 100. With respect to the optical axis 115, the center 142 of the light-receiving surface of the imaging device 140 is arranged at a position shifted vertically. In FIG. 3, the center 142 of the light-receiving surface is located downward of the optical axis 115. The center 142 of the light-receiving surface is the center of the light-receiving surface 141 of the imaging device 140 which is a photoelectric conversion area.

[0017] The optical system 110 has a high-resolution area 120 and a peripheral resolution area 130. For the high-resolution area 120, signals are acquired from the imaging device 140 and the signal processing unit 145 performs conversion of the image signals to generate an image of the imaging range 300 of the high-resolution area. Also, for the peripheral resolution area 130, signals are acquired from the imaging device 140 and the signal processing unit 145 performs conversion of the image signals to generate an image of the imaging range 310 of the peripheral resolution area.

[0018] By intentionally shifting the center 142 of the light-receiving surface of the imaging device 140 with respect to the optical axis 115, it becomes possible to set the imaging range 310 of the peripheral resolution area shown in FIG. 1 asymmetrically in the vertical direction (Z-axis direction) with respect to the optical axis 115. The imaging device 100 is arranged at the rear part of the moving body 10. That is, the imaging device 100 is located near the upper end within the opening range of the rear window portion 50 where the visual field of the driver 500 who operates the moving body 10 can be secured. This position is close to the line-of-sight height of the driver 500 and is suitable for the driver 500 to look over the rear. Also, the imaging range 310 of the peripheral resolution area includes the tangent line 350 between the outermost front lens of the optical system 110 of the imaging device 100 and the rear exterior portion of the moving body 10. This indicates that a part of the moving body 10 is always included in the imaging range 310 of the peripheral resolution area.

[0019] The image signal input from the imaging device 100 to the image processing device 160 (Fig. 2) is processed under the control of the control unit 170. As shown in Fig. 3(A), data of the first output region 330 indicated by the dotted line frame, which mainly includes the high-resolution region 120 imaged on the light-receiving surface 141 of the imaging element 140, is cut out, and the data of this region is output to the first display unit 400. Similarly, data of the second output region 340 indicated by the dotted line frame, which encompasses the first output region 330, is output to the second display unit 410. The second output region 340 is a region cut out in a wider range than the first output region 330 or a region including the entire image. The first display unit 400 has a display device for performing rearward confirmation and monitoring during normal driving, such as an electronic rearview mirror, and is disposed near the eye level of the driver 500. Further, the first display unit 400 has a room mirror mode having a function as a mirror and an electronic rearview mirror mode using the image output from the imaging device 100. On the other hand, the second display unit 410 has a display device for peripheral confirmation use, such as a back guide of a car navigation device, and is mainly disposed below the eye line of the driver 500 in the moving body 10.

[0020] Regarding the high-resolution region 120 and the peripheral resolution region 130, for example, as shown in Fig. 3(A), the high-resolution region 120 is entirely within the light-receiving surface 141, and the peripheral resolution region 130 covers the entire light-receiving surface 141. Alternatively, as shown in Fig. 3(B), there is a configuration in which a part of the high-resolution region 120 protrudes from the light-receiving surface 141. Further, as shown in Fig. 3(C), there is a configuration in which both the high-resolution region 120 and the peripheral resolution region 130 cover only a part of the light-receiving surface 141. Due to the relationship between the high-resolution region 120 and the peripheral resolution region 130 and the light-receiving surface 141, the imaging range 300 of the high-resolution region and the imaging range 310 of the peripheral resolution region change. Also, in this embodiment, the optical axis 115 of the optical system 110 and the center 142 of the light-receiving surface are vertically displaced, but depending on the purpose, for example, a configuration in which they are horizontally displaced or a configuration in which they are obliquely displaced is also possible.

[0021] Referring to FIGS. 5 to 8, the display process of the imaging system will be described with a comparative example. FIG. 4 is a top view of the moving body 10 traveling on the road and the moving bodies around it. The traveling direction of the moving body 10 is downward in FIG. 4. FIG. 5 is a side view showing the moving body of the comparative example, and FIG. 6 is a top view of the moving body of the comparative example and the subsequent moving body in the situation of FIG. 4. FIG. 7 shows a display example of the second display unit 410 mounted on the moving body of the comparative example in the situation of FIG. 4. FIG. 8 shows a display example of the first display unit 400 mounted on the moving body of the comparative example in the situation of FIG. 4.

