Imaging device

Abstract

Provided is an imaging device which is capable of, without increasing the number of components and steps, inhibiting a pressure rise during heating in an accommodation space which accommodates an imaging element therein. The imaging device comprises: a base substrate that has a mounting surface; an imaging element that is provided on the mounting surface; a cover glass that covers a light-receiving surface; a lens that is provided to the side opposite to the base substrate across the imaging element; and a support part that is fixed to the mounting surface and forms, together with the lens, an accommodation space for accommodating the imaging element and the cover glass between the support part and the base substrate. In the base substrate, a through hole which passes through the mounting surface and the back surface of the mounting surface is formed to connect the accommodation space and the outside. When a distance between the light-receiving surface, which is a surface of the imaging element and which faces the cover glass side, and an incident surface, which is a surface of the cover glass and which faces the lens side, is defined as L, and the diameter of the through hole is defined as D, L>10×D is satisfied.

Description

Imaging device

[0001] The present disclosure relates to an imaging device in which the light receiving surface of an imaging element is covered with a cover glass.

[0002] There is an imaging device that includes an imaging element. The imaging device includes a substrate having a mounting surface on which the imaging element is provided. The imaging device includes a cylindrical lens barrel that surrounds the imaging element on the mounting surface. The imaging device includes a lens supported by the lens barrel. The lens focuses light onto the light-receiving surface of the imaging element. The light-receiving surface of the imaging element is covered and protected by a cover glass.

[0003] In an imaging device with this configuration, the lens barrel that supports the lens must be fixed to the substrate with high alignment accuracy in order to accurately focus light onto the light-receiving surface of the imaging element.To fix the lens barrel with high alignment accuracy, an adhesive is used to fix the entire circumference of the end of the lens barrel that contacts the mounting surface of the substrate.

[0004] By fixing the end of the lens barrel around the entire circumference using an adhesive, a storage space surrounded by the substrate, lens barrel, and lens is formed, and the image sensor and cover glass are provided in this storage space. Also, by fixing the end of the lens barrel around the entire circumference using an adhesive, the storage space becomes a sealed space.

[0005] When a thermosetting adhesive is used to secure the lens barrel, a process of heating the imaging device is included when securing the lens barrel. When the pressure inside the housing space increases due to heating, a force is applied in a direction that separates the substrate and the adhesive, which may result in defects such as cracks in the adhesive. Patent Document 1 discloses a configuration in which a through-hole is formed in the substrate to communicate the inside and outside of the housing space. By forming the through-hole in the substrate, air can flow in and out of the housing space, preventing an increase in pressure in the housing space during the heating process. Preventing an increase in pressure in the housing space during the heating process can prevent defects such as cracks in the adhesive.

[0006] International Publication No. 2021 / 020256

[0007] When a through hole is formed in the substrate, dust may enter the storage space through the through hole. If the dust that has entered the storage space lands on the surface of the cover glass, it blocks the light that is focused on the image sensor, causing the dust to appear as black dots in the image captured by the image sensor. Therefore, to prevent dust from entering while allowing air to flow in and out of the storage space, the through hole is sealed with a breathable sealing material.

[0008] However, providing the sealing material increases the number of components and the number of steps required to attach the sealing material to the substrate, which in turn increases the manufacturing cost of the imaging device.

[0009] Therefore, the present disclosure proposes an imaging device that can suppress an increase in pressure when the housing space housing the imaging element is heated, without increasing the number of parts or processes.

[0010] An imaging device according to an embodiment of the present disclosure includes a base substrate having a mounting surface, an imaging element provided on the mounting surface, a cover glass covering a light-receiving surface, a lens provided on the opposite side of the base substrate with the imaging element sandwiched between them, a support component fixed to the mounting surface and forming, together with the lens, a storage space between the base substrate and the imaging element and the cover glass, and a through-hole formed in the base substrate that penetrates the mounting surface and the back surface of the mounting surface to connect the storage space to the outside, wherein L is the distance between the light-receiving surface, which is the surface of the imaging element facing the cover glass, and the incident surface, which is the surface of the cover glass facing the lens, and D is the diameter of the through-hole, so that L > 10 × D.

[0011] FIG. 1 is a block diagram showing an example of the configuration of a vehicle control system; FIG. 2 is a diagram showing an example of a sensing region; FIG. 3 is a cross-sectional view showing a schematic configuration of a camera according to a first embodiment; FIG. 4 is a cross-sectional view showing a schematic configuration of an imaging module according to a first embodiment; FIG. 5 is a cross-sectional view showing a schematic configuration of an image sensor according to a first embodiment; －１ The value of (1 / 2F) and tan －１FIG. 1 is a diagram showing the relationship between the F-number of the lens and the value of (½F). FIG. 2 is a diagram showing the value of L / d when the F-number of the lens and the allowable shading rate Sa are changed. FIG. 3 is a cross-sectional view showing a schematic configuration of a camera according to a modified example of embodiment 1. FIG. 4 is a cross-sectional view showing a schematic configuration of a camera according to another modified example of embodiment 1. FIG. 5 is a cross-sectional view showing a schematic configuration of a camera according to yet another modified example of embodiment 1.

[0012] Hereinafter, embodiments of the present technology will be described in the following order: 1. Configuration example of a vehicle control system 2. Configuration example of a camera 3. Supplementary notes

[0013] <<1. Configuration Example of Vehicle Control System>> FIG. 1 is a block diagram showing a configuration example of a vehicle control system 11, which is an example of a mobility device control system to which the present technology is applied.

[0014] The vehicle control system 11 is provided in the vehicle 1 and performs processing related to automated driving of the vehicle 1. This automated driving includes automated driving of levels 1 to 5, and remote driving and remote assistance of the vehicle 1 by a remote driver.

[0015] The vehicle control system 11 includes a vehicle control ECU (Electronic Control Unit) 21, a communication unit 22, a map information storage unit 23, a location information acquisition unit 24, an external recognition sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a memory unit 28, a driving automation control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.

[0016] The vehicle control ECU 21, communication unit 22, map information storage unit 23, position information acquisition unit 24, external recognition sensor 25, in-vehicle sensor 26, vehicle sensor 27, memory unit 28, driving automation control unit 29, DMS 30, HMI 31, and vehicle control unit 32 are connected to each other so as to be able to communicate with each other via a communication network 41. The communication network 41 is configured, for example, by an in-vehicle communication network or bus conforming to a digital two-way communication standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), FlexRay (registered trademark), or Ethernet (registered trademark). Different communication networks 41 may be used depending on the type of data being transmitted. For example, CAN may be used for data related to vehicle control, and Ethernet may be used for large-volume data. In addition, each part of the vehicle control system 11 may be directly connected without going through the communication network 41, using wireless communication intended for communication over relatively short distances, such as near field communication (NFC) or Bluetooth (registered trademark).

[0017] In the following description, when each unit of the vehicle control system 11 communicates via the communication network 41, the description of the communication network 41 will be omitted. For example, when the vehicle control ECU 21 and the communication unit 22 communicate via the communication network 41, it will simply be described that the vehicle control ECU 21 and the communication unit 22 communicate with each other.

[0018] The vehicle control ECU 21 is configured by various processors such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), etc. The vehicle control ECU 21 controls the entire or part of the functions of the vehicle control system 11.

[0019] The communication unit 22 communicates with various devices inside and outside the vehicle, other vehicles, servers, base stations, etc., and transmits and receives various data. At this time, the communication unit 22 can communicate using a plurality of communication methods.

[0020] The following provides an overview of communication with the outside of the vehicle that can be performed by the communication unit 22. The communication unit 22 communicates with a server (hereinafter referred to as an external server) or the like on an external network via a base station or an access point using a wireless communication method such as 5G (fifth generation mobile communication system), LTE (Long Term Evolution), or DSRC (Dedicated Short Range Communications). The external network with which the communication unit 22 communicates is, for example, the Internet, a cloud network, or a network specific to a carrier. The communication method used by the communication unit 22 with the external network is not particularly limited as long as it is a wireless communication method that enables digital two-way communication at a communication speed equal to or higher than a predetermined distance.

