Camera apparatus and in-vehicle system capturing images for vehicle tasks

• US 10,331,963 B2
• Filed: 06/30/2016
• Issued: 06/25/2019
• Est. Priority Date: 06/30/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Nakano, Toshihisa, Furutake, Yasuki, Takama, Daisuke
• Primary Examiner(s): Beck, Leron
• Application Number:
  US15/198,539
• Publication Number:
  US 20170001565A1
• Time in Patent Office: 1,090 Days
• Field of Search: 348148
• CPC Class Codes: B60R 1/04 mounted inside vehicle B60R1/025, B60R1/08 take precedence
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2001/1215 with information displays
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: H04N 23/51 Housings
• CPC Class Codes: H04N 23/55 Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/57 Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

In a camera apparatus, a camera module has a predetermined field of view, and is configured to capture an image in front of the vehicle via a predetermined wiping area of the windshield of the vehicle. In the camera module, a lens unit includes a plurality of lenses. A barrel is configured to house the lens unit. An imager has an imaging surface, and is arranged with respect to the lens unit such that light passing through the plurality of lenses of the lens unit forms an image on the imaging surface. The imager includes at least part of an exposure controller that controls an exposure of the imaging surface. The imaging surface is concavely curved.

Claims

1. A camera apparatus installable to a vehicle that includes a windshield and an electronic device installed thereto, the camera apparatus comprising:

a camera module having a predetermined field of view and configured to capture an image in front of the vehicle via a predetermined wiping area of the windshield of the vehicle;

a first processing unit configured to perform, based on the image captured by the camera module, at least part of a recognition task that recognizes situations in front of the vehicle;

a second processing unit configured to perform, based on a result of the recognition task performed by the first processing unit, at least part of a vehicle control task,

the vehicle control task including at least two of;

a lane departure warning task for determining whether there is an unintentional departure of the vehicle from a lane on which the vehicle is running;

a headlight control task for controlling a headlight of the vehicle; and

a task for preventing front collisions of the vehicle;

a communication interface that enables the first and second processing units to communicate with the electronic device installed in the vehicle;

a power source that supplies electrical power to the camera module, the first processing unit, and the second processing unit;

a housing configured to house at least part of at least one of the camera module, the first processing unit, the second processing unit, the communication interface, and the power source;

a cover configured to cover at least part of at least one of the camera module, the first processing unit, the second processing unit, the communication interface, the power source, and the housing; and

a mounting member configured to fixedly mount the camera module to the windshield of the vehicle such that the field of view of the camera module is directed in front of the vehicle,

the camera module comprising;

a lens unit comprising a plurality of lenses;

a barrel configured to house the lens unit; and

an image sensor including a photo-sensor array comprised of photo sensors, each of the photo sensors having a light receiving area, the image sensor having an imaging surface based on the light receiving areas of the photo sensors, so that the image sensor has an imaging surface composed of the light receiving areas of the photo sensors, the image sensor being arranged with respect to the lens unit such that light passing through the plurality of lenses of the lens unit forms an image on the imaging surface, the image sensor comprising at least part of an exposure controller that controls an exposure of the imaging surface, the photo sensor array being concavely curved with respect to the lens unit, so that the imaging surface is concavely curved with respect to the lens unit.

2. The camera apparatus according to claim 1, wherein the recognition task includes at least one of:

(i) lanes ahead of the vehicle;

(ii) a shape of a road ahead of the vehicle;

(iii) a condition of a road surface ahead of the vehicle;

(iv) at least one light source ahead of the vehicle;

(v) at least one preceding vehicle ahead of the vehicle;

(vi) at least one oncoming vehicle;

(vii) at least one stopped vehicle around the vehicle;

(viii) at least one preceding pedestrian around the vehicle;

(ix) at least one oncoming pedestrian ahead of the vehicle;

(x) at least one stopping person around the vehicle;

(xi) at least one motor cycle around the vehicle;

(xii) at least one bicycle around the vehicle;

(xiii) at least one obstacle around the vehicle;

(xiv) at least one roadside object around the vehicle;

(xv) at least one traffic sign around the vehicle;

(xvi) at least one traffic signal around the vehicle;

(xvii) at least one traffic marking around the vehicle;

(xviii) at least one advertising sign around the vehicle;

(xix) a tunnel through which the vehicle is going to go;

(xx) at least one emergency parking bay;

(xx1) something that blocks the view of the camera module;

(xxii) a meteorological environment around the vehicle; and

(xxiii) at least one building structure around the vehicle.