[0022] As shown in FIG. 5, both a first display unit imaging device 1000 for checking and monitoring the rear during traveling and a second display unit imaging device 1010 for rear guidance and peripheral confirmation are attached to the moving body 10 of the comparative example. Hereinafter, the first display unit imaging device is referred to as the first camera, and the second display unit imaging device 1010 is referred to as the second camera. The field of view of the first camera 1000 is a first imaging range 1300 having a first optical axis 1115 parallel to the horizontal direction. The field of view of the second camera 1010 is a second imaging range 1310 having a second optical axis 1116 directed downward toward the rear with respect to the horizontal direction. That is, it is composed of imaging devices having different optical axes and imaging ranges according to their respective uses. Usually, the second imaging range 1310 is arranged so that an image of the moving body 10 is included in a part thereof. Therefore, the driver 500 can confirm the positional relationship between the moving body 10 and the object behind it.

[0023] The first camera 1000 and the second camera 1010 shown in FIG. 5 are arranged on the lower side (-Z side) at the rear of the moving body 10. For example, assume a case where vehicles A550, B551, C552, and D553 exist behind the moving body 10 as shown in FIG. 4. In this case, as shown in FIG. 8, a part of the following vehicle A550 is displayed on the first display unit 400, resulting in a display image with the upper part missing. Also, the image of the vehicle B551 behind it is not displayed. Further, when an image by the headlight of the vehicle A550 is displayed on the first display unit 400, there may be problems such as blocking the driver 500's view due to glare. Also, in the rearview mirror mode and the electronic rearview mirror mode of the first display unit 400, the eye height of the driver 500 and the arrangement height of the first camera 1000 are different, and the viewing height in each mode is different, so the appearance changes. Therefore, at the moment when the driver 500, who is accustomed to the function of the rearview mirror, switches the mode of the first display unit 400 from the rearview mirror mode to the electronic rearview mirror mode, there is a possibility that the driver may not be able to grasp the situation behind immediately.

[0024] Also, a part of the moving body 10 is displayed on the lower side by the second display unit 410 (FIG. 7), and the driver 500 can confirm the positional relationship with the following vehicle A550. However, since the second camera 1010 is arranged at a low position, it is difficult for the driver 500 to confirm the situation behind the moving body 10 without discomfort. Also, as shown in FIG. 6, it is necessary to arrange the first camera 1000 and the second camera 1010 so as not to overlap. Since the viewpoints of the images of the first display unit 400 and the second display unit 410 are shifted in the left-right direction corresponding to the difference in camera arrangement, there may be problems such as only a part of the following vehicle C552 being reflected on the display screen (FIGS. 7 and 8), making it difficult to visually recognize.

[0025] Referring to FIGS. 9 to 11, the display process of the imaging system in this embodiment will be described. FIG. 9 is a top view of the moving body 10 in the situation of FIG. 4. FIG. 10 shows a display example of the second display unit 410 mounted on the moving body 10 in the situation of FIG. 4. FIG. 11 shows a display example of the first display unit 400 mounted on the moving body 10 in the situation of FIG. 4.

[0026] As shown in Fig. 9, one imaging device 100 is arranged at the rear part of the moving body 10 of this embodiment. The imaging device 100 is mounted above the rear window portion 50 of the moving body 10 (Figs. 1 and 11). Therefore, not only the following vehicle A550 of the moving body 10 but also the image of the vehicle B551 behind it can be displayed on the first display portion 400 (Fig. 11), and the driver 500 can recognize its presence. Also, since the imaging device 100 is arranged at a position close to the eye level of the driver 500, the driver 500 can easily recognize the states of the following vehicles C552 and D553 and their positional relationships. Further, when the first display portion 400 is switched from the rearview mirror mode to the electronic mirror mode, the viewing height is close (the difference in viewing height is small), so there is little sense of discomfort for the driver 500 when viewed.

[0027] As shown in Fig. 10, also in the second display portion 410, since a part of the image of the moving body 10 is displayed on the lower side, it is easy to confirm the positional relationship with the following vehicle A550. Since the images of the following vehicles B551, C552, and D553 are images seen from a high position, the driver 500 can more easily recognize the rear positional relationships.