[0021] Furthermore, for example, the communication unit 22 can communicate with a terminal located near the vehicle using P2P (Peer to Peer) technology. The terminal located near the vehicle can be, for example, a terminal worn by a mobile object moving at a relatively slow speed, such as a pedestrian or a bicycle, a terminal installed at a fixed location in a store, or an MTC (Machine Type Communication) terminal. Furthermore, the communication unit 22 can also perform V2X communication. V2X communication refers to communication between the vehicle and others, such as vehicle-to-vehicle communication with another vehicle, vehicle-to-infrastructure communication with a roadside unit, vehicle-to-home communication, and vehicle-to-pedestrian communication with a terminal carried by a pedestrian.

[0022] The communication unit 22 can receive, for example, a program for updating software that controls the operation of the vehicle control system 11 from the outside (over the air). The communication unit 22 can also receive map information, traffic information, information about the surroundings of the vehicle 1, and the like from the outside. For example, the communication unit 22 can also transmit information about the vehicle 1 and information about the surroundings of the vehicle 1 to the outside. Information about the vehicle 1 that the communication unit 22 transmits to the outside includes, for example, data indicating the state of the vehicle 1 and the recognition result by the recognition unit 73. Furthermore, for example, the communication unit 22 performs communication corresponding to a vehicle emergency notification system such as e-call.

[0023] For example, the communication unit 22 receives electromagnetic waves transmitted by a road traffic information and communication system (VICS (Vehicle Information and Communication System) (registered trademark)) such as a radio beacon, an optical beacon, or FM multiplex broadcasting.

[0024] The following provides an overview of communication with the vehicle interior that can be performed by the communication unit 22. The communication unit 22 can communicate with each device in the vehicle using, for example, wireless communication. The communication unit 22 can communicate with each device in the vehicle using a communication method that enables bidirectional digital communication at a predetermined communication speed or higher via wireless communication, such as wireless LAN, Bluetooth, NFC, or Wireless USB (WUSB). The communication unit 22 can also communicate with each device in the vehicle using wired communication. For example, the communication unit 22 can communicate with each device in the vehicle using wired communication via a cable connected to a connection terminal (not shown). The communication unit 22 can communicate with each device in the vehicle using a communication method that enables bidirectional digital communication at a predetermined communication speed or higher via wired communication, such as Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI) (registered trademark), or Mobile High-Definition Link (MHL).

[0025] Here, the in-vehicle device refers to, for example, a device in the vehicle that is not connected to the communication network 41. Possible in-vehicle devices include, for example, a mobile device or wearable device carried by a user in the vehicle, such as a driver, and an information device brought into the vehicle and temporarily installed therein.

[0026] The map information storage unit 23 stores one or both of a map acquired from an external source and a map created by the vehicle 1. For example, the map information storage unit 23 stores a three-dimensional high-precision map, a global map that is less accurate than a high-precision map and covers a wide area, and the like.

[0027] Examples of high-precision maps include dynamic maps, point cloud maps, and vector maps. A dynamic map is a map consisting of four layers of dynamic information, quasi-dynamic information, quasi-static information, and static information, and is provided to the vehicle 1 from an external server or the like. A point cloud map is a map made up of a point cloud (point cloud data). A vector map is a map adapted to automated driving by associating traffic information such as the positions of lanes and traffic lights with the point cloud map.

[0028] The point cloud map and the vector map may be provided, for example, from an external server or the like, or may be created in the vehicle 1 based on sensing results from the camera 51, radar 52, LiDAR 53, etc. as a map for matching with a local map described later, and stored in the map information storage unit 23. Furthermore, when a high-precision map is provided from an external server or the like, map data of, for example, an area of ​​several hundred square meters relating to the planned route along which the vehicle 1 will travel is acquired from the external server or the like in order to reduce communication capacity.

[0029] The location information acquisition unit 24 receives GNSS (Global Navigation Satellite System) signals from GNSS satellites and acquires location information of the vehicle 1. The acquired location information is supplied to the driving automation control unit 29. Note that the method used by the location information acquisition unit 24 is not limited to using GNSS signals, and it may also acquire location information using a beacon, for example.

[0030] The external recognition sensor 25 includes various sensors used to recognize the situation outside the vehicle 1, and supplies sensor data from each sensor to each part of the vehicle control system 11. The type and number of sensors included in the external recognition sensor 25 are arbitrary.

[0031] For example, the external recognition sensor 25 includes a camera 51, a radar 52, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) 53, and an ultrasonic sensor 54. Without being limited to this, the external recognition sensor 25 may be configured to include one or more types of sensors selected from the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54. The number of cameras 51, radars 52, LiDARs 53, and ultrasonic sensors 54 is not particularly limited as long as the number is a number that can be realistically installed on the vehicle 1. Furthermore, the types of sensors included in the external recognition sensor 25 are not limited to this example, and the external recognition sensor 25 may include other types of sensors. Examples of sensing areas of each sensor included in the external recognition sensor 25 will be described later.

[0032] The imaging method of the camera 51 is not particularly limited. For example, cameras of various imaging methods capable of distance measurement, such as a time-of-flight (ToF) camera, a stereo camera, a monocular camera, and an infrared camera, can be applied to the camera 51 as needed. However, the camera 51 may simply acquire an image without distance measurement.

[0033] Furthermore, for example, the external recognition sensor 25 may include an environmental sensor for detecting the environment for the vehicle 1. The environmental sensor is a sensor for detecting the environment such as weather, climate, brightness, etc., and may include various sensors such as a raindrop sensor, a fog sensor, a sunlight sensor, a snow sensor, and an illuminance sensor.

[0034] Furthermore, for example, the external recognition sensor 25 includes a microphone used to detect sounds around the vehicle 1 and the location of sound sources.

[0035] The interior sensor 26 includes various sensors for detecting information inside the vehicle, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The types and number of the various sensors included in the interior sensor 26 are not particularly limited as long as they are of types and numbers that can be realistically installed in the vehicle 1.

[0036] For example, the interior sensor 26 may include one or more types of sensors selected from the group consisting of a camera, radar, a seating sensor, a steering wheel sensor, a microphone, and a biometric sensor. The camera included in the interior sensor 26 may be a camera using any of various imaging methods capable of measuring distances, such as a Time of Flight (ToF) camera, a stereo camera, a monocular camera, or an infrared camera. The camera included in the interior sensor 26 may also be a camera simply for acquiring captured images, regardless of distance measurement. The biometric sensor included in the interior sensor 26 may be provided, for example, on a seat, a steering wheel, or the like, and detect various types of biometric information of the user.

[0037] The vehicle sensor 27 includes various sensors for detecting the state of the vehicle 1, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The types and number of the various sensors included in the vehicle sensor 27 are not particularly limited as long as they are of types and numbers that can be realistically installed on the vehicle 1.

[0038] For example, the vehicle sensor 27 includes a speed sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), and an inertial measurement unit (IMU) that integrates these sensors. For example, the vehicle sensor 27 includes a steering angle sensor that detects the steering angle of the steering wheel, a yaw rate sensor, an accelerator sensor that detects the amount of accelerator pedal operation, and a brake sensor that detects the amount of brake pedal operation. For example, the vehicle sensor 27 includes a rotation sensor that detects the number of rotations of the engine or motor, an air pressure sensor that detects tire air pressure, a slip ratio sensor that detects tire slip ratio, and a wheel speed sensor that detects the rotation speed of the wheels. For example, the vehicle sensor 27 includes a battery sensor that detects the remaining battery charge and temperature, and an impact sensor that detects external impacts.

[0039] The storage unit 28 includes at least one of a non-volatile storage medium and a volatile storage medium, and stores data and programs. The storage unit 28 is used, for example, as an electrically erasable programmable read-only memory (EEPROM) and a random access memory (RAM). Examples of storage media that can be used include a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, and a magneto-optical storage device. The storage unit 28 stores various programs and data used by each component of the vehicle control system 11. For example, the storage unit 28 includes an event data recorder (EDR) and a data storage system for automated driving (DSSAD), and stores information about the vehicle 1 before and after an event such as an accident, and information acquired by the in-vehicle sensors 26.

