Patent Description:
A technology is known that uses a front camera that captures an image of the scenery ahead of an automobile in order to control driving of the automobile. In this technology, driving of an automobile is controlled on the basis of, for example, the position and the movement of an object detected from an image captured by a front camera. Thus, it is necessary that a high-quality image be captured by a front camera used to control driving of an automobile.

An imaging device is used in an image-capturing apparatus such as a front camera. A low-resolution image is captured by the image-capturing apparatus when the imaging device is out of the depth of focus due to a structural member being thermally expanded due to an increase in temperature. Thus, in order to capture a high-resolution image, it is necessary that an image-capturing apparatus have a configuration in which the temperature is less likely to be increased.

Patent Literature <NUM> discloses a technology that makes it possible to suppress an increase in a temperature of an image-capturing apparatus. According to the technology disclosed in Patent Literature <NUM>, the image-capturing apparatus is connected to a metallic bracket using a heat-transfer member. Thus, heat generated by an inner chip is expelled into the bracket through the heat-transfer member, and this makes it possible to suppress an increase in a temperature of the image-capturing apparatus.

<CIT> discloses a device for attaching an optical sensor to the inner side of a vehicle window, comprising at least one holder provided for attachment to the inner side of the vehicle window, wherein the holder is made of plastic and provided at least partially with a coating having a low emissivity for sunlight.

<CIT> discloses a camera arranged at an inner side of the windshield of a vehicle. A heat ray reflection material is provided on a surface part of a box body of the camera opposed to the windshield.

<CIT> discloses a sensor device housing for an electronic sensor device of a driver assistance system, said sensor device housing being attachable to a wind screen of a vehicle, wherein the sensor device housing comprises a high thermal emissivity to dissipate power generated by electronic components of said electronic sensor device to the environment.

Without being blocked, the sunlight directly enters a housing of a front camera arranged inside of a windshield. Thus, in particular, the temperature is more likely to be increased in a front camera from among image-capturing apparatuses. Further, a lens flare such as a ghost is more likely to be caused in a front camera when reflected light of the sunlight in a housing of the front camera enters a lens.

As described above, with respect to a front camera that the sunlight easily enters, the quality of a captured image is more likely to be reduced due to a reduction in resolution due to an increase in temperature, or due to a lens flare being caused. Thus, it is necessary that a front camera be capable of capturing a high-quality image even in an environment in which the sunlight easily enters the front camera.

In view of the circumstances described above, an object of the present technology is to provide a vehicle-mounted camera that is capable of capturing a high-quality image and a drive control system using the vehicle-mounted camera.

In order to achieve the object described above, a vehicle-mounted camera according to the claimed invention as set out in the appended claims is provided.

The housing includes an accommodation portion that accommodates the imaging device, an outer face that is exposed to an outer space, an opening that causes the accommodation portion and the outer space to communicate with each other, and a functional portion that forms at least a portion of the outer face, the functional portion being a functional portion that absorbs visible light from among light entering from the outer space and off which infrared light from among the light entering from the outer space is reflected.

The optical system causes light entering the opening from the outer space to be imaged onto the imaging device.

In this vehicle-mounted camera, visible light entering the functional portion forming at least a portion of an outer face of the housing, is absorbed. Thus, the occurrence of reflected light of the visible light on the outer face is suppressed. Consequently, in this vehicle-mounted camera, the reflected light of visible light is less likely to enter the lens, and thus a lens flare is less likely to be caused in a captured image.

Further, in this vehicle-mounted camera, an increase in temperature due to infrared light being absorbed into the housing is less likely to be caused, since infrared light entering the functional portion is reflected off the functional portion. Consequently, a structural member is less likely to be thermally expanded in this vehicle-mounted camera, and thus the relative position of the optical system to the imaging device is less likely to be shifted. Therefore, the resolution of a captured image is less likely to be reduced in this vehicle-mounted camera.

As described above, this vehicle-mounted camera is capable of capturing a high-quality image.