[0028] As shown in Fig. 9 and described with reference to Fig. 1, the imaging device 100 is composed of one unit and can output image signals in different ranges according to the application. There is no lateral deviation between the first display portion 400 and the second display portion 410. Even when images are displayed on both the first display portion 400 and the second display portion 410, the driver 500 does not feel discomfort and is less likely to make a recognition error.

[0029] In this embodiment, the case where the driver 500 views the display screen has been described. However, for example, in machine recognition or the like, if the arrangement of the imaging device 100 is the same as described above, it is an arrangement that is easy to recognize and can be applied to automatic driving or the like.

[0030] FIG. 12 is a side view showing the relationship between the imaging ranges of the moving body and the imaging system in this embodiment. The angle of view of the imaging range 310 of the peripheral resolution region of the imaging device 100 in the Y-Z plane is denoted as α, and the angle of view of the imaging range 300 of the high-resolution region is denoted as β. The relationship is "α > β". Also, the angle formed by the line P indicating the upper end of the imaging range 310 of the peripheral resolution region and the line Q in contact with the front end (the outermost part) of the optical system 110 of the imaging device 100 and the rear end of the moving body 10 is denoted as γ. The imaging device 100 is arranged such that the relationship "α ≥ γ" holds. As described above, since an image of a part of the moving body 10 is displayed on the second display unit 410, the positional relationship around the moving body 10 becomes easy to understand.

[0031] FIG. 13 is a side view showing the relationship between the installation position of the imaging device 100 at the rear part of the moving body and the ground in this embodiment. FIG. 13(A) schematically shows the rear part of the moving body 10 and the road surface. Based on the rear end of the moving body 10, the distance to the point where the line Q in contact with the front end of the optical system 110 of the imaging device 100 and the moving body 10 intersects the road surface is denoted as A. For example, the relationship is "A ≤ 30 [cm]". The upper limit value for the distance A can be set to any value. This condition defines the range outside the angle of view of the imaging device 100, and by making the upper limit value smaller, it is possible to narrow the dead angle range.

[0032] FIG. 13(B) shows the case where the imaging device 100 is arranged more on the +Y side within the opening range in the Y-axis direction of the rear window portion 50 compared to FIG. 13(A). That is, the imaging device 100 is arranged on the front side of the rear end of the moving body 10 in the traveling direction of the moving body 10, for example, inside the moving body 10. Even in this case, it is possible to arrange the imaging device 100 within the range where the relationship "A ≤ 30 [cm]" holds. Since the front end (the outermost part) of the optical system 110 of the imaging device 100 is arranged on the +Y side of the rear end of the moving body 10, there are merits such as avoiding damage or breakage of the imaging device 100 by flying stones and ensuring designability.

[0033] FIG. 14 shows an arrangement example when the imaging system of this embodiment is applied to vehicles of various shapes. Also in the vehicles of each vehicle type shown in FIGS. 14(A), (B), and (C), by arranging the imaging device 100 within the opening range in the Y-axis direction of the rear window portion 50 so that the relationship of "α≧γ" and "A≦30 [cm]" is satisfied, the same effect as described above can be obtained. For example, in the large vehicle shown in FIG. 14(C), the angle γ formed by the imaging angle α (not shown) of the imaging range 310 in the peripheral resolution region of the imaging device 100, the line P indicating the upper end of the imaging range 310, and the line Q that the front end portion of the optical system 110 contacts the moving body 10 satisfies the relationship of "α≧γ". The distance A from the front end portion of the optical system 110 to the point where the line Q that contacts the vehicle rear end intersects the road surface with reference to the rear end portion of the large vehicle satisfies the relationship of "A≦30 [cm]". Note that the present embodiment can be similarly applied not only to the example of FIG. 14 but also, for example, when an opening is provided on the side surface of the moving body.

[0034] FIG. 15 is a side view showing the relationship between the moving body with the back door portion 60 opened and an obstacle in the moving body of the comparative example. The case where the moving body 10 includes a back door portion 60 including a rear window portion 50 is shown. As an example of an opening / closing member capable of opening / closing operation at the rear part of the vehicle, a back door portion 60 provided with a rear window shield on the rear window portion 50 is shown. In the conventional obstacle detection method, it is possible to detect the rear of the vehicle. However, for example, when the back door portion 60 is opened as shown in FIG. 15(A), there is a possibility of contacting an obstacle 700 such as a tree branch above. Also, in a parking lot with a low ceiling as shown in FIG. 15(B), although there is no contact with the moving body 10 itself, there is a possibility of contacting an obstacle 710 above when the back door portion 60 is opened.