[0040] The driving automation control unit 29 controls the driving automation function of the vehicle 1. For example, the driving automation control unit 29 includes an analysis unit 61, an action planning unit 62, and an operation control unit 63.

[0041] The analysis unit 61 performs an analysis process of the vehicle 1 and the surrounding situation. The analysis unit 61 includes a self-position estimation unit 71, a sensor fusion unit 72, and a recognition unit 73.

[0042] The self-position estimation unit 71 estimates the self-position of the vehicle 1 based on the sensor data from the external recognition sensor 25 and the high-precision map stored in the map information storage unit 23. For example, the self-position estimation unit 71 generates a local map based on the sensor data from the external recognition sensor 25 and matches the local map with the high-precision map to estimate the self-position of the vehicle 1. The position of the vehicle 1 is based on, for example, the center of the rear wheel pair axle.

[0043] The local map is, for example, a three-dimensional high-precision map or an occupancy grid map created using a technique such as SLAM (Simultaneous Localization and Mapping). The three-dimensional high-precision map is, for example, the point cloud map described above. The occupancy grid map is a map in which the three-dimensional or two-dimensional space around the vehicle 1 is divided into grids of a predetermined size and the occupancy status of objects is indicated on a grid-by-grid basis. The occupancy status of objects is indicated, for example, by the presence or absence of an object and its probability of existence. The local map is also used, for example, in the detection process and recognition process of the situation outside the vehicle 1 by the recognition unit 73.

[0044] The self-position estimation unit 71 may estimate the self-position of the vehicle 1 based on the position information acquired by the position information acquisition unit 24 and the sensor data from the vehicle sensor 27 .

[0045] The sensor fusion unit 72 performs sensor fusion processing to obtain information by combining multiple different types of sensor data (for example, image data supplied from the camera 51 and sensor data supplied from the radar 52). Methods for combining different types of sensor data include compounding, integration, fusion, and association.

[0046] The recognition unit 73 executes a detection process for detecting the situation outside the vehicle 1 and a recognition process for recognizing the situation outside the vehicle 1 .

[0047] For example, the recognition unit 73 performs detection processing and recognition processing of the situation outside the vehicle 1 based on information from the external recognition sensor 25, information from the self-position estimation unit 71, information from the sensor fusion unit 72, etc.

[0048] Specifically, for example, the recognition unit 73 performs detection processing and recognition processing of objects around the vehicle 1. The object detection processing is, for example, processing to detect the presence or absence, size, shape, position, movement, etc. of an object. The object recognition processing is, for example, processing to recognize attributes such as the type of object, or to identify a specific object. However, the detection processing and the recognition processing are not necessarily clearly separated, and may overlap.

[0049] For example, the recognition unit 73 detects objects around the vehicle 1 by performing clustering to classify a point cloud based on sensor data from the radar 52, the LiDAR 53, or the like into clusters of points. This allows the presence, size, shape, and position of objects around the vehicle 1 to be detected.

[0050] For example, the recognition unit 73 performs tracking to follow the movement of clusters of point clouds classified by clustering, thereby detecting the movement of objects around the vehicle 1. As a result, the speed and traveling direction (movement vector) of the objects around the vehicle 1 are detected.

[0051] For example, the recognition unit 73 detects or recognizes vehicles, people, bicycles, obstacles, structures, roads, traffic lights, traffic signs, road markings, etc. based on image data supplied from the camera 51. The recognition unit 73 may also recognize the types of objects around the vehicle 1 by performing recognition processing such as semantic segmentation.

[0052] For example, the recognition unit 73 can perform a recognition process of traffic rules around the vehicle 1 based on the map stored in the map information storage unit 23, the result of estimation of the self-position by the self-position estimation unit 71, and the result of recognition of objects around the vehicle 1 by the recognition unit 73. Through this process, the recognition unit 73 can recognize the positions and states of traffic lights, the contents of traffic signs and road markings, the contents of traffic regulations, and lanes that can be traveled, etc.

[0053] For example, the recognition unit 73 can perform a recognition process of the environment around the vehicle 1. The surrounding environment to be recognized by the recognition unit 73 may include weather, temperature, humidity, brightness, and road surface conditions.

[0054] The behavior planning unit 62 creates a behavior plan for the vehicle 1. For example, the behavior planning unit 62 creates the behavior plan by performing route planning and route tracking processing.

[0055] The route planning includes global path planning and local path planning. Global path planning includes a process of planning a rough route from a start to a goal. Local path planning, also called trajectory planning, includes a process of generating a trajectory that allows the vehicle 1 to proceed safely and smoothly in the vicinity of the vehicle 1 on the planned route, taking into account the motion characteristics of the vehicle 1.

[0056] Path following is a process of planning an operation for safely and accurately traveling along a route planned by a route plan within a planned time. The behavior planning unit 62 can, for example, calculate a target speed and a target angular velocity of the vehicle 1 based on the results of this path following process.

[0057] The operation control unit 63 controls the operation of the vehicle 1 in order to realize the action plan created by the action planning unit 62 .

[0058] For example, the operation control unit 63 controls a steering control unit 81, a brake control unit 82, and a drive control unit 83 included in a vehicle control unit 32 described later, to perform lateral vehicle motion control and longitudinal vehicle motion control so that the vehicle 1 travels along the trajectory calculated by the trajectory plan. For example, the operation control unit 63 performs control aimed at driver assistance functions such as collision avoidance or impact mitigation, following driving, vehicle speed maintenance driving, host vehicle collision warning, host vehicle lane departure warning, and driving automation such as driving without operation by the driver or a remote driver.

[0059] The DMS 30 performs processes such as authenticating the driver and recognizing the driver's state based on sensor data from the in-vehicle sensors 26 and input data input to the HMI 31 (described later). Examples of the driver's state to be recognized include physical condition, level of alertness, level of concentration, level of fatigue, line of sight, level of intoxication, driving operation, and posture.

[0060] The DMS 30 may be configured to perform authentication processing for users other than the driver and recognition processing for the status of the users. Furthermore, for example, the DMS 30 may be configured to perform recognition processing for the status inside the vehicle based on sensor data from the in-vehicle sensor 26. Examples of the status inside the vehicle that may be recognized include temperature, humidity, brightness, and odor.

[0061] The HMI 31 inputs various data and instructions and presents various data to the user.

[0062] The following provides an overview of data input via the HMI 31. The HMI 31 includes input devices for a person to input data. The HMI 31 generates input signals based on data, instructions, and the like input via the input devices and supplies the signals to each component of the vehicle control system 11. The HMI 31 includes, as input devices, controls such as a touch panel, buttons, switches, and levers. The HMI 31 may also include input devices that allow information to be input by voice, gestures, or other means other than manual operation. Furthermore, the HMI 31 may use, as input devices, externally connected devices such as a remote control device using infrared or radio waves, or a mobile or wearable device compatible with the operation of the vehicle control system 11.

[0063] The presentation of data by the HMI 31 will be briefly described. The HMI 31 generates visual information, auditory information, and tactile information for the user or the outside of the vehicle. The HMI 31 also performs output control, controlling the output, output content, output timing, output method, etc. of each piece of generated information. The HMI 31 generates and outputs, as visual information, information indicated by images or lights, such as an operation screen, a status display of the vehicle 1, a warning display, and a monitor image showing the situation around the vehicle 1. The HMI 31 also generates and outputs, as auditory information, information indicated by sounds, such as voice guidance, warning sounds, and warning messages. The HMI 31 also generates and outputs, as tactile information, information imparted to the user's sense of touch by, for example, force, vibration, movement, etc.

[0064] Examples of output devices that the HMI 31 uses to output visual information include a display device that displays an image on its own to present visual information and a projector device that projects an image to present visual information. The display device may be a device that displays visual information within the user's field of vision, such as a head-up display, a transmissive display, or a wearable device with an augmented reality (AR) function, in addition to a display device with a normal display. The HMI 31 may also use display devices included in a navigation system, an instrument panel, a camera monitoring system (CMS), an electronic mirror, a lamp, or the like provided in the vehicle 1 as output devices that output visual information.

[0065] As an output device for the HMI 31 to output auditory information, for example, an audio speaker, a headphone, or an earphone can be applied.

