Camera arrangement structure for saddle-ridden vehicle

Abstract

This camera arrangement structure for a saddle-ridden vehicle (1, 1') defines the location of a first imaging lens (104R) of a first camera (100R) in a vehicle width direction and the location in the up-down direction so that a conical outer contour (106R) of a first angle of view (AR) corresponding to the location of the first imaging lens (104R) in the front-back direction will not interfere with an outer site (PR, PR') that is located further forward than the first imaging lens (104R) and outward on a vehicle body (10, 30) of the saddle-ridden vehicle (1, 1'), and defines the location of a second imaging lens (104L) of a second camera (100L) in the vehicle width direction and the location in the up-down direction so that a conical outer contour 106L of a second angle of view AL corresponding to the location of the second imaging lens (104L) in the front-back direction will not interfere with an outer site (PL, PL') that is located further forward than the second imaging lens (104L) and outward on the vehicle body (10, 30) of the saddle-ridden vehicle (1, 1').

Description

Camera arrangement structure for saddle-type vehicle

[0001] The present invention relates to a camera arrangement structure for a saddle-ride type vehicle.

[0002] In recent years, from the viewpoint of improving the safety of vehicles and the traffic environment in which they travel, research and development has been conducted on advanced driver assistance systems (ADAS) that have a function to assist the driving operation of the vehicle driver. Since such advanced driver assistance systems require information about the environment surrounding the vehicle, a configuration has been proposed in which information about the environment surrounding the vehicle is detected by a camera or the like, and the detected information is used to assist the driving operation of the vehicle driver.

[0003] Under these circumstances, Patent Document 1 discloses an optical sensor arrangement structure 2 for a saddle-ride type vehicle 1, which includes an optical sensor 30 which is a camera, and an air guide member 4 which is arranged in front of the head pipe, covers the front part of the vehicle body, and has an inlet 40 formed therein for guiding the wind from the vehicle rearward, with the optical sensor 30 being arranged to overlap the inlet 40 when viewed from the front.

[0004] Patent No. 6628411

[0005] However, according to the inventor's investigations, although Patent Document 1 aims to improve the appearance while ensuring the detection area of ​​the optical sensor in the optical sensor arrangement structure for a saddle-ride type vehicle, it is thought that in order to properly arrange the camera at the inlet, a special configuration specific to the vehicle is required, such as adjusting the shape of the inlet including the air guide member and the shape of the cowl, which is part of the vehicle body surrounding the inlet, to match the angle of view (field of view) of the camera. In other words, it is thought that there is room for improvement in such a configuration in terms of improving the mountability of the camera on a saddle-ride type vehicle and capturing images of the surrounding environment in an appropriate imaging range that is not obstructed by the vehicle body.

[0006] The present invention was made after taking the above considerations into account, and aims to provide a camera placement structure for a saddle-ride type vehicle that can improve the mountability of a camera on a saddle-ride type vehicle and can capture images of the surrounding environment in an appropriate imaging range that is not obstructed by the vehicle body.

[0007] In order to achieve the above object, one aspect of the present invention is a camera arrangement structure for a saddle-ride type vehicle that is equipped with a stereo camera that captures images of a surrounding environment and that is defined in a longitudinal direction, a vehicle width direction, and an up-down direction, wherein the stereo camera has a first camera and a second camera that is separate from the first camera and faces the first camera in the vehicle width direction, the first camera has a first angle of view and a first imaging lens, and an outer edge of the first angle of view that corresponds to a position of the first imaging lens in the longitudinal direction is forward of the first imaging lens in the longitudinal direction and is positioned forward. The position of the first imaging lens in the vehicle width direction and the position in the up-down direction are specified so as not to interfere with parts located outward on the body of the saddle-ride type vehicle, and the second camera has a second angle of view and a second imaging lens, and the position of the second imaging lens in the vehicle width direction and the position in the up-down direction are specified so that the outer edge of the second angle of view corresponding to the position of the second imaging lens in the fore-and-aft direction is forward of the second imaging lens in the fore-and-aft direction and does not interfere with parts located outward on the body of the saddle-ride type vehicle.

[0008] According to the camera arrangement structure for a saddle-ride type vehicle according to one aspect of the present invention, the vehicle width and vertical positions of the first imaging lens are specified so that the outer edge of the first angle of view, which corresponds to the fore-and-aft position of the first imaging lens of the first camera, is located forward of the first imaging lens and does not interfere with parts located outboard on the body of the saddle-ride type vehicle, and the vehicle width and vertical positions of the second imaging lens are specified so that the outer edge of the second angle of view, which corresponds to the fore-and-aft position of the second imaging lens of the second camera, is located forward of the second imaging lens and does not interfere with parts located outboard on the body of the saddle-ride type vehicle. This improves the ease with which the camera can be mounted on a saddle-ride type vehicle and enables the surrounding environment to be captured in an appropriate imaging range that is not obstructed by the vehicle body.