[0035] Referring to FIGS. 16 and 17, the relationship between the moving range of the back door portion 60 and the imaging range in the moving body 10 of this embodiment will be described. FIG. 16 is a side view showing the moving range (hereinafter simply referred to as the moving range) 600 when the back door is opened and closed. FIG. 17 is a side view showing the relationship between the moving range 600 when the back door portion 60 is opened and closed and the imaging range of the imaging device 100. In FIG. 17, the line S is a straight line parallel to the Z-axis direction in contact with the rear end in the Y-axis direction of the moving body 10, and the line P is a straight line indicating the upper end of the imaging range 310 of the peripheral resolution area.

[0036] As shown in FIG. 17(A), when the back door portion 60 moves from the closed state to the open state, it moves over the moving range 600. FIG. 17(B) is an enlarged view of the upper rear portion of the moving body 10 shown in FIG. 17(A). The imaging device 100 is arranged near the upper end within the opening range in the Y-axis direction of the rear window portion 50. Thereby, the imaging range 310 of the peripheral resolution area of the imaging device 100 can entirely encompass the moving range 600 on the rear side, that is, the -Y side, of the line S indicating the rear end position in the Y-axis direction of the moving body 10.

[0037] As shown in FIG. 17(B), in particular, most of the upper end surface 610 of the moving range 600 is in the region below (-Z side) the line P indicating the upper end of the imaging range 310 and behind (-Y side) the line S. That is, in the state shown in FIG. 17, the imaging device 100 is arranged and the imaging range 310 of its peripheral resolution area is set. Thereby, it becomes possible to photograph the entire moving range 600 behind the rear end of the moving body 10 and check the photographed image. Also, since the imaging range 310 of the peripheral resolution area is set to always include a part (rear end portion) of the moving body 10, it becomes possible to check the positional relationship between the moving body 10 and the object behind it. In FIG. 17, as a representative example, a so-called hatchback type back door is illustrated, but the present invention is not limited to this example, and it can be similarly applied to, for example, a single-opening or double-opening type back door, a gullwing type back door.

[0038] According to this embodiment, it is possible to provide a moving body and an imaging system that have an optical system and an angle of view that can be used for both the rear monitoring camera and the display unit for the captured rear image, and are arranged in a convenient position.

[0039] [Second Embodiment] Referring to FIGS. 18 to 21, the second embodiment will be described. In this embodiment, mainly the differences from the first embodiment will be described, and for the components similar to those in the first embodiment, the reference numerals used in the first embodiment will be reused, and their detailed descriptions will be omitted.

[0040] FIG. 18 is a system configuration diagram of the imaging system in this embodiment. The difference from the first embodiment is that it includes a warning notification unit 190 and a distance measurement unit 200. The warning notification unit 190 is electrically connected to the control unit 170 of the image processing device 160, and performs warning notification processing under the control of the control unit 170. The warning notification unit 190 includes, for example, a buzzer that generates sound and outputs a warning voice to the driver 500 and passengers. Alternatively, the warning notification unit 190 notifies the driver 500 and passengers by outputting a warning display signal to the first display unit 400 or the second display unit 410. Note that a known configuration for alerting the driver 500 etc. can be used.

[0041] The distance measurement unit 200 is electrically connected to the control unit 170 of the image processing device 160, and measures the distance to an object around the moving body 10. Regarding the distance measurement unit 200, a device that calculates distance information from the information acquired from the imaging element 140 of the imaging device 100 is known. In this embodiment, separately, a distance measurement unit 200 is provided, which acquires distance information of the target object and outputs it to the control unit 170.

[0042] FIG. 19 is a flowchart for explaining the control of the warning operation in this embodiment. When the mobile body and the imaging system are in an operating state, the following warning operation is started at an arbitrary timing. In S610, the control unit 170 performs a process of acquiring the image information from the imaging device 100 and the distance information from the distance measurement unit 200, respectively. In S620, the control unit 170 determines whether there is an object within the movement range 600 of the back door during opening and closing based on the acquired information. If it is determined that there is an object within the movement range 600 of the back door, the process proceeds to S630. If it is determined that there is no object within the movement range 600 of the back door, the warning operation ends.