[0066] For example, a haptic element using haptic technology can be applied as an output device for outputting tactile information from the HMI 31. The haptic element is provided on a part that the user touches, such as a steering wheel or a seat.

[0067] The vehicle control unit 32 controls each part of the vehicle 1. The vehicle control unit 32 includes a steering control unit 81, a brake control unit 82, a drive control unit 83, a body system control unit 84, a light control unit 85, and a horn control unit 86.

[0068] The steering control unit 81 detects and controls the state of the steering system of the vehicle 1. The steering system includes, for example, a steering mechanism including a steering wheel, an electric power steering, etc. The steering control unit 81 includes, for example, a steering ECU that controls the steering system, an actuator that drives the steering system, etc.

[0069] The brake control unit 82 detects and controls the state of the brake system of the vehicle 1. The brake system includes, for example, a brake mechanism including a brake pedal, an antilock brake system (ABS), a regenerative brake mechanism, etc. The brake control unit 82 includes, for example, a brake ECU that controls the brake system, an actuator that drives the brake system, etc.

[0070] The drive control unit 83 detects and controls the state of the drive system of the vehicle 1. The drive system includes, for example, an accelerator pedal, a drive force generating device for generating drive force such as an internal combustion engine or a drive motor, and a drive force transmission mechanism for transmitting the drive force to the wheels. The drive control unit 83 includes, for example, a drive ECU for controlling the drive system, and an actuator for driving the drive system.

[0071] The body system control unit 84 detects and controls the states of the body system systems of the vehicle 1. The body system systems include, for example, a keyless entry system, a smart key system, a power window device, a power seat, an air conditioning system, an airbag, a seat belt, a shift lever, etc. The body system control unit 84 includes, for example, a body system ECU that controls the body system systems, an actuator that drives the body system systems, etc.

[0072] The light control unit 85 detects and controls the states of various lights of the vehicle 1. Examples of lights to be controlled include headlights, backlights, fog lights, turn signals, brake lights, projections, and bumper displays. The light control unit 85 includes a light ECU that controls the lights, an actuator that drives the lights, and the like.

[0073] The horn control unit 86 detects and controls the state of the car horn of the vehicle 1. The horn control unit 86 includes, for example, a horn ECU that controls the car horn, an actuator that drives the car horn, and the like.

[0074] Fig. 2 is a diagram showing an example of a sensing area by the camera 51, radar 52, LiDAR 53, ultrasonic sensor 54, etc. of the external recognition sensor 25 in Fig. 1. Note that Fig. 2 schematically shows the vehicle 1 as viewed from above, with the lower end side being the front end (front) side of the vehicle 1 and the upper end side being the rear end (rear) side of the vehicle 1.

[0075] Sensing area 101F and sensing area 101B show examples of sensing areas of the ultrasonic sensors 54. Sensing area 101F covers the periphery of the front end of the vehicle 1 with multiple ultrasonic sensors 54. Sensing area 101B covers the periphery of the rear end of the vehicle 1 with multiple ultrasonic sensors 54.

[0076] The sensing results in the sensing area 101F and the sensing area 101B are used, for example, for parking assistance for the vehicle 1.

[0077] Sensing area 102F to sensing area 102B show examples of sensing areas of a short-range or medium-range radar 52. Sensing area 102F covers a position farther in front of the vehicle 1 than sensing area 101F. Sensing area 102B covers a position farther behind the vehicle 1 than sensing area 101B. Sensing area 102L covers the periphery behind the left side of the vehicle 1. Sensing area 102R covers the periphery behind the right side of the vehicle 1.

[0078] The sensing results in sensing area 102F are used, for example, to detect vehicles, pedestrians, and the like that are present in front of the vehicle 1. The sensing results in sensing area 102B are used, for example, for a collision prevention function behind the vehicle 1. The sensing results in sensing area 102L and sensing area 102R are used, for example, to detect objects in blind spots on the sides of the vehicle 1.

[0079] Sensing areas 103F to 103B show examples of sensing areas sensed by camera 51. Sensing area 103F covers a position farther in front of vehicle 1 than sensing area 102F. Sensing area 103B covers a position farther in the rear of vehicle 1 than sensing area 102B. Sensing area 103L covers the periphery of the left side of vehicle 1. Sensing area 103R covers the periphery of the right side of vehicle 1.

[0080] The sensing results in the sensing area 103F can be used for, for example, recognition of traffic lights and traffic signs, lane departure prevention assistance systems, and automatic headlight control systems. The sensing results in the sensing area 103B can be used for, for example, parking assistance and surround view systems. The sensing results in the sensing areas 103L and 103R can be used for, for example, surround view systems.

[0081] Sensing area 104 shows an example of the sensing area of ​​LiDAR 53. Sensing area 104 covers a position farther ahead of vehicle 1 than sensing area 103F. On the other hand, sensing area 104 has a narrower range in the left-right direction than sensing area 103F.

[0082] The sensing results in the sensing area 104 are used to detect objects such as surrounding vehicles, for example.

[0083] A sensing area 105 shows an example of the sensing area of ​​the long-range radar 52. The sensing area 105 covers a position further ahead of the vehicle 1 than the sensing area 104. On the other hand, the sensing area 105 has a narrower range in the left-right direction than the sensing area 104.

[0084] The sensing results in the sensing area 105 are used for, for example, adaptive cruise control (ACC), emergency braking, collision avoidance, and the like.

[0085] The sensing areas of the cameras 51, radars 52, LiDARs 53, and ultrasonic sensors 54 included in the external recognition sensor 25 may have various configurations other than those shown in FIG. 2 . Specifically, the ultrasonic sensors 54 may also sense the sides of the vehicle 1, and the LiDAR 53 may sense the rear of the vehicle 1. The installation positions of the sensors are not limited to the examples described above. The number of each sensor may be one or more.

[0086] 3 is a cross-sectional view showing a schematic configuration of a camera according to embodiment 1. The camera 51 is an imaging device and an electronic device.

[0087] The camera 51 includes a camera housing 90, an imaging module 100, a main board 120, and a connector 130. The camera housing 90 forms the outer shell of the camera 51. The imaging module 100, main board 120, and connector 130 included in the camera 51 are housed in the camera housing 90. In the camera 51, image signals captured by the imaging module 100 are transmitted to each component of the vehicle control system 11 via the main board 120 and the connector 130 (see also FIG. 1, etc.). The camera housing 90 may be formed so as to be separable into upper and lower parts on the plane of FIG. 3, for example.

[0088] FIG. 4 is a cross-sectional view showing a schematic configuration of an imaging module according to the first embodiment. The imaging module 100 includes a base substrate 91, an image sensor 92, a lens barrel 93, a lens 94, and an infrared cut filter 108. The imaging module 100 is housed in a camera housing 90 with the lens 94 exposed. The base substrate 91 has a plate-like shape and a mounting surface 91a on which the image sensor 92 is mounted. The base substrate 91 is formed of an insulating material such as resin. The base substrate 91 is formed by laminating insulating materials, with conductive wiring formed between each layer. An image signal transmitted from the image sensor 92 is transmitted to the main substrate 120 via the conductive wiring formed on the base substrate 91. The base substrate 91 has a through-hole 91b formed between the mounting surface 91a and its rear surface. The through-hole 91b is formed in an area surrounded by the lens barrel 3, which will be described later.

[0089] The image sensor 92 is mounted on a mounting surface 91a of the base substrate 91. Fig. 5 is a cross-sectional view showing a schematic configuration of the image sensor in embodiment 1. The image sensor 92 includes a package substrate 95, an imaging element 106, and a cover glass 107.

[0090] The package substrate 95 has a plate-like shape and a mounting surface 95a on which the image sensor 106 is mounted. A wall 95b surrounding the image sensor 106 is formed on the outer edge of the mounting surface 95a. The wall 95b is formed to a height greater than the thickness of the image sensor 106. The package substrate 95 is made of an insulating material such as resin. The package substrate 95 is formed by laminating insulating materials, with conductive wiring formed between each layer. An image signal transmitted from the image sensor 106 is transmitted to the base substrate 91 through the conductive wiring formed on the package substrate 95. The conductive wiring formed on the base substrate 91 and the conductive wiring formed on the package substrate 95 are electrically connected, for example, by terminals (not shown) provided between the base substrate 91 and the package substrate 95. The base substrate 91 is also electrically connected to the main substrate 120 via a flexible substrate (not shown).