[0009] FIG. 1 is a front view showing the front of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied, for conceptually explaining the camera arrangement structure of this embodiment. FIG. 2 is a partial plan view showing a part of the top surface of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied, for conceptually explaining the camera arrangement structure of this embodiment. FIG. 3 is a schematic diagram showing one camera of a stereo camera applied to the camera arrangement structure of this embodiment. For convenience, the reference number of the right camera of the pair of left and right cameras is shown outside parentheses, and the reference number of the left camera is shown inside parentheses. FIG. 4 is a front view showing the front of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied, for conceptually explaining the camera arrangement structure of this embodiment. FIG. 5 is a partial front view showing a part of the front of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied. FIG. 6 is a partial side view showing a part of the right side of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied. FIG. 7 is a partial front view showing a part of the front of another example of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied.

[0010] The camera arrangement structure of a saddle-ride type vehicle according to an embodiment of the present invention will be described in detail below with reference to the drawings. In the drawings, the x-axis, y-axis, and z-axis form a three-axis Cartesian coordinate system, with the x-axis direction being the longitudinal direction of the saddle-ride type vehicle and the forward direction being indicated as the positive direction of the x-axis, the y-axis direction being the width direction of the saddle-ride type vehicle and the leftward direction being indicated as the positive direction of the y-axis, and the z-axis direction being the vertical direction of the saddle-ride type vehicle and the upward direction being indicated as the positive direction of the z-axis. The saddle-ride type vehicle in the drawings is assumed to be in an upright position with no steering and only its own weight being applied.

[0011] [Configuration of Saddle-Riding Vehicle] First, with reference to Figs. 1 and 2, the configuration of a saddle-riding vehicle to which the camera arrangement structure of this embodiment is applied will be described in detail.

[0012] Fig. 1 is a front view showing the front of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied, for conceptually explaining the camera arrangement structure of this embodiment. Fig. 2 is a partial plan view showing a part of the top surface of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied, for conceptually explaining the camera arrangement structure of this embodiment.

[0013] As shown representatively as a motorcycle in FIGS. 1 and 2, a saddle-ride type vehicle 1 includes a steering front suspension mechanism 10 having a telescopic front fork 12 and suspending a front wheel 14, which is a driven wheel, so as to be able to steer; a handlebar 20 connected to the telescopic front fork 12 and serving as an operating member for the rider to steer the front wheel 14; a front cowl 30, which is a part of the vehicle body; a windscreen 32 and a headlight unit 40, which are arranged opposite to the front cowl 30 in the vertical direction; The headlight unit 100R includes headlight units 40R and 40L, mirror stays 50R and 50L fixed to the handlebars 20, mirrors 60R and 60L supported via mounting portions 52R and 52L corresponding to the mirror stays 50R and 50L, blinker units 70R and 70L disposed above the headlight units 40R and 40L and protruding outward in the vehicle width direction from the front cowl 30, and cameras 100R and 100L which are optical units that capture and acquire information about the environment surrounding the saddle-ride type vehicle 1 as images of surrounding environmental objects. Of the headlight units 40R and 40L, the right headlight unit 40R has, in a housing (reference numeral omitted), a cover 42R disposed at the front and a light 44R as a light source disposed behind the cover 42R. On the other hand, the left headlight unit 40L of the headlight units 40R and 40L has a cover 42L and a light 44L in a housing (reference numeral omitted) that is symmetrical to the right headlight unit 40R. Also, the right turn signal unit 70R of the turn signal units 70R and 70L has a cover 72R located in front of a housing 74R and a light 76R, which is a light source, located behind the cover 72R. On the other hand, the left turn signal unit 70L of the turn signal units 70R and 70L has a housing 74L, a cover 72L, and a light 76L in a symmetrical manner to the right turn signal unit 70R.1 and 2 show an example of an on-road adventure type motorcycle that combines the characteristics of an off-road bike and a sports tourer, but various other types of motorcycles may also be used, such as scooters including big scooters, classics including modern classics, naked, street, sports, and cruisers. Furthermore, in addition to motorcycles, small and lightweight three-wheeled or four-wheeled motor vehicles such as buggies may also be used as the saddle-ride type vehicle 1, and the drive source, not shown, may be an internal combustion engine, an electric motor, or a combination of an internal combustion engine and an electric motor.

[0014] [Configuration of Cameras] Next, with further reference to FIG. 3, the configuration of the cameras 100R and 100L, which are stereo cameras serving as optical units applied to the camera arrangement structure of this embodiment, will be described in detail.

[0015] FIG. 3 is a schematic diagram showing one of the cameras of a stereo camera applied to the camera arrangement structure of this embodiment, and for convenience, the reference symbol for the right camera of the pair of left and right cameras is shown outside parentheses, and the reference symbol for the left camera is shown inside parentheses.