[0043] In S630, the control unit 170 determines whether the mobile body 10 is moving backward. If it is determined that the mobile body 10 is moving backward, the process proceeds to S650. If it is determined that the mobile body 10 is not moving backward, the process proceeds to S640. In S650, the warning notification unit 190 warns that there is an object within the movement range 600 of the back door, and then ends the warning operation.

[0044] In S640, the control unit 170 determines whether the mobile body 10 is stopped. If it is determined that the mobile body 10 is not stopped, the warning operation ends. If it is determined that the mobile body 10 is stopped, in S650, the warning notification unit 190 warns that there is an object within the movement range 600 of the back door, and then ends the warning operation.

[0045] The processes of S610 to S650 above are appropriately repeated in response to changes in predetermined conditions, such as a change in the image information from the imaging device 100 or the elapse of a predetermined time. Also, for the process of S620, the processes of S630 and S640 may have a relationship opposite to the order shown in FIG. 19. In this embodiment, it is possible to call the attention of the driver, passengers, or a user who tries to open the back door, and prompt them to perform the opening and closing operation of the back door more carefully or not to open and close the back door.

[0046] Next, a system with an additional door operation control unit 250 shown in FIG. 18 will be described. The door operation control unit 250 is electrically connected to the control unit 170 and controls the opening and closing operation of the back door unit 60. For example, the door operation control unit 250 electrically controls the opening and closing operation of the back door unit 60 using power such as a motor, or controls the opening and closing angle of the back door unit 60. Alternatively, the door operation control unit 250 has a control function of an electronic lock that simply enables or disables the opening and closing itself.

[0047] FIG. 20 is a flowchart for explaining the processing in the system including the door operation control unit 250. The difference from FIG. 19 is that the processing of S660 is added. After the warning processing is executed at S650, the process proceeds to S660. That is, when an object exists in the movement range 600 during the opening and closing of the back door and the moving body 10 is moving backward or stopped, not only a warning is issued at S650, but also the operation of the back door is restricted at S660. The restriction of the operation of the opening and closing member performed by the door operation control unit 250 refers to, for example, prohibiting the opening and closing of the back door, or performing opening and closing control within a range where the back door does not contact the object. A specific example will be described with reference to FIG. 21.

[0048] FIG. 21 is a diagram for explaining the restriction of the operation performed by the door operation control unit 250. If this operation restriction is not performed, the back door unit 60 opens to the normal opening and closing position 750 shown by the dotted line and thus contacts the obstacle 700. On the other hand, due to the operation restriction performed by the door operation control unit 250, it becomes possible to control the back door unit 60 to open until before (in a non-contact state) contacting the obstacle 700. Since damage to the vehicle can be avoided or suppressed, there is an advantage that the user can safely open and close the back door unit 60.

[0049] As described above, the present invention has been described in detail based on the preferred embodiments. However, the present invention is not limited to these specific embodiments, and various embodiments within the scope not departing from the gist of the present invention are also included in the technical scope of the present invention. Some of the above-described embodiments may be appropriately combined.

Explanation of Reference Numerals

[0050] 10 Mobile body 100 Imaging device 110 Optical system 140 Image sensor 145 Signal processing unit 160 Image processing device 170 Control unit 190 Warning notification unit 250 Door operation control unit 400, 410 Display unit

Claims

1. A moving body equipped with imaging means for an opening, wherein the imaging means includes an optical system that forms images of subjects in a first region with a relatively high imaging magnification and images of subjects in a second region with a relatively lower imaging magnification than the first region; an image sensor that generates image data from the images of the subjects formed on a light-receiving surface by the optical system, and has the imaging means can image a part of the moving body and the outside through the opening with respect to the moving body, a first display means that acquires and displays image data of a first output region where light mainly passing through the first region is incident on the light-receiving surface of the image sensor; a second display means that acquires and displays image data of a second output region where light mainly passing through the second region is incident on the light-receiving surface of the image sensor; and control means for controlling the display of images on the first and second display means, the image sensor acquires image data of the second output region by receiving light passing through part or all of the first region and part of the second region, and the control means performs control to display, on the second display means, an image based on the image data of the second output region having a wider range than the first output region. A moving body characterized by this.