[0091] The imaging element 106 is mounted on the mounting surface 95a of the package substrate 95. The imaging element 106 has a light-receiving surface 106a on the side opposite to the mounting surface 95a. The imaging element 106 is a semiconductor element that generates image data based on incident light that has entered the light-receiving surface 106a. An example of the imaging element 106 is a MOS (metal-oxide-semiconductor) type photoelectric conversion element.

[0092] The cover glass 107 is made of transparent glass and has a plate-like shape. The cover glass 107 covers the light-receiving surface 106a of the image sensor 106. Covering the light-receiving surface 106a with the cover glass 107 prevents the light-receiving surface 106a from being scratched and from being directly exposed to dust. The cover glass 107 is fixed to a wall 95b of the package substrate 95. The wall 95b is formed with a height greater than the thickness of the image sensor 106, so a gap is provided between the cover glass 107 and the image sensor 106. In this positional relationship, the light-receiving surface 106a of the image sensor 106 can be said to be the surface of the outer circumferential surface of the image sensor 106 that faces the cover glass 107.

[0093] The lens barrel 93 has a cylindrical shape, and one end is fixed to the mounting surface 91a of the base substrate 91. The lens barrel 93 is fixed to the mounting surface 91a so as to be arranged to surround the image sensor 92. The lens barrel 93 is fixed using adhesive 110 around the entire periphery at the end facing the mounting surface 91a. Fixing using adhesive 110 will be described in detail later.

[0094] The lens barrel 93 is a support member that supports the lens 94. The lens 94 is provided on the opposite side of the base substrate 91 across the image sensor 92. In this positional relationship, the surface of the outer circumferential surface of the cover glass 107 that faces the lens 94 is referred to as an incident surface 107a.

[0095] The lens 94 is an optical element that refracts light incident on the lens 94 and focuses the light onto the light receiving surface 106 a. In the first embodiment, an example is given in which a plurality of lenses 94 are supported by the lens barrel 93, but the number of lenses 94 supported by the lens barrel 93 is not particularly limited.

[0096] The infrared cut filter 108 is supported by the lens barrel 93 and disposed between the image sensor 92 and the lens 94. The infrared cut filter 108 cuts out infrared rays from the light incident on the light receiving surface 106a of the image sensor 106.

[0097] In the imaging module 100, the lens barrel 93 is fixed to the mounting surface 91a of the base substrate 91 with adhesive 110, thereby forming an accommodation space 109 that houses the image sensor 92 and is surrounded by the base substrate 91, the lens barrel 93, and the lens 94. A through-hole 91b formed in the base substrate 91 connects the inside and outside of the accommodation space 109. The adhesive 110 seals the space between the lens barrel 93 and the mounting surface 91a so that no gaps are formed. In other words, the structure (group of components) that forms the accommodation space 109 has a sealed structure except for the through-hole 91b. Therefore, air does not move between the inside and outside of the accommodation space 109 except for the through-hole 91b.

[0098] In the imaging module 100, in order to accurately focus light on the light receiving surface 106a of the imaging element 106, the lens barrel 93 supporting the lens 94 must be fixed to the package substrate 95 with high alignment accuracy. A thermosetting adhesive 110 is used to fix the lens barrel 93 with high alignment accuracy. Specifically, alignment is performed while the lens barrel 93 is temporarily fixed to the mounting surface 91a of the base substrate 91 with the adhesive 110. After alignment is complete, the imaging module 100 is heated, hardening the adhesive 110 and permanently fixing the lens barrel 93. When the imaging module 100 is heated to fix the lens barrel 93, the air inside the housing space 109 is also heated and expands. Here, air can flow out of the housing space 109 through the through-hole 91b formed in the base substrate 91, preventing an increase in pressure inside the housing space 109. This prevents problems such as cracks in the adhesive 104 caused by an increase in pressure inside the housing space 109. Although the example described here uses a thermosetting adhesive, a hybrid adhesive with multiple curing characteristics may also be used. A curing process for temporary fixation is performed on the hybrid adhesive based on one curing characteristic, and then a final fixation process is performed based on another curing characteristic. An example of a hybrid adhesive is an adhesive with photocuring and thermosetting characteristics. In the case of an adhesive with photocuring and thermosetting characteristics, the temporary fixation process is performed by irradiating the adhesive with ultraviolet light (UV light) based on the photocuring characteristic, and the final fixation process is performed by heating the adhesive based on the thermosetting characteristic.

[0099] Here, dust may enter the interior of the storage space 109 through the through-holes 91b formed in the base substrate 91. If the dust that has entered the storage space 109 lands on the incident surface 107a of the cover glass 107, the light that is condensed on the light receiving surface 106a of the image sensor 106 is blocked, and the dust appears as black dots in the image captured by the image sensor 106.

[0100] The density of the black dots reflected in the image is determined by the degree to which the dust blocks the light condensed on the light receiving surface 106a. The darker the black dots, the more difficult it becomes for humans and machines to recognize the image that is actually being captured.

[0101] In the imaging module 100 according to the first embodiment, the density of black spots that appear in an image due to dust on the light-receiving surface 106 a of the imaging element 106 is reduced by adjusting the distance between the light-receiving surface 106 a of the imaging element 106 and the light-incident surface 107 a of the cover glass 107. In other words, even if dust enters the housing space 109, the adverse effect on image recognition is reduced.

[0102] More specifically, when the distance between the light receiving surface 106a of the image sensor 106 and the incident surface 107a of the cover glass 107 is L and the diameter of the through-hole 91b on the mounting surface 91a is D, the image pickup module 100 according to the first embodiment satisfies the relationship of the following mathematical formula (1): L>10×D (1)

[0103] Here, dust entering the accommodation space 109 passes through the through-hole 91b and therefore does not exceed the diameter of the through-hole 91b. That is, the maximum diameter of dust entering the accommodation space 109 is D. The maximum cross-sectional area of ​​dust entering the accommodation space 109 is also the area of ​​a circle with a diameter of D, that is, the cross-sectional area of ​​the through-hole 91b. The cross-sectional area A1 of the through-hole 91b on the mounting surface 91a is (D / 2) ２ ×3.14.

[0104] Next, the distance L, the maximum diameter D of the dust particle, and the light blocking rate due to the dust particle will be described. Fig. 6 is a partially enlarged cross-sectional view showing a schematic diagram of the image sensor and the cover glass portion of the image sensor. Hatching of the cross section is omitted in Fig. 6. Fig. 6 shows a luminous flux of light that is focused on the light receiving surface 106a by the lens 94 and that is incident on one of the photoelectric conversion elements. The luminous flux diameter at the incident surface 107a of the luminous flux is D. Ｌ In this case, the light beam area A2, which is the area of ​​the region irradiated by the light beam on the incident surface 107a, is (D Ｌ / 2) ２ ×3.14. Furthermore, the distance between the light receiving surface 106a and the cover glass 107 is defined as L1. The distance between the incident surface 107a of the cover glass 107 and its back surface, i.e., the thickness of the cover glass 107, is defined as L2. The incident angle of light from the atmosphere to the cover glass 107 and the exit angle of light from the cover glass 107 to the atmosphere are defined as α. The exit angle from the atmosphere to the cover glass 107 is defined as β. In this case, the luminous flux diameter D Ｌ is expressed by the following equation (2): Ｌ = 2 × (L1 × tan α + L2 × tan β) ... (2)

[0105] As described above, the maximum diameter of dust particles on the incident surface 107a is D. The blocking rate S [%] of light collected by the lens 94 on the light receiving surface 106a and blocked by dust particles 111 on the incident surface 107a is expressed by the following formula (3): S=(D ２ / D Ｌ ２ )×100 (3) The larger the shielding rate S, the darker the black dots that appear in the image, which hinders image recognition.