[0016] 3, cameras 100R and 100L are paired left and right to function as a stereo camera, and since each camera has a similar configuration, for convenience, the following description will focus mainly on camera 100R, which functions as the right camera. Camera 100R has a housing 102R made of metal such as aluminum alloy or synthetic resin, an optical imaging lens 104R having an optical axis 105R, which is irradiated with natural light or artificial light and receives light reflected from objects in the surrounding environment around saddle riding type vehicle 1 as incident light, and captures images of the surrounding environment, and an imaging element 108R which generates electrical signals corresponding to the images of the surrounding environment formed by imaging lens 104R and outputs the signals to an electronic control device (not shown). It should be noted that the angle of view AR of the camera 100R may refer not only to the optical angle of view of the imaging lens 104R, but also to the angle of view in image processing after the image has passed through the imaging lens 104R and the imaging element 108R. As an example of such an angle of view AR, FIG. 1 shows a circular outer edge 106R etc. (hereinafter referred to as the outer edge of the angle of view) in a vertical cross section when viewed from the front, and FIGS. 2 and 3 show the outer edge of the angle of view 106R etc. extending while inclining forward when viewed from above, but for example, in FIG. 1, the outer edge of the angle of view 106R etc. may be rectangular in a vertical cross section when viewed from the front. Furthermore, the angles around each of the three axes of the x-axis, y-axis, and z-axis of the camera 100R can be set to a predetermined angle, but for convenience, the angles around these three axes are assumed to be zero, that is, the camera 100R has a mounting position in which it is not rotated around each of the x-axis, y-axis, and z-axis, and the optical axis 105R of the imaging lens 104R is parallel to the x-axis and perpendicular to the y-axis and z-axis.

[0017] Here, the imaging lens 104R is housed in a housing 102R, and the angle of view AR is centered on the optical axis 105R. Typically, an aperture stop (not shown) is disposed for the imaging lens 104R, so the vertex of the angle of view AR coincides with the front principal point PFR. While FIG. 3 shows an example in which the imaging lens 104R is housed inside the housing 102R, in such a case, at least a portion of the front wall of the housing 102R is translucent. Alternatively, the imaging lens 104R may be disposed on the front wall of the housing 102R itself. The imaging lens 104R may be a single optical lens or a combination of multiple optical lenses.

[0018] The image sensor 108R is housed in the housing 102R and is typically an image sensor such as a CMOS (Complementary Metal Oxide Semiconductor) sensor or a CCD (Charge Coupled Device) sensor. The surface on which light-receiving elements such as photodiodes of the image sensor 108R are arranged typically forms a single plane perpendicular to the optical axis 105R of the imaging lens 104R. The image sensor 108R converts image data of the surrounding environment captured through the imaging lens 104R into an electrical signal, and inputs the electrical signal representing the converted image data to an electronic control device (not shown). The electrical signal representing the image data is sent to the electronic control device via wired or wireless communication. When wireless communication is used, wiring is not required, and therefore the mountability of the cameras 100R and 100L and the electronic control unit can be improved without unnecessarily affecting the appearance of the saddle-type vehicle 1.

[0019] In the other left camera 100L, the configurations of the housing 102L, imaging lens 104L, optical axis 105L, angle of view AL, front principal point PFL, outer edge of angle of view 106L, and imaging element 108L are the same as those of the other right camera 100R. Furthermore, the electronic control unit calculates, for example, a tilt angle (roll angle) about a roll axis extending corresponding to the x-axis in the saddle-ride type vehicle 1 based on the electrical signals input from the imaging elements 108R and 108L of the cameras 100R and 100L, associates the tilt angle etc. with images captured by the cameras 100R and 100L, and performs correction processing to rotate the captured images using the tilt angle etc.

[0020] [Camera Arrangement Structure] Next, with reference to FIGS. 1 to 3, the basic arrangement conditions of the camera arrangement structure in this embodiment will be described in detail, taking the right camera 100R as an example.

[0021] When the right camera 100R applied to the saddle-ride type vehicle 1 mainly captures images of the surrounding environment in front of the saddle-ride type vehicle 1, the camera 100R is typically positioned forward of the driver seated in the saddle-ride type vehicle 1. In such a case, because a front cowl 30, which is part of the body of the saddle-ride type vehicle 1, is attached to the front of the vehicle, it is necessary to set the position of the camera 100R so that the imaging range of the camera 100R is not obstructed by the front cowl 30. To achieve this, it is necessary to set the position of the camera 100R so that the outer edge 106R of the angle of view AR of the camera 100R interferes with the front cowl 30, thereby preventing a situation in which part of the imaging range of the imaging lens 104R or the imaging lens 104R and the imaging element 108R are obstructed during image processing in the electronic control unit. In addition, if part or all of the front cowl 30 is omitted, other structures in front of the camera 100R that may block part of its imaging range include the steering / front suspension mechanism 10, the fender covering the front wheel 14, the glove cover in front of the handlebars 20, and brackets connected to the frame members, and therefore these will be considered part of the vehicle body, just like the front cowl 30.