3. The camera apparatus according to claim 1, wherein the second processing unit is configured to perform, in addition to the at least two of the lane departure warning task, the headlight control task, and the task for preventing front collisions of the vehicle, at least one of:

(a) a lane keeping task;

(b) a task for preventing broadside collisions;

(c) a task for preventing collisions at intersections;

(d) a sign displaying task;

(e) a speed-limit displaying task;

(f) an over-speed warning task;

(g) an automatic wiper task;

(h) a task for assisting lane changes;

(i) a surround view displaying task;

(j) an automatic parking task;

(k) an adaptive cruise control task;

(l) a blind-spot warning task;

(m) a rear cross-traffic warning task;

(n) a front cross-traffic warning task;

(o) an inter-vehicle distance warning task;

(p) a rear-end collision warning task; and

(q) an erroneous start preventing task.

4. The camera apparatus according to claim 2, wherein the second processing unit is configured to perform, in addition to the at least two of the lane departure warning task, the headlight control task, and the task for preventing front collisions of the vehicle, at least one of:

(a) a lane keeping task;

(b) a task for preventing broadside collisions;

(c) a task for preventing collisions at intersections;

(d) a sign displaying task;

(e) a speed-limit displaying task;

(f) an over-speed warning task;

(g) an automatic wiper task;

(h) a task for assisting lane changes;

(i) a surround view displaying task;

(j) an automatic parking task;

(k) an adaptive cruise control task;

(l) a blind-spot warning task;

(m) a rear cross-traffic warning task;

(n) a front cross-traffic warning task;

(o) an inter-vehicle distance warning task;

(p) a rear-end collision warning task; and

(q) an erroneous start preventing task.

5. The camera apparatus according to claim 1, wherein the first processing unit and the second processing unit are functional components constructed by a common electronic component.

12. The camera apparatus according to claim 1, wherein the imaging surface of the image sensor is concavely curved with respect to a surface of the lens unit that faces the imaging surface.

6. An in-vehicle system comprising:

a camera apparatus installed in a vehicle, the vehicle including a windshield, a rearview mirror, and an electronic device installed thereto; and

a controller installed in the rearview mirror,

the camera apparatus comprising;

a camera module having a predetermined field of view and configured to capture an image in front of the vehicle via a predetermined wiping area of the windshield of the vehicle;

a first communication interface that enables the camera module to communicate with the controller;

a power source that supplies electrical power to the camera module;

a housing configured to house at least part of at least one of the camera module, the first communication interface, and the power source;

a cover configured to cover at least part of at least one of the camera module, the first communication interface, the power source, and the housing; and

a mounting member configured to fixedly mount the camera module to the windshield of the vehicle such that the field of view of the camera module is directed in front of the vehicle,

the camera module comprising;

a lens unit comprising a plurality of lenses;

a barrel configured to house the lens unit; and

an image sensor including a photo-sensor array comprised of photo sensors, each of the photo sensors having a light receiving area, the image sensor having an imaging surface based on the light receiving areas of the photo sensors, so that the image sensor has an imaging surface composed of the light receiving areas of the photo sensors, the image sensor being arranged with respect to the lens unit such that light passing through the plurality of lenses of the lens unit forms an image on the imaging surface, the image sensor comprising at least part of an exposure controller that controls an exposure of the imaging surface, the photo sensor array being concavely curved with respect to the lens unit, so that the imaging surface is concavely curved with respect to the lens unit,

the controller comprising;

a second communication interface that enables the controller to communicate with the camera module;

a first processing unit configured to perform, based on the image captured by the camera module, at least part of a recognition task that recognizes situations in front of the vehicle;

a second processing unit configured to perform, based on a result of the recognition task performed by the first processing unit, at least part of a vehicle control task,

the vehicle control task including at least two of;

a lane departure warning task for determining whether there is an unintentional departure of the vehicle from a lane on which the vehicle is running, a headlight control task for controlling a headlight of the vehicle, and a task for preventing front collisions of the vehicle;

a third communication interface that enables the first and second processing units to communicate with the electronic device installed in the vehicle; and

a power source that supplies electrical power to the first processing unit and the second processing unit.