[0106] From the above formula (3), the diameter D of the dust particle is expressed by the following formula (4): D = (S / 100 x D Ｌ ２ ) ０．５ ...(4)

[0107] Here, if the numerical aperture, which is an index of the resolution of the lens, is NA and the F-number of the lens is F, the relationship between the two is expressed by the following formula (5): NA=½F (5)

[0108] The numerical aperture NA is expressed as the refractive index of the atmosphere, n ａ Then, it can be expressed as the following equation (6): NA=n ａ sin α...(6)

[0109] Here, the refractive index of the atmosphere is n ａ = 1, the above formula (6) can be rewritten as the following formula (7): NA = sin α (7)

[0110] From the above formula (5) and formula (7), α is expressed by the following formula (8): α=sin －１ (1 / 2F) ... (8)

[0111] Also, Snell's law and the refractive index of the atmosphere, n ａ = 1, the relationship of the following equation (9) is derived: sin α / sin β = n / n ａ = n ... (9)

[0112] From the above formula (9), β is expressed by the following formula (10): β=sin －１ (sin α / n) ... (10)

[0113] By substituting the above formulas (2), (8) and (10) into the above formula (4), the diameter D of the dust particle is expressed by the following formula (11).

[0114] Furthermore, α, which is derived from the above formula (5) and formula (6) using the numerical aperture NA, can also be derived as follows: That is, the F-number F of the lens is focal length / lens diameter, and is therefore expressed by the following formula (12): F=1 / (2×tan α) (12)

[0115] From the above formula (12), α is expressed by the following formula (13): α=tan －１ (1 / 2F) ... (13)

[0116] When deriving the above formula (11), the α expressed in the above formula (8) was substituted into the above formula (4), but by substituting the α expressed in the above formula (13) instead, the dust diameter D can be expressed by the following formula (14).

[0117] The formula (11) and the formula (14) have different calculation methods for the substituted α, and the formulas substituted are different. －１ (1 / 2F) is substituted, and in the above formula (14), tan －１ (1 / 2F) is substituted. Figure 7 shows the F-number of the lens and the sin －１ The value of (1 / 2F) and tan －１ 7 is a graph showing the relationship between the value of sin (1 / 2F) and the F-number. －１ The value of (1 / 2F) and tan －１ The values ​​of (1 / 2F) are almost the same. Therefore, D expressed by the above formula (11) and D expressed by the above formula (14) are also almost the same value.

[0118] From the above formulas (11) and (14), it can be seen that the shielding rate S is determined by the maximum diameter D of the dust 111 (the diameter of the through-hole 91b) and the F-number of the lens 94. The F-number of the lens 94 is determined depending on the purpose for which the camera 51 is used, etc.

[0119] In the vehicle 1 according to this embodiment, the driving automation control unit 29 controls the driving automation function based on image data captured by the camera 51. In other words, it can be said that the camera 51 is used in an automated driving system. In the camera 51 that captures images used for driving automation, the F-number of the lens 94 is set to, for example, 1.4. The images used for driving automation are recognized by a machine. In this case, it is desirable that the shading rate S be 4% or less.

[0120] Furthermore, an image of the surroundings of the vehicle 1 captured by the camera 51 may be displayed on an HMI 31 (e.g., a display device) provided inside the vehicle 1 to allow the driver to check the surroundings when parking. This applies when the camera 51 is used in a parking assistance system, a viewing camera system with a sensing function, or a viewing camera system without a sensing function. When capturing an image to be displayed on a display device, the F-number of the lens 94 of the camera 51 is set to, for example, 2. The image displayed on the display device is recognized by a person. In this case, it is desirable that the shading rate S be 9% or less.

[0121] Here, the desirable shading ratio S determined based on the purpose of use of the camera 51 and the F-number of the lens 94 is defined as the allowable shading ratio Sa. Also, the distance between the light receiving surface 106a of the image sensor 106 and the incident surface 107a of the cover glass 107 is defined as L. The distance L is the sum (L1 + L2) of the distance L1 between the light receiving surface 106a and the cover glass 107 and the thickness L2 of the cover glass 107.

[0122] 8 is a diagram showing the value of L / d when the F-number of the lens and the allowable shading rate Sa are changed. As shown in Fig. 8, when the F-number is 1.4 and the allowable shading rate Sa is 4%, which are desirable conditions for automated driving, L / d is 10. Therefore, if the distance L between the light receiving surface 106a and the incident surface 107a is 10 times or more the diameter of the through-hole 91b formed in the base substrate 91, even if dust 111 that has entered through the through-hole 91b lands on the incident surface 107a, there will be no problem in recognizing the captured image in automated driving.

[0123] 8, when the F-number is 2 and the allowable shading rate Sa is 9%, which are desirable conditions for use in checking the surroundings while parking, L / d is 10. Therefore, if the distance L between the light receiving surface 106a and the incident surface 107a is 10 times or more the diameter of the through-hole 91b formed in the base substrate 91, even if dust 111 that has entered through the through-hole 91b lands on the incident surface 107a, no problem will arise in recognizing the captured image when checking the surroundings while parking.

[0124] As described above, whether the purpose of using camera 51 is to automate driving or to check the surroundings when parking, if L / d is 10 under desirable conditions, even if dust 111 that has entered through through-hole 91b lands on incident surface 107a, the reflected black spots will be dark enough that they do not affect the recognition of the image.

[0125] Therefore, by setting the distance L between the light receiving surface 106a of the image sensor 106 and the incident surface 107a of the cover glass 107 so that it satisfies the condition L > 10 × D shown in the above mathematical formula (1), it is possible to make the black spots reflected by dust 111 that has entered through the through-hole 91b dark enough so as not to affect the recognition of the image. When the camera 51 is used to capture images that are recognized by humans, such as when checking the surroundings while parking (for example, when the camera 51 is used in a parking assistance system, a viewing camera system without a sensing function, or a viewing camera system with a sensing function), if the allowable shading rate Sa is set to 10% or less, even if dust 111 that has entered through the through-hole 91b lands on the incident surface 107a, the black spots reflected will be dark enough so as not to affect the recognition of the image. The shading rate S can also be expressed as S = A1 / A2 × 100, where A1 is the cross-sectional area of ​​the through-hole 91b and A2 is the luminous flux area. Therefore, the condition for the allowable shielding rate Sa≦10% can be expressed in other words as A1 / A2×100≦10, that is, A1 / A2≦0.1.

[0126] Furthermore, even when the camera 51 is used for a purpose other than the exemplified purposes, once the F-number and the desirable allowable shielding rate Sa are determined, by setting L1 and L2 to satisfy the above formula (11) or the above formula (14), it is possible to make the black spots reflected by dust 111 that has entered through the through-hole 91b dark enough so as not to affect the recognition of the image.

[0127] Furthermore, since there is no need to seal the through-hole 91b with a sealant to prevent the intrusion of dust 111, it is possible to reduce the number of parts and the process of attaching the sealant, thereby preventing an increase in the manufacturing cost of the imaging module 100.

[0128] Generally, in the image sensor 92 used in an in-vehicle camera such as the camera 51 according to the first embodiment, the distance L is often about 1 mm.

[0129] If the diameter D of the through-hole 91b is 0.2 mm, the thickness L2 of the cover glass 107 should be made thicker than usual so that the distance L is 2 mm or more. The thickness of the cover glass 107 is set taking into consideration the reflow resistance relative to the package size of the image sensor 92, but there are generally no concerns about increasing the thickness other than from a cost perspective.

[0130] Generally, the through-hole 91b is formed with a drill. The diameter D is determined by the diameter of the drill. A drill diameter of 0.1 mm or more is generally considered to be the diameter of the through-hole 91b. However, the aspect ratio of the thickness of the base substrate 91 to the diameter D of the through-hole 91b is set to 8:1 or more, and it is difficult to form the through-hole 91b with a diameter that is 1 / 8 or less of the thickness of the base substrate 91.