[0022] More specifically, the front cowl 30 typically has a basic shape in the width direction that is wider at the rear than at the front, and a basic shape in the up-down direction that is wider at the central part than at the upper and lower parts. Furthermore, in a vertical cross section (a vertical cross section cut on a plane parallel to the y-z plane) in front of the imaging lens 104R and perpendicular to its optical axis 105R, the front cowl 30 exhibits subtle shape changes such as protruding outward in the width direction of the vehicle or recessing inward as the vertical position changes. Therefore, it is necessary to set the positions of the camera 100R, i.e., the imaging lens 104R, in the width direction and the up-down direction so that the outer edge 106R of the angle of view corresponding to the imaging lens 104R, whose longitudinal position is specified, does not interfere with the part of the front cowl 30 that is located most outward in the width direction of the vehicle (hereinafter referred to as the outermost part) in front of the imaging lens 104R.

[0023] Here, the outer edge 106R' of the angle of view shown by the imaginary line in Figure 1 has a shape corresponding to a vertical cross section of the camera 100R' cut along a plane parallel to the y-z plane corresponding to the position of the line LF shown in Figure 2, with respect to the camera 100R' whose longitudinal position is specified so as to be positioned at a required position, for example, forward of the upper body of a seated driver, and the outer edge 106R' of the angle of view is in contact with the outermost portion PR of the front cowl 30. Therefore, if the camera 100R' is positioned with a further deviation to the left while maintaining the longitudinal and vertical positions of the camera 100R', the outer edge 106R' of the angle of view will abut against the outermost portion PR of the front cowl 30, resulting in a situation in which part of the imaging range of the camera 100R' will be blocked. In other words, in order to set the position of the imaging lens 104R in the vehicle width direction and the vertical direction so as to avoid a situation in which the outer edge of the angle of view 106R interferes with the outermost part PR of the front cowl 30 and blocks part of the imaging range of the camera 100R, the position corresponding to the outer edge of the angle of view 106R' shown by the imaginary line in Figure 1 is set as the limit of the position of the imaging lens 104R on the front cowl 30 side, and the position of the imaging lens 104R, i.e., the camera 100R, can be set so that it is at this position or a position to the right of this position. The camera 100R and the outer edge of the angle of view 106R shown by solid lines in Figure 1 are shifted to the right from the camera 100R' and the outer edge of the angle of view 106R' shown by virtual lines, and the outer edge of the angle of view 106R is shown to be a predetermined distance to the right from the front cowl 30. Typically, even taking into account various tolerances in the saddle-ride type vehicle 1, this corresponds to a position where the outer edge of the angle of view 106R will not come into contact with the outermost part PR of the front cowl 30.

[0024] Furthermore, camera 100R may be positioned so as to be offset in the vertical direction. For example, if camera 100R is offset downward, outer edge 106R''' of the angle of view shown by the imaginary line in FIG. 1 will have a shape equivalent to a vertical cross section of outer edge 106R''' of the angle of view taken along a plane parallel to the y-z plane corresponding to the position of straight line LF shown in FIG. 2, for camera 100R''', whose longitudinal position is defined so that it is located forward of, for example, the upper body of a seated driver, and this outer edge 106R''' of the angle of view will be in contact with the outermost portion PR' of front cowl 30. In other words, the position of camera 100R''' corresponding to outer edge 106R''' of the angle of view will be the limit of its position on the front cowl 30 side. Furthermore, the camera 100R" and the outer edge of the angle of view 106R" are shown as being displaced to the right relative to the camera 100R''' and the outer edge of the angle of view 106R''', with 106R" being a predetermined distance to the right from the front cowl 30, and this corresponds to a position where the outer edge of the angle of view 106R" will not come into contact with the outermost portion PR' of the front cowl 30, even when various tolerances in the saddle-ride type vehicle 1 are taken into consideration. Note that a similar arrangement structure is also established when the camera 100R is displaced upward.

[0025] Furthermore, the positions of cameras 100R, 100R', 100R'', and 100R''', the positions of outer edges of the angle of view 106R, 106R', 106R'', and 106R''', and the positions of the outermost portions PR and PR' of the front cowl 30 shown for the right camera 100R correspond in a symmetrical relationship to the positions of cameras 100L, 100L', 100L'', and 100L''', the positions of outer edges of the angle of view 106L, 106L', 106L'', and 106L''', and the positions of the outermost portions PL and PL' of the front cowl 30.

[0026] Therefore, under the above-described basic placement conditions, it is possible to improve the mountability of the stereo cameras 100R and 100L on the saddle-ride type vehicle 1 without making any substantial changes to the existing configuration of the saddle-ride type vehicle 1, and to capture images of the surrounding environment in an appropriate imaging range that is not obstructed by the vehicle body such as the front cowl 30.

[0027] Regarding the above camera arrangement structure, it is possible to set additional arrangement conditions in addition to the basic arrangement conditions. Below, such additional arrangement conditions will be explained in detail with further reference to FIG. 4.

[0028] FIG. 4 is a front view showing the front of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied, for conceptually explaining the camera arrangement structure of this embodiment.