7. The in-vehicle system according to claim 6, wherein the recognition task includes at least one of:

(i) lanes ahead of the vehicle;

(ii) a shape of a road ahead of the vehicle;

(iii) a condition of a road surface ahead of the vehicle;

(iv) at least one light source ahead of the vehicle;

(v) at least one preceding vehicle ahead of the vehicle;

(vi) at least one oncoming vehicle;

(vii) at least one stopped vehicle around the vehicle;

(viii) at least one preceding pedestrian around the vehicle;

(ix) at least one oncoming pedestrian ahead of the vehicle;

(x) at least one stopping person around the vehicle;

(xi) at least one motor cycle around the vehicle;

(xii) at least one bicycle around the vehicle;

(xiii) at least one obstacle around the vehicle;

(xiv) at least one roadside object around the vehicle;

(xv) at least one traffic sign around the vehicle;

(xvi) at least one traffic signal around the vehicle;

(xvii) at least one traffic marking around the vehicle;

(xviii) at least one advertising sign around the vehicle;

(xix) a tunnel through which the vehicle is going to go;

(xx) at least one emergency parking bay;

(xx1) something that blocks the view of the camera module;

(xxii) a meteorological environment around the vehicle; and

(xxiii) at least one building structure around the vehicle.

8. The camera apparatus according to claim 6, wherein the second processing unit is configured to perform, in addition to the at least two of the lane departure warning task, the headlight control task, and the task for preventing front collisions of the vehicle, at least one of:

(a) a lane keeping task;

(b) a task for preventing broadside collisions;

(c) a task for preventing collisions at intersections;

(d) a sign displaying task;

(e) a speed-limit displaying task;

(f) an over-speed warning task;

(g) an automatic wiper task;

(h) a task for assisting lane changes;

(i) a surround view displaying task;

(j) an automatic parking task;

(k) an adaptive cruise control task;

(l) a blind-spot warning task;

(m) a rear cross-traffic warning task;

(n) a front cross-traffic warning task;

(o) an inter-vehicle distance warning task;

(p) a rear-end collision warning task; and

(q) an erroneous start preventing task.

9. The camera apparatus according to claim 7, wherein the second processing unit is configured to perform, in addition to the at least two of the lane departure warning task, the headlight control task, and the task for preventing front collisions of the vehicle, at least one of:

(a) a lane keeping task;

(b) a task for preventing broadside collisions;

(c) a task for preventing collisions at intersections;

(d) a sign displaying task;

(e) a speed-limit displaying task;

(f) an over-speed warning task;

(g) an automatic wiper task;

(h) a task for assisting lane changes;

(i) a surround view displaying task;

(j) an automatic parking task;

(k) an adaptive cruise control task;

(l) a blind-spot warning task;

(m) a rear cross-traffic warning task;

(n) a front cross-traffic warning task;

(o) an inter-vehicle distance warning task;

(p) a rear-end collision warning task; and

(q) an erroneous start preventing task.

10. The camera apparatus according to claim 6, wherein the first processing unit and the second processing unit are functional components constructed by a common electronic component.

11. A camera apparatus installable to a vehicle that includes a windshield and an electronic device installed thereto, the camera apparatus comprising:

a camera module having a predetermined field of view and configured to capture an image in front of the vehicle via a predetermined wiping area of the windshield of the vehicle;

a communication interface that enables the camera module to communicate with the electronic device installed in the vehicle;

a power source that supplies electrical power to the camera module;

a housing configured to house at least part of at least one of the camera module, the communication interface, and the power source;

a cover configured to cover at least part of at least one of the camera module, the communication interface, the power source, and the housing; and

a mounting member configured to fixedly mount the camera module to the windshield of the vehicle such that the field of view of the camera module is directed in front of the vehicle,

the camera module comprising;

a lens unit comprising a plurality of lenses;

a barrel configured to house the lens unit; and

an image sensor including a photo-sensor array comprised of photo sensors, each of the photo sensors having a light receiving area, the image sensor having an imaging surface based on the light receiving areas of the photo sensors, so that the image sensor has an imaging surface composed of the light receiving areas of the photo sensors, the image sensor being arranged with respect to the lens unit such that light passing through the plurality of lenses of the lens unit forms an image on the imaging surface, the image sensor comprising at least part of an exposure controller that controls an exposure of the imaging surface, the photo sensor array being concavely curved with respect to the lens unit, so that the imaging surface is concavely curved with respect to the lens unit.