[0131] The standard thickness of the base substrate 91 is 1.6 mm, and depending on the design, it may be as thin as approximately 0.8 mm. However, the thinner the substrate, the greater the risk of solder cracks due to vibrations and other factors. Therefore, considering that the base substrate 91 is used in an in-vehicle camera where reliability is important and that it is a substrate on which an image sensor 92 is mounted, the thickness of the base substrate 91 is preferably approximately 1.2 to 1.6 mm. When the thickness is 1.2 mm, the diameter D of the through hole 91 b is at least 0.15 mm, and when the thickness is 1.6 mm, the diameter D of the through hole 91 b is at least 0.2 mm. Therefore, the distance L from the light receiving surface 106 a to the incident surface 107 a is set to at least 1.5 mm. Furthermore, the distance from the incident surface 107 a to the infrared cut filter 108 is approximately 2 mm, and the cover glass 107 must be formed thick enough so as not to come into contact with the infrared cut filter 108.

[0132] The above describes an example in which the lens barrel 93, which is a support component, is adhered to the base substrate 91, and thereby the housing space 109 is formed by the lens barrel 93, the lens 94 supported by the lens barrel, and the base substrate 91. In this example, the lens holder and lens barrel are integrated, and it is considered that part of the lens barrel functions as a lens holder, with the lens barrel 93 being the support component. The lens barrel 93, the lens 94, and the base substrate 91 form the housing space 109, forming a sealed structure.

[0133] In this specification, a lens barrel is a component that supports (holds) a lens, and a lens holder is a component that supports (holds) the lens barrel and is attached to the housing. There are several methods for fastening the lens holder to the lens barrel, and the lens holder to the housing. As one example, an adhesive is applied to the connecting surfaces of the lens holder and the lens barrel to fasten the lens holder to the lens barrel. Alternatively, the lens holder and the housing are fastened by welding.

[0134] FIG. 9 is a cross-sectional view showing a schematic configuration of a camera according to a modified example of the first embodiment. In the example shown in FIG. 9 , a lens holder 96 supporting the lens barrel 93 is provided between the lens barrel 93 and a base substrate 91. In this configuration, the lens holder 96, or the lens holder 96 and the lens barrel 93, serve as a support component. The lens holder 96 is also connected to the lens barrel 93. The lens holder 96 is adhered to the mounting surface 91a of the base substrate 91 with adhesive 110. The adhesive 110 seals the gap between the lens holder 96 and the mounting surface 91a of the base substrate 91 to prevent gaps from forming. In this configuration, the lens barrel 93, the lens holder 96, the lens 94, and the base substrate 91 form a storage space 109. Even in this configuration, the structure (group of components) that forms the storage space 109 has a sealed structure except for the through-hole 91b. Therefore, air does not move between the inside and outside of the storage space 109 except for the through-hole 91b.

[0135] FIG. 10 is a cross-sectional view showing the schematic configuration of a camera according to another modified example of the first embodiment. In the example shown in FIG. 10 , a portion of the camera housing 90 also functions as a lens holder that supports a lens barrel 93. In this configuration, the camera housing 90 supports the lens barrel 93. In this configuration, the camera housing 90 serves as a support component. The portion of the camera housing 90 that functions as a lens holder is referred to as a holder function unit 90a. The holder function unit 90a is bonded to a mounting surface 91a of a base substrate 91 with adhesive 110. A lens barrel 93 is connected to the side of the holder function unit 90a opposite the side bonded to the base substrate 91. In this configuration, the adhesive 110 seals the gap between the holder function unit 90a and the mounting surface 91a of the base substrate 91 to prevent gaps from forming. In this configuration, the lens barrel 93, the holder function unit 90a, the lens 94, and the base substrate 91 form an accommodation space 109. In this configuration, the structure (group of components) that forms the accommodation space 109 has a sealed structure except for the through-hole 91b, so that air does not move between the inside and outside of the accommodation space 109 except for the through-hole 91b.

[0136] FIG. 11 is a cross-sectional view showing the schematic configuration of a camera according to yet another modified example of the first embodiment. In the example shown in FIG. 11 , a portion of the camera housing 90 functions as both a lens barrel 93 and a lens holder. The portion of the camera housing 90 that functions as both the lens barrel 93 and the lens holder is referred to as a holder function unit 90b. In this configuration, the holder function unit 90b, which is part of the camera housing 90, supports the lens 94. In this configuration, the camera housing 90 serves as a support component. In this configuration, the holder function unit 90b is bonded to the base substrate 91 with adhesive 110. The adhesive 110 seals the gap between the holder function unit 90b and the mounting surface 91a of the base substrate 91 to prevent gaps from forming. In this configuration, the camera housing 90 including the holder function unit 90b, the lens 94, and the base substrate 91 form a storage space 109. In this configuration, the structure (group of components) that forms the storage space 109 has a sealed structure except for the through-hole 91b. Therefore, air does not move between the inside and outside of the accommodation space 109 except through the through-holes 91b.

[0137] <<3. Supplementary Notes>> The present technology may also have the following configurations. (1) An imaging device comprising: a base substrate having a mounting surface; an imaging element provided on the mounting surface; a cover glass covering a light-receiving surface of the imaging element; a lens provided on the opposite side of the base substrate with the imaging element sandwiched therebetween; a support component fixed to the mounting surface and forming, together with the lens, an accommodation space between the base substrate and the support component for accommodating the imaging element and the cover glass; and a through-hole formed in the base substrate that penetrates the mounting surface and a back surface of the mounting surface to communicate the accommodation space with the outside, wherein L is the distance between the light-receiving surface of the imaging element facing the cover glass and the incident surface of the cover glass facing the lens, and D is the diameter of the through-hole, such that L > 10 × D. (2) The imaging device according to (1), wherein the support component includes a lens barrel. (3) The imaging device according to (1), wherein the support component includes a lens holder. (4) The imaging device according to (1), further comprising a housing that houses the base substrate while exposing the lens, wherein the support component includes the housing. (5) An imaging device comprising: a base substrate having a mounting surface; an imaging element provided on the mounting surface; a cover glass covering a light receiving surface of the imaging element; a lens provided on the opposite side of the base substrate with the imaging element sandwiched therebetween; a support part fixed to the mounting surface and forming, together with the lens, an accommodation space between the base substrate and the imaging element and accommodating the imaging element and the cover glass; and a through hole formed in the base substrate, penetrating the mounting surface and a back surface of the mounting surface to communicate the accommodation space with the outside, wherein the distance between the cover glass and a light receiving surface that is the surface of the imaging element facing the cover glass is L1, the thickness of the cover glass is L2, the F-number of the lens is F, the refractive index of the cover glass is n, the proportion of the area of ​​the through hole to the incident surface that is the surface of the cover glass facing the lens is S [%], and the diameter of the through hole is D, the relationship of the above formula (11) is established, and S≦10. (6) The imaging device according to (5), wherein L1, L2, and D are values ​​that satisfy S≦4 when F=1.4.(7) The imaging device according to (5), wherein L1, L2, and D are values ​​that satisfy S≦9 when F=2.0. (8) The imaging device according to (5), wherein the support component includes a lens barrel. (9) The imaging device according to (5), wherein the support component includes a lens holder. (10) The imaging device according to (5), further comprising a housing that houses the base substrate while exposing the lens, wherein the support component includes the housing. (11) An imaging device comprising: a base substrate having a mounting surface; an imaging element provided on the mounting surface; a cover glass covering a light receiving surface of the imaging element; a lens provided on the opposite side of the base substrate with the imaging element sandwiched therebetween; a support part fixed to the mounting surface and forming, together with the lens, an accommodation space between the base substrate and the imaging element and accommodating the imaging element and the cover glass; and a through hole formed in the base substrate, penetrating the mounting surface and a back surface of the mounting surface to communicate the accommodation space with the outside, wherein the distance between the cover glass and a light receiving surface that is the surface of the imaging element facing the cover glass is L1, the thickness of the cover glass is L2, the F-number of the lens is F, the refractive index of the cover glass is n, the proportion of the area of ​​the through hole to the incident surface that is the surface of the cover glass facing the lens is S (%), and the diameter of the through hole is D, the relationship of the above formula (14) is established, and S≦10. (12) The imaging device according to (11), wherein L1, L2, and D are values ​​that satisfy S≦4 when F=1.4. (13) The imaging device according to (11), wherein L1, L2, and D are values ​​that satisfy S≦9 when F=2.0. (14) The imaging device according to (11), wherein the support component includes a lens barrel. (15) The imaging device according to (11), wherein the support component includes a lens holder. (16) The imaging device according to (11), further comprising a housing that houses the base substrate while exposing the lens, wherein the support component includes the housing.(17) An imaging device comprising: a base substrate having a mounting surface; an imaging element provided on the mounting surface, the imaging element including a plurality of photoelectric conversion elements; a cover glass covering a light receiving surface of the imaging element; a lens provided on the opposite side of the base substrate with the imaging element sandwiched therebetween; a support part fixed to the mounting surface and forming, together with the lens, an accommodation space between the base substrate and the support part for accommodating the imaging element and the cover glass; and a through hole formed in the base substrate that penetrates the mounting surface and a back surface of the mounting surface to communicate the accommodation space with the outside, wherein A2 is a luminous flux area that is an area of ​​an area irradiated by a luminous flux incident on one of the photoelectric conversion elements at an incident surface of the cover glass that faces the lens, and A1 is a cross-sectional area of ​​the through hole on the mounting surface, where A1 / A2≦0.1 or less. (18) The imaging device is a sensor used in an autonomous driving system for vehicles, and the imaging device according to (17) satisfies A1 / A2≦0.04. (19) The imaging device according to (17), wherein the imaging device is a sensor used in a display system that displays an image of the surroundings of a vehicle on a display device of the vehicle, and wherein A1 / A2≦0.09. (20) The imaging device according to (17), wherein the support component includes a lens barrel. (21) The imaging device according to (17), wherein the support component includes a lens holder. (22) The imaging device according to (17), further comprising: a housing that houses the base substrate while exposing the lens, and wherein the support component includes the housing.