[0029] First, as shown in Figure 4, a line LC extending in the vertical direction through the ground contact center PC of the front wheel 14, a line L1 passing through the ground contact center PC and the right end PHR of the handlebars, and a line L2 passing through the ground contact center PC and the left end PHL of the handlebars are defined. Here, as a first additional placement condition set in addition to the basic placement conditions, from the viewpoint of suppressing unnecessary influence on the cameras 100R and 100L when the saddle-ride type vehicle 1 falls over, it is preferable that the right camera 100R be placed within the area sandwiched between the lines LC and L1 in a front view, and it is preferable that the left camera 100L be placed within the area sandwiched between the lines LC and L2 in a front view. Note that the components of the saddle-ride type vehicle 1 are typically symmetrical with respect to a plane that includes the line LC and is parallel to the x-z plane.

[0030] Therefore, in addition to the basic placement conditions, the above first additional placement condition can prevent unnecessary effects on the stereo cameras 100R and 100L when the saddle-ride type vehicle 1 falls over.

[0031] Next, as shown in FIG. 4 , a straight line L3 is defined above the headlight units 40R and 40L, more specifically, tangent to the uppermost portions of the optical axes 46R and 46L of the lights 44R and 44L, and extending in the vehicle width direction. Here, as a second additional placement condition, which is set in addition to the basic placement condition or the basic placement condition and the first additional placement condition, from the viewpoint of improving the imaging performance of the cameras 100R and 100L, including stereoscopic vision at night, it is preferable that the cameras 100R and 100L be positioned in an area above the straight line L3 in a front view. In practice, the optical axes 46R and 46L are both set downward to illuminate the road, so the portions corresponding to the uppermost portions of the optical axes 46R and 46L can be considered to be portions corresponding to the light emission centers of the lights 44R and 44L. Furthermore, when the light 44R and the light 44L are composed of a plurality of light-emitting elements or linear light-emitting elements, etc., and it is difficult to determine the light-emitting center of each, the light-emitting center of the uppermost light-emitting portion of the light 44R and the light-emitting center of the uppermost light-emitting portion of the light 44L may correspond to the uppermost part of the optical axis 46R and the uppermost part of the optical axis 46L.

[0032] Therefore, the above-described second additional placement condition, in addition to the basic placement condition, or the basic placement condition and the first additional condition, can further improve the imaging capability of the surrounding environment, including stereoscopic vision at night, using the stereo cameras 100R and 100L.

[0033] 5 to 7, specific examples of camera layout structures in this embodiment will be described in detail. Note that these specific examples are examples in which the basic layout condition, the first additional layout condition, and the second additional layout condition described above can all be satisfied, but the present invention is not limited to these examples, and examples in which the basic layout condition, the basic layout condition and the first additional layout condition, or the basic layout condition and the second additional layout condition can also be satisfied.

[0034] Fig. 5 is a partial front view showing a part of the front of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied, Fig. 6 is a partial side view showing a part of the right side of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied, and Fig. 7 is a partial front view showing a part of the front of another example of a saddle-ride type vehicle to which the camera arrangement structure of this embodiment is applied.

[0035] (Specific Example 1) First, as shown in FIG. 5 , in specific example 1, the right-side camera 100R (referred to as 100MR for convenience) is attached to the mirror stay 50R so that the mirror 60R is located above more than one-third the vertical length of the mirror stay 50R. This configuration prevents the imaging range of the camera 100MR from being obstructed by a glove guard or the like that may be additionally attached to the front of the handlebar 20. The right-side camera 100R (referred to as 100MR' for convenience) may also be attached to a mounting portion 52R that supports the mirror 60R on the mirror stay 50R. This mounting may be an external mounting in which the housing of the camera 100MR' is fixed to the mounting portion 52R with screws or the like, or an internal mounting in which the camera 100MR' is miniaturized and a portion of its housing is housed inside the mounting portion 52R. This configuration prevents the position of the stereo camera 100MR' from unnecessarily moving when adjusting the position of the mirror 60R. Furthermore, the above configuration typically satisfies the first and second additional conditions, more reliably preventing unnecessary effects on the stereo cameras 100MR and 100MR' in the event of a fall and further improving the imaging capabilities of the stereo cameras 100MR and 100MR' of the surrounding environment, including stereoscopic vision at night. The left camera 100L (referred to as 100ML and 100ML' for convenience) is attached to the mirror stay 50L or the mounting portion 52L that supports the mirror 60L on the mirror stay 50L so as to be bilaterally symmetrical with respect to the right camera 100MR and 100MR', and its effect is the same as that of the right camera 100MR and 100MR'.

[0036] 5 , right-side camera 100R (referred to as 100SR for convenience) is disposed forward of windscreen 32 so as not to overlap with windscreen 32 in a front view, and is disposed higher than headlight unit 40R, with the housing of camera 100SR typically attached to front cowl 30. Furthermore, left-side camera 100L (referred to as 100SL for convenience) is disposed forward of windscreen 32 so as not to overlap with windscreen 32 in a front view, and is disposed higher than headlight unit 40L, with the housing of camera 100SL typically attached to front cowl 30. This configuration makes it possible to prevent stereo cameras 100SR and 100SL from capturing images through windscreen 32, and eliminates unnecessary influence of windscreen 32 when capturing images with stereo cameras 100SR and 100SL. In such a configuration, the first and second additional conditions are typically also satisfied.