The functional portion has a stacking structure that includes an infrared-light reflection layer off which infrared light is reflected, and a visible-light absorption layer that absorbs visible light.

The visible-light absorption layer is situated further outward than the infrared-light reflection layer, and infrared light is transmitted through the visible-light absorption layer, or the infrared-light reflection layer is situated further outward than the visible-light absorption layer, and visible light is transmitted through the infrared-light reflection layer.

In these vehicle-mounted cameras, it is possible to provide a configuration in which visible light is absorbed into the functional portion having a stacking structure and infrared light is reflected off the functional portion.

The optical system may have a fixed focal point.

As described above, the temperature is less likely to be increased in this vehicle-mounted camera. Thus, the resolution of a captured image is less likely to be reduced even if the optical system has a fixed focal point.

The housing may include a plurality of the openings.

The vehicle-mounted camera may further include a plurality of the imaging devices each corresponding to a corresponding one of the plurality of the openings, and a plurality of the optical systems each corresponding to a corresponding one of the plurality of the openings.

In this configuration,
The optical system may include a plastic lens.

In this vehicle-mounted camera, a low thermal resistance plastic lens can be used since the temperature is less likely to be increased. This makes it possible to reduce manufacturing costs for the vehicle-mounted camera.

A drive control system comprising a vehicle-mounted camera according to the claimed invention is capable of controlling driving of a movable body that includes a windshield, and the drive control system further includes a processing unit, an information generator, and a drive controller.

The processing unit includes an image processor that performs image processing on a raw image captured by the image device to generate a processed image, a recognition processor that performs recognition processing on the processed image to recognize an object, and a calculation processor that calculates object information related to the object.

The information generator generates drive control information related to the control of the driving of the movable body on the basis of a result of processing performed by the processing unit.

The drive controller controls the driving of the movable body on the basis of the drive control information.

In this drive control system, a high-quality image can be captured using the vehicle-mounted camera. Thus, it is possible to more accurately control driving of a movable body.

The processing unit may further include a mapping processor that creates a digital map using the processed image and the object information.

The processing unit may further include a path planning section that determines, using the digital map, a route along which the movable body travels.

In this drive control system, a high-quality image can be captured using the vehicle-mounted camera. Thus, it is possible to perform a more sophisticated drive control on a movable body.

Embodiments of the present technology will now be described below with reference to the drawings.

<FIG> is a perspective view of an automobile M that includes a vehicle-mounted camera <NUM> according to an embodiment of the present technology. The automobile M includes, as transparent glass windows, a windshield (front window) M01 arranged in front, a rear window M02 arranged in the rear, and side windows M03 arranged on the opposite lateral sides.

The vehicle-mounted camera <NUM> is a front sensing camera attached to an inner side of the windshield M01. The vehicle-mounted camera <NUM> is arranged in an upper portion of a central region in a width direction of the windshield M01. This enables the vehicle-mounted camera <NUM> to successfully capture an image of the scenery ahead of the automobile M without obstructing the view of a driver.

The automobile M including the vehicle-mounted camera <NUM> includes therein a driving force generating mechanism M11 including, for example, an engine and a motor, a braking mechanism M12, a steering mechanism M13, and the like, in order to implement a traveling function. Further, the automobile M may include, for example, a surrounding information detector used to detect surrounding information, and a positioning section used to generate position information.

<FIG> is a perspective view of the vehicle-mounted camera <NUM> before being attached to the windshield M01. <FIG> is a cross-sectional view of the vehicle-mounted camera <NUM> taken along the line A-A' of <FIG>, the vehicle-mounted camera <NUM> being attached to the windshield M01. In other words, <FIG> illustrates a longitudinal section of the vehicle-mounted camera <NUM> along a front-rear direction, the longitudinal section being in a central portion in a width direction of the vehicle-mounted camera <NUM>.