[0138] REFERENCE SIGNS LIST 1 Vehicle 11 Vehicle control system 21 Vehicle control ECU (Electronic Control Unit) 22 Communication unit 23 Map information storage unit 24 Position information acquisition unit 25 External recognition sensor 26 In-vehicle sensor 27 Vehicle sensor 28 Memory unit 29 Driving automation control unit 30 Driver monitoring system (DMS) 31 Human-machine interface (HMI) 32 Vehicle control unit 41 Communication network 51 Camera 52 Radar 53 LiDAR 54 Ultrasonic sensor 61 Analysis unit 62 Action planning unit 63 Operation control unit 71 Self-position estimation unit 72 Sensor fusion unit 73 Recognition unit 81 Steering control unit 82 Brake control unit 83 Drive control unit 84 Body system control unit 85 Light control unit 86 Horn control unit 90 Camera housing 90a, 90b Holder function unit 91 Base substrate 91a Mounting surface 91b Through hole 92 Image sensor 93 Lens barrel 94 Lens 95 Package substrate 95a Mounting surface 95b Wall 96 Lens holder 100 Imaging module 106 Imaging element 106a Light receiving surface 107 Cover glass 107a Incident surface 108 Infrared cut filter 109 Storage space 110 Adhesive 111 Dust 120 Main substrate 130 Connector

Claims

an imaging device comprising: a base substrate having a mounting surface; an imaging element provided on said mounting surface; a cover glass covering the light receiving surface of the imaging element; a lens provided on the opposite side of said base substrate with the imaging element in between; a support part fixed to said mounting surface and forming, together with the lens, an accommodation space between said base substrate and said imaging element and said cover glass; and a through hole formed in said base substrate that passes through said mounting surface and the rear surface of said mounting surface to communicate said accommodation space with the outside, wherein L is the distance between the light receiving surface of said imaging element that faces the cover glass and the incident surface of said cover glass that faces the lens, and D is the diameter of said through hole, such that L>10×D.

2. The imaging device according to claim 1, wherein the support component includes a lens barrel.

3. The imaging device according to claim 1, wherein the support component includes a lens holder.

4. The imaging device according to claim 1, further comprising a housing that houses the base substrate while exposing the lens, wherein the support part includes the housing.

5. A base substrate having a mounting surface, an image sensor provided on the mounting surface, a cover glass covering a light receiving surface of the image sensor, a lens provided on the opposite side of the base substrate with the image sensor sandwiched therebetween, and a support part fixed to the mounting surface and forming, together with the lens, an accommodation space between the base substrate and the image sensor and the cover glass, wherein the base substrate is provided with a through hole penetrating the mounting surface and the rear surface of the mounting surface to communicate the accommodation space with the outside, wherein the relationship of the following formula (1) is established when the distance between the light receiving surface of the image sensor facing the cover glass and the cover glass is L1, the thickness of the cover glass is L2, the F-number of the lens is F, the refractive index of the cover glass is n, the proportion of the area of ​​the through hole to the incident surface of the cover glass facing the lens is S [%], and the diameter of the through hole is D, An imaging device where S≦10.

6. The imaging device according to claim 5, wherein L1, L2, and D are values ​​that satisfy S≦4 when F=1.

4.

7. The imaging device according to claim 5, wherein L1, L2, and D are values ​​that satisfy S≦9 when F=2.

0.

8. The imaging device according to claim 5, wherein the support component includes a lens barrel.

9. The imaging device according to claim 5, wherein the support component includes a lens holder.

10. The imaging device according to claim 5, further comprising a housing that houses the base substrate while exposing the lens, and the support part includes the housing.

11. A base substrate having a mounting surface, an image sensor provided on said mounting surface, a cover glass covering the light receiving surface of the image sensor, a lens provided on the opposite side of the base substrate with the image sensor in between, a support part fixed to said mounting surface and forming, together with the lens, an accommodation space between the base substrate and the image sensor and the cover glass, wherein the base substrate is provided with a through hole penetrating the mounting surface and the rear surface of the mounting surface to communicate the accommodation space with the outside, wherein the relationship of the following formula (2) is established when the distance between the light receiving surface of the image sensor facing the cover glass and the cover glass is L1, the thickness of the cover glass is L2, the F-number of the lens is F, the refractive index of the cover glass is n, the proportion of the area of ​​the through hole to the incident surface of the cover glass facing the lens is S (%), and the diameter of the through hole is D, An imaging device where S≦10.

12. The imaging device according to claim 11, wherein L1, L2, and D are values ​​that satisfy S≦4 when F=1.

4.

13. The imaging device according to claim 11, wherein L1, L2, and D are values ​​that satisfy S≦9 when F=2.

0.

14. The imaging device according to claim 11, wherein the support component includes a lens barrel.

15. The imaging device of claim 11, wherein the support component includes a lens holder.

16. The imaging device according to claim 11, further comprising a housing that houses the base substrate while exposing the lens, and the support component includes the housing.

17. An imaging device comprising: a base substrate having a mounting surface; an imaging element provided on the mounting surface including a plurality of photoelectric conversion elements; a cover glass covering the light receiving surface of the imaging element; a lens provided on the opposite side of the base substrate with the imaging element in between; a support part fixed to the mounting surface and forming, together with the lens, an accommodation space between the base substrate and the imaging element and accommodating the imaging element and the cover glass; and a through hole formed in the base substrate that penetrates the mounting surface and the rear surface of the mounting surface to communicate the accommodation space with the outside, wherein A2 is a luminous flux area that is the area of ​​an area irradiated by a luminous flux incident on one of the photoelectric conversion elements at an incident surface that is the surface of the cover glass facing the lens, and A1 is a cross-sectional area of ​​the through hole on the mounting surface, such that A1 / A2≦0.1 or less.

18. The imaging device according to claim 17, which is a sensor used in an automatic driving system of a vehicle, and A1 / A2 is equal to or less than 0.

04.

19. The imaging device according to claim 17, wherein the imaging device is a sensor used in a display system that displays an image of the surroundings of a vehicle on a display device of the vehicle, and A1 / A2 is equal to or less than 0.

09.

20. The imaging device of claim 17, wherein the support component includes a lens barrel.

21. The imaging device of claim 17, wherein the support component includes a lens holder.

22. The imaging device according to claim 17, further comprising: a housing that houses the base substrate while exposing the lens; and the support component includes the housing.

Images