[0037] 5 , right-side camera 100R (referred to as 100HR for convenience) is disposed within the housing of headlight unit 40R, rearward of cover 42R, at the right end of headlight unit 40R so as not to overlap with light 44R, with the housing of camera 100HR typically attached to the housing of headlight unit 40R. Also, left-side camera 100L (referred to as 100HL for convenience) is disposed within the housing of headlight unit 40L, rearward of cover 42L, at the left end of headlight unit 40L so as to be bilaterally symmetrical with right-side camera 100HR, with the housing of camera 100HL typically attached to the housing of headlight unit 40L. This configuration can suppress unnecessary effects of the light emitted by the headlight units 40R and 40L when capturing images with the stereo cameras 100HR and 100HL, and can also realize a highly versatile arrangement that can be used regardless of the vehicle model, since the headlight units 40R and 40L are essential components of the saddle-ride type vehicle 1. Furthermore, this configuration typically satisfies the first and second additional conditions.

[0038] 5 , right-side camera 100R (referred to as 100WR for convenience) is disposed within housing 74R of turn signal unit 70R, rearward of cover 72R and so as not to overlap with light 76R, with the housing of camera 100WR typically attached to housing 74R of turn signal unit 70R. Also, left-side camera 100L (referred to as 100WL for convenience) is disposed within housing 74L of turn signal unit 70L, rearward of cover 72L and so as not to overlap with light 76L, so as to be bilaterally symmetrical with right-side camera 100WR, with the housing of camera 100WL typically attached to housing 74L of turn signal unit 70L. This configuration allows the stereo cameras 100WR and 100WL to capture images of the surrounding environment with virtually no obstructions in front of them, and because the turn signal units 70R and 70L are essential components of the saddle-ride type vehicle 1, it is possible to realize a highly versatile arrangement that is applicable to any vehicle model. Furthermore, this configuration typically satisfies the first and second additional conditions. Note that, if it is necessary to avoid emitting light from the lights 76R and 74L, the surrounding environment may be captured using the light incident on the cameras 100WR and 100WL when the lights are not emitting light.

[0039] 6 , as a fifth specific example, the housing of right-side camera 100R (referred to as 100VR for convenience) is typically mounted on front cowl 30 in a state in which the optical axis 105R of its imaging lens does not intersect with the optical axis 46R of headlight unit 40R. The state in which the optical axis 105R of the imaging lens does not intersect with the optical axis 46R of headlight unit 40R typically refers to a state in which angle a formed by the direction parallel to the x-axis and the optical axis 105R of the imaging lens is smaller than angle b formed by the direction parallel to the x-axis and the optical axis 46R of headlight unit 40R, such that the optical axis 105R of the imaging lens is positioned above the optical axis 46R of headlight unit 40R, which extends downward and forward. Here, the optical axis 46R of the headlight unit 40R can typically be considered to correspond to the optical axis from the light-emitting center of the light 44R. However, if the light 44R is composed of multiple light-emitting elements or linear light-emitting elements, it can also be considered to correspond to the optical axis of the uppermost light-emitting element. Furthermore, the left camera 100L (referred to as 100VL for convenience) is typically mounted on the front cowl 30 so that it is bilaterally symmetrical with the right camera 100VR, with the optical axis 105L of its imaging lens not intersecting the optical axis 46L of the headlight unit 40L. This configuration can suppress unnecessary influence from the light emitted by the headlight units 40R and 40L when capturing images using the stereo cameras 100VR and 100VL. Furthermore, this configuration typically satisfies the first and second additional conditions.

[0040] (Specific Example 6) Next, as specific example 6, a modern classic type saddle-ride vehicle 1 will be described as an example, as shown in FIG. 7 . The modern classic type saddle-ride vehicle 1 is a more technically sophisticated and aesthetically pleasing version of the naked type or classic type. It does not have a cowl or windscreen, but does have structures such as a steering and front suspension mechanism 10 that can be considered part of the vehicle body. Furthermore, for example, the meter unit 180 is exposed forward. Therefore, in this specific example, the right camera 100R (referred to as 100TR for convenience) is located on the right side of the housing 182 of the meter unit 180, and the housing of the camera 100TR is typically attached to the housing 182 of the meter unit 180. The front portion of the housing 182 of the meter unit 180 is made of a translucent material to transmit light reflected from the surrounding environment, mainly in front of the saddle-ride vehicle 1. Furthermore, the left camera 100L (referred to as 100TL for convenience) is disposed on the left side within the housing 182 of the meter unit 180 so as to be bilaterally symmetrical with the right camera 100VR, and the housing of the camera 100TL is typically attached to the housing 182 of the meter unit 180. With this configuration, the stereo cameras 100TR and 100TL can be mounted without unnecessarily affecting the appearance of the modern classic type saddle-ride vehicle 1. Furthermore, with this configuration, the first and second additional conditions are typically satisfied.