The vehicle-mounted camera <NUM> includes a housing <NUM> that forms an outer shape of the vehicle-mounted camera <NUM>. The housing <NUM> includes a hollow portion <NUM> that is a hollow rectangular parallelepiped, an extension portion <NUM> that extends forward from a lower portion of the hollow portion <NUM>, and sidewall portions <NUM> that are arranged on the opposite sides in a width direction of the extension portion <NUM>. An upper surface of the sidewall portion <NUM> of the vehicle-mounted camera <NUM> is bonded to an inner surface of the windshield M01.

An accommodation portion <NUM> is formed in the hollow portion <NUM> as an inner space of the hollow portion <NUM>. Further, as illustrated in <FIG>, a shield portion <NUM> that is an outer space closed by the windshield M01 is formed above the extension portion <NUM>. An opening <NUM> that faces the windshield M01 and causes the accommodation portion <NUM> and the shield portion <NUM> to communicate with each other, is formed in the hollow portion <NUM>.

The shield portion <NUM> is surrounded by a front surface of the hollow portion <NUM>, an upper surface of the extension portion <NUM>, and an inner side surface of the sidewall portion <NUM>, and is shielded by the portions other than the windshield M01. This enables the housing <NUM> to only cause light transmitted through the windshield M01 to enter the opening <NUM> used to connect the shield portion <NUM> to the accommodation portion <NUM>.

Further, the vehicle-mounted camera <NUM> includes a circuit board <NUM> and an imaging device <NUM>. The circuit board <NUM> is arranged on a bottom surface of the accommodation portion <NUM>. The imaging device <NUM> is arranged to be forwardly oriented through a connection board 21a that is upright on the circuit board <NUM>. Note that the imaging device <NUM> may be directly mounted on the circuit board <NUM>.

The imaging device <NUM> is not limited to a specific type. For example, a charge coupled device (CCD), a complementary metal-oxide semiconductor (CMOS), or the like can be used as the imaging device <NUM>. Various ceramic substrates and plastic substrates can be used as the circuit board <NUM> and the connection board 21a.

Further, in addition to the imaging device <NUM>, various components used to implement a function necessary for the vehicle-mounted camera <NUM> can be mounted on the circuit board <NUM>. For example, an in-vehicle communication section used to transmit a captured image to another structural element included in the automobile M, an image processor used to perform image processing on a captured image, and the like can be mounted on the circuit board <NUM>.

The vehicle-mounted camera <NUM> includes an optical system <NUM> that includes a lens <NUM> and has a fixed focal point. The lens <NUM> is attached to a front side of a peripheral portion of the opening <NUM> in the hollow portion <NUM> through a frame 31a that holds an outer periphery of the lens <NUM>. Accordingly, only light transmitted through the lens <NUM> adjacent to a front portion of the opening <NUM> enters the opening <NUM>.

The optical system <NUM> is configured such that light entering the opening <NUM> is imaged onto a light receiving surface of the imaging device <NUM>. In addition to the lens, the optical system <NUM> may include, for example, an optical component such as a reflecting mirror or a prism. This makes it possible to guide light entering the lens <NUM> to the imaging device <NUM>, regardless of the arrangement of the imaging device <NUM>.

The housing <NUM> includes a functional portion <NUM> that forms at least a portion of an outer face of the housing <NUM> that is exposed to the outer space. Specifically, in the housing <NUM>, the front surface of the hollow portion <NUM>, the upper surface of the extension portion <NUM>, and the inner side surface of the sidewall portion <NUM> that surround the shield portion <NUM> are formed of the functional portion <NUM>. The functional portion <NUM> includes a function of suppressing the occurrence of reflected light and suppressing an increase in temperature.

Note that it is particularly favorable that the vehicle-mounted camera <NUM> of the present technology have a configuration in which the imaging device <NUM> has a size of <NUM> in height and <NUM> in width (a <NUM>/<NUM>-type), the number of pixels of the imaging device <NUM> is equal to or greater than several million (in particular, seven million pixels or more), and the tolerable range of a deviation of a focal position of the optical system <NUM> is several micrometers. Further, it is also particularly favorable that the vehicle-mounted camera <NUM> of the present technology have a configuration in which the imaging device <NUM> has a higher pixel density than the <NUM>/<NUM>-type imaging device <NUM> including seven million pixels, and the tolerable range of a deviation of the focal position of the optical system <NUM> is several micrometers.