2. A moving body equipped with imaging means for an opening, wherein it is provided with an opening / closing member that can be opened and closed at an end of the moving body and has the opening, the imaging means is disposed near the opening / closing member, and can image a part of the moving body and the outside through the opening with respect to the moving body, the imaging means includes an optical system that forms images of subjects in a first region with a relatively high imaging magnification and images of subjects in a second region with a relatively lower imaging magnification than the first region; An imaging device that generates image data from an image of the subject formed on the light-receiving surface by the optical system, and has The first imaging range corresponding to the first region and the second imaging range corresponding to the second region include the movement range of the opening / closing member, and the second imaging range includes a range corresponding to a part of the opening / closing member in its open state. A moving body characterized by the above. **Claim 3** The imaging device has a first output region on the light-receiving surface where light mainly passing through the first region is incident, and a second output region where light mainly passing through the second region is incident. The moving body according to claim 2, characterized by the above. **Claim 4** On the light-receiving surface, light passing through the first region is incident, and a part of the light passing through the second region is incident, or a part of the light passing through the first region and a part of the light passing through the second region are incident. The moving body according to any one of claims 1 to 3, characterized by the above. **Claim 5** The center of the light-receiving surface is shifted in a predetermined direction with respect to the optical axis of the optical system. The imaging means has a first imaging range corresponding to the first region and a second imaging range corresponding to the second region. The moving body according to claim 1, characterized by the above. **Claim 6** The first imaging range is an imaging range centered on the optical axis of the optical system. The second imaging range is a peripheral imaging range with respect to the first imaging range and is set asymmetrically with respect to the optical axis. The moving body according to claim 2 or 5, characterized by the above. **Claim 7** In the second imaging range, the range in the second direction opposite to the first direction is wider than the range in the first direction orthogonal to the optical axis of the optical system. The moving body according to claim 6, characterized by the above. **Claim 8** First display means for acquiring and displaying the image data of the first output area Second display means for acquiring and displaying the image data of the second output area, comprising The moving body according to claim 3, characterized in that

9. Control means for controlling the display of images on the first and second display means The control means performs control to display, on the second display means, an image based on the image data of the second output area having a wider range than the first output area The moving body according to claim 8, characterized in that

10. The imaging element acquires the image data of the second output area by receiving light passing through part or all of the first area and light passing through part of the second area The moving body according to claim 9, characterized in that

11. The imaging means is arranged on the front side of the rear end portion of the moving body in the traveling direction of the moving body The moving body according to any one of claims 1 to 10, characterized in that

12. The imaging means is arranged inside the moving body The moving body according to any one of claims 1 to 11, characterized in that

13. The moving body is provided with an opening / closing member that can be opened and closed at an end portion of the moving body and has the opening The imaging means is arranged in the vicinity of the opening / closing member The moving body according to claim 1 or 5, characterized in that

14. The imaging means has a first imaging range corresponding to the first area and a second imaging range corresponding to the second area The first and second imaging ranges include the moving range of the opening / closing member The moving body according to claim 13, characterized in that

15. Notification means for notifying the presence of an object in the moving range from the image acquired by the imaging means, or restriction means for restricting the operation of the opening / closing member when an object is present in the moving range The moving body according to any one of claims 2, 3, 8, 9, 10, and 14, characterized by the above.

16. An imaging system mounted on the moving body according to any one of claims 1 to 15, comprising: The imaging means; Signal processing means for processing the signal acquired by the imaging means. The imaging system is characterized by the above.

17. An imaging device having the imaging means and the signal processing means; An image processing device for generating and outputting an image signal from the output of the signal processing means. The imaging system according to claim 16, characterized by the above.

18. A plurality of display means for displaying the image signal generated by the image processing device, The plurality of display means display images with different viewing angles. The imaging system according to claim 17, characterized by the above.

19. An imaging device mounted on the moving body according to any one of claims 1 to 15, comprising: The imaging means; Signal processing means for processing the signal acquired by the imaging means. The imaging device is characterized by the above.

20. The imaging means is disposed at a position where the optical axis of the optical system passes through the opening with respect to the moving body. The imaging device according to claim 19, characterized by the above.

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