[0041] (Specific Example 7) Next, as shown in FIG. 7 , a modern classic-type saddle-ride vehicle 1 may be equipped with a bar-end mirror in which a right mirror stay 150R is attached to the right end of the handlebar 20 and a left mirror stay 150L is attached to the left end of the handlebar 20. Therefore, a configuration equipped with a bar-end mirror will be described as an example. Here, a right camera 100R (referred to as 100MR for convenience) is attached to the mirror stay 150R so that the mirror 160R is located above more than one-third the vertical length of the mirror stay 150R. This configuration prevents the imaging range of the camera 100MR from being obstructed by a glove guard or the like that may be additionally attached to the front of the handlebar 20. The right camera 100R (referred to as 100MR' for convenience) may also be attached to a mounting portion 152R that supports the mirror 160R on the mirror stay 150R. This mounting configuration may be an external configuration in which the housing of camera 100MR' is fixed to mounting portion 152R with screws or the like, or an internal configuration in which camera 100MR' is miniaturized and a portion of its housing is housed inside mounting portion 152R. This configuration prevents unwanted movement of the position of stereo camera 100MR' when adjusting the positions of mirrors 160R and 160L. Furthermore, this configuration typically satisfies the first and second additional conditions. Note that left camera 100L (referred to as 100ML and 100ML' for convenience) is mounted on mounting portion 152L supported by mirror 160L or mirror stay 150L so as to correspond to and be symmetrical with right cameras 100MR and 100MR', and the effect is the same as that of right cameras 100MR and 100MR'.

[0042] Specific Example 8 Next, as Specific Example 8, as shown in FIG. 7 , a modern classic type saddle-ride vehicle 1 may be provided with a single headlight unit 140, and therefore a configuration including a single headlight unit 140 will be described as an example. Here, right-side camera 100R (referred to as 100HR for convenience) is disposed within the housing of headlight unit 140, rearward of cover 142, at the right end of headlight unit 140 so as not to overlap with light 144, with the housing of camera 100HR typically attached to the housing of headlight unit 140. Furthermore, left-side camera 100L (referred to as 100HL for convenience) is disposed within the housing of headlight unit 140, rearward of cover 142, at the left end of headlight unit 140 so as not to overlap with light 144, so as to be bilaterally symmetrical with right-side camera 100HR, with the housing of camera 100HL typically attached to the housing of headlight unit 140. This configuration can suppress unnecessary effects of light emitted from the headlight unit 140 when capturing images with the stereo cameras 100HR and 100HL, and can also realize a highly versatile arrangement that can be used regardless of the vehicle model, since the headlight unit 140 is an essential mounting component of the saddle-ride type vehicle 1. Furthermore, this configuration typically satisfies the first and second additional conditions.

[0043] 7 , in a modern classic type saddle-ride vehicle 1, the turn signal units 170R and 170L may be mounted so as to protrude outward in the vehicle width direction from a frame member or a bracket thereof of the saddle-ride vehicle 1, and a configuration including such turn signal units 170R and 170L will be described as an example. Here, the right-side camera 100R (for convenience, referred to as 100WR) is positioned within the housing of the turn signal unit 170R, rearward of the cover 172R and so as not to overlap with the light 176R, and typically, the housing of the camera 100WR is mounted on the housing of the turn signal unit 170R. Furthermore, left camera 100L (referred to as 100WL for convenience) is positioned symmetrically with right camera 100WR, within the housing of turn signal unit 170L, behind cover 172L and so as not to overlap light 176L, and typically, the housing of camera 100WL is attached to the housing of turn signal unit 170L. This configuration allows stereo cameras 100WR and 100WL to capture images of the surrounding environment with virtually no obstructions in front of them, and because turn signal units 170R and 170L are essential components of saddle-ride type vehicle 1, it is possible to realize a highly versatile arrangement structure that can be used regardless of the vehicle model. Furthermore, this configuration typically satisfies the first and second additional conditions.

[0044] It should be noted that the present invention is not limited to the above-described embodiment in terms of the type, shape, arrangement, number, etc. of the components, and it goes without saying that such modifications can be made as appropriate within the scope of the gist of the invention, such as by appropriately replacing the components with components that achieve equivalent effects.

[0045] As described above, the present invention can improve the mountability of a camera on a saddle-ride type vehicle, and can provide a camera arrangement structure for a saddle-ride type vehicle that can capture images of the surrounding environment in an appropriate imaging range that is not obstructed by the vehicle body. Due to its versatile and universal nature, it is expected to be widely applicable to the arrangement structure of optical units in saddle-ride type vehicles.