<FIG> is a set of partial cross-sectional views of the vehicle-mounted camera <NUM> that illustrates a portion around the shield portion <NUM>. As illustrated in (A) of <FIG>, the functional portion <NUM> is configured such that visible light from among incident light is absorbed into the functional portion <NUM>. In other words, the occurrence of reflected light of visible light is suppressed in the functional portion <NUM>. Accordingly, reflected light of visible light is less likely to enter the lens <NUM> in the vehicle-mounted camera <NUM>.

In particular, in the vehicle-mounted camera <NUM>, it is possible to effectively prevent reflected light of visible light from entering the lens <NUM>, since the outer face of the housing <NUM> that surrounds the shield portion <NUM> to which the lens <NUM> is exposed, is formed as the functional portion <NUM>. Accordingly, a lens flare is less likely to be caused in a captured image in the vehicle-mounted camera <NUM>.

Further, as illustrated in (B) of <FIG>, the functional portion <NUM> is configured such that infrared light from among incident light is reflected off the functional portion <NUM>. In other words, in the vehicle-mounted camera <NUM>, it is possible to release infrared light entering the functional portion <NUM> into the outer space. This results in being able to suppress an increase in the temperature of the housing <NUM> that is caused due to infrared light being absorbed.

Thus, in the vehicle-mounted camera <NUM>, the position of the imaging device <NUM> is maintained within a depth of focus of the optical system <NUM>. Consequently, the resolution of a captured image is less likely to be reduced. Further, it is possible to use a low thermal resistance component in the vehicle-mounted camera <NUM>, and, for example, it is possible to use an inexpensive plastic lens as the lens <NUM>.

Furthermore, as described above, light does not enter the shield portion <NUM> from anywhere but the windshield M01 in the vehicle-mounted camera <NUM>. Thus, light reflected from below and from the side due to the ambient environment does not enter the shield portion <NUM> in the vehicle-mounted camera. Consequently, in the vehicle-mounted camera <NUM>, it is possible to further suppress the occurrence of a lens flare in a captured image.

<FIG> and <FIG> are sets of enlarged partial cross-sectional views of the functional portion <NUM> in the housing <NUM> of the vehicle-mounted camera <NUM>. <FIG> and <FIG> each schematically illustrate a configuration example for implementing a function that causes visible light to be absorbed into the functional portion <NUM> and causes infrared light to be reflected off the functional portion <NUM>. Note that the configuration of the functional portion <NUM> is not limited to the configuration examples illustrated in <FIG> and <FIG>, and various modifications may be made thereto.

The functional portion <NUM> illustrated in (A) of <FIG> has a stacking structure including a visible-light absorption layer 41a and an infrared-light reflection layer 42a. In this functional portion <NUM>, the infrared-light reflection layer 42a is stacked on the housing <NUM>, and the visible-light absorption layer 41a is stacked on the infrared-light reflection layer 42a. In other words, the visible-light absorption layer 41a is arranged further outward than the infrared-light reflection layer 42a.

The visible-light absorption layer 41a is configured such that visible light (light of a wavelength of about <NUM> to <NUM>) is absorbed into the visible-light absorption layer 41a and infrared light (light of a wavelength of about <NUM> to <NUM>) is transmitted through the visible-light absorption layer 41a. A known configuration can be used for the visible-light absorption layer 41a, and, for example, the visible-light absorption layer 41a can be formed of, for example, black paint that is made to have transmission characteristics with respect to the infrared region.

The infrared-light reflection layer 42a is configured such that infrared light is reflected off the infrared-light reflection layer 42a. A known configuration can be used for the infrared-light reflection layer 42a, and, for example, a metal plate on which mirror finishing has been performed, a metal-evaporated film obtained by evaporating metal onto the housing <NUM>, or the like can be used for the infrared-light reflection layer 42a. The metal plate and the metal-evaporated film can be formed of, for example, aluminum.