[0046] DESCRIPTION OF SYMBOLS 1...Saddle-ride type vehicle 10...Steering / front suspension mechanism 12...Telescopic front fork 14...Front wheel 20...Handlebar 30...Front cowl 32...Windscreen 40R, 40L...Headlight unit 42R, 42L...Cover 44R, 44L...Light 46R, 46L...Optical axis 140...Headlight unit 142...Cover 144...Light 50R, 50L...Mirror stay 52R, 52L...Mounting part 60R, 60L...Mirror 70R, 70L...Turn signal unit 72R, 72L...Cover 74R, 74L...Housing 76R, 76L...Light 100R, 100L...Camera 102R, 102L...Housing 104R, 104L...Imaging lens 105R, 105L...Optical axis 106R, 106L...Outer edge (outer edge of angle of view) 108R, 108L...Image pickup element 140...Headlight unit 142...Cover 144...Light 150R, 150L...Mirror stay 152R, 152L...Mounting portion 160R, 160L...Mirror 170R, 170L...Turn signal unit 172R, 172L...Cover 176R, 176L...Light 180...Meter unit 182...Housing AR, AL...Angle of view PFR, PFL...Front principal point PR, PR', PL, PL'...Outermost portion

Claims

1. A camera arrangement structure for a saddle-ride type vehicle equipped with a stereo camera for capturing images of the surrounding environment, with the front-rear direction, vehicle width direction, and up-down direction being specified, wherein the stereo camera comprises a first camera and a second camera separate from the first camera and facing the first camera in the vehicle width direction, the first camera has a first angle of view and a first imaging lens, and the vehicle width direction position and the up-down direction position of the first imaging lens are specified so that an outer edge of the first angle of view corresponding to a position of the first imaging lens in the front-rear direction does not interfere with a portion of the body of the saddle-ride type vehicle that is located outward in the front-rear direction of the first imaging lens, the second camera has a second angle of view and a second imaging lens, and the vehicle width direction position and the vertical direction position of the second imaging lens are specified so that an outer edge of the second angle of view corresponding to a position in the fore-and-aft direction of the second imaging lens does not interfere with a portion of the body of the saddle-ride type vehicle that is located forward in the fore-and-aft direction of the second imaging lens and outward.

2. The camera arrangement structure for a saddle-ride type vehicle as described in claim 1, characterized in that, in a front view of the saddle-ride type vehicle, the first camera is arranged within an area sandwiched between a first straight line passing through a first end of the handlebar of the saddle-ride type vehicle in the vehicle width direction and the ground contact center of the front wheel of the saddle-ride type vehicle, and a vertical center line extending parallel to the vertical direction of the saddle-ride type vehicle through the ground contact center, and the second camera is arranged within an area sandwiched between a second straight line passing through a second end of the handlebar opposing the first end in the vehicle width direction and the ground contact center, and the vertical center line, in the front view.

3. A camera arrangement structure for a saddle-ride type vehicle as described in claim 1 or 2, characterized in that, when viewed from the front of the saddle-ride type vehicle, the first camera and the second camera are arranged to be positioned higher in the vertical direction of the saddle-ride type vehicle than the optical axis of the headlights of the saddle-ride type vehicle.

4. The camera arrangement structure for a saddle-ride type vehicle as described in claim 1 or 2, characterized in that the saddle-ride type vehicle is equipped with a first mirror and a second mirror facing each other in the vehicle width direction, the first camera is attached to the mounting stay of the first mirror above 1 / 3 of the vertical length of the mounting stay of the first mirror, and the second camera is attached to the mounting stay of the second mirror above 1 / 3 of the vertical length of the mounting stay of the second mirror.

5. A camera arrangement structure for a saddle-type vehicle as described in claim 4, characterized in that the first camera is attached to a mirror mounting portion of the mounting stay of the first mirror, and the second camera is attached to a mirror mounting portion of the mounting stay of the second mirror.

6. A camera arrangement structure for a saddle-ride type vehicle as described in claim 1 or 2, characterized in that the first camera and the second camera are arranged so as not to overlap the windscreen of the saddle-ride type vehicle when viewed from the front of the vehicle, and are positioned forward of the windscreen in the fore-and-aft direction of the saddle-ride type vehicle and above the headlights of the saddle-ride type vehicle in the up-and-down direction of the vehicle.

7. A camera arrangement structure for a saddle-ride type vehicle as described in claim 1 or 2, characterized in that the first camera and the second camera have a corresponding first imaging lens and a second imaging lens, and the first optical axis of the first imaging lens and the second optical axis of the second imaging lens are set so as not to intersect with the optical axis of the headlight of the saddle-ride type vehicle.

8. A camera arrangement structure for a saddle-ride type vehicle according to claim 1 or 2, characterized in that the first camera and the second camera are arranged within a meter unit of the saddle-ride type vehicle.

9. A camera arrangement structure for a saddle-type vehicle as described in claim 4, characterized in that the first mirror is a first bar end type mirror and the second mirror is a second bar end type mirror, the first camera is attached to a mirror mounting portion of a mounting stay of the first bar end type mirror, and the second camera is attached to a mirror mounting portion of a mounting stay of the second bar end type mirror.

10. A camera arrangement structure for a saddle-ride type vehicle as described in claim 1 or 2, characterized in that the first camera is arranged in a first end region in the vehicle width direction within the headlight of the saddle-ride type vehicle, and the second camera is arranged in a second end region within the headlight that faces the first end region in the vehicle width direction.

11. The camera arrangement structure for a saddle-ride type vehicle as described in claim 1 or 2, characterized in that the saddle-ride type vehicle is equipped with a first turn signal and a second turn signal facing each other in the vehicle width direction, the first camera is arranged within the first turn signal, and the second camera is arranged within the other of the second turn signal.