Due to such a configuration, visible light is absorbed into the visible-light absorption layer 41a and infrared light transmitted through the visible-light absorption layer 41a is reflected off the infrared-light reflection layer 42a in the functional portion <NUM> illustrated in (A) of <FIG>. As described above, this functional portion <NUM> makes it possible to implement a function in which visible light is absorbed and infrared light is reflected.

The functional portion <NUM> illustrated in (B) of <FIG> does not include the infrared-light reflection layer 42a illustrated in (A) of <FIG>, and the housing <NUM> itself serves as the infrared-light reflection layer 42a. In other words, when the housing <NUM> is made of, for example, aluminum on which mirror finishing has been performed, this enables the housing <NUM> itself to include a function in which infrared light is reflected off the housing <NUM>.

In the functional portion <NUM> illustrated in (A) and (B) of <FIG>, infrared light released by the black visible-light absorption layer 41a itself is also reflected off the infrared-light reflection layer 42a to be released into the outer space. Thus, an increase in temperature is further suppressed in the vehicle-mounted camera <NUM> due to a cooling effect provided by the release performed by the visible-light absorption layer 41a itself.

The functional portion <NUM> illustrated in (A) of <FIG> has a stacking structure including a visible light absorption layer 41b and an infrared-light reflection layer 42b. In this functional portion <NUM>, the visible-light absorption layer 41b is stacked on the housing <NUM>, and the infrared-light reflection layer 42b is stacked on the visible-light absorption layer 41b. In other words, the visible-light absorption layer 41b is arranged further inward than the infrared-light reflection layer 42b.

The infrared-light reflection layer 42b is configured such that infrared light is reflected off the infrared-light reflection layer 42b and visible light is transmitted through the infrared-light reflection layer 42b. A known configuration can be used for the infrared-light reflection layer 42b, and, for example, a dielectric multilayer or the like that is made to have transmission characteristics with respect to the visible-light region and to have reflection characteristics with respect to the infrared region can be used for the infrared-light reflection layer 42b.

The visible-light absorption layer 41b is configured such that visible light is absorbed into the visible-light absorption layer 41b. A known configuration can be used for the visible-light absorption layer 41b, and, for example, the visible-light absorption layer 41b can be formed of, for example, black paint or a black plastic film. Further, the visible-light absorption layer 41b may be a black layer formed by surface treatment being performed on the housing <NUM>.

Due to such a configuration, infrared light is reflected off the infrared-light reflection layer 42b and visible light transmitted through the infrared-light reflection layer 42b is absorbed into the visible-light absorption layer 41b in the functional portion <NUM> illustrated in (A) of <FIG>. As described above, this functional portion <NUM> makes it possible to implement a function in which visible light is absorbed and infrared light is reflected.

The functional portion <NUM> illustrated in (B) of <FIG> does not include the visible-light absorption layer 41b illustrated in (A) of <FIG>, and the housing <NUM> itself serves as the visible-light absorption layer 41b. In other words, when the housing <NUM> is made of, for example, a black plastic, this enables the housing <NUM> itself to include a function in which visible light is absorbed into the housing <NUM>.

The configuration of the vehicle-mounted camera <NUM> is not limited to the configurations described above, and various modifications may be made thereto. For example, as illustrated in <FIG>, the housing <NUM> may include a plurality of openings <NUM>, and the optical system <NUM> and the imaging device <NUM> may be provided for each of the plurality of openings <NUM>. In this case, for example, the angle of view may be different for each optical system <NUM> in the vehicle-mounted camera <NUM>.

Further, the functional portion <NUM> is not limited to the arrangement described above. The effects described above are provided when the functional portion <NUM> is arranged in at least a portion of the outer face of the housing <NUM>. In particular, the functional portion <NUM> may be arranged in an entire region of the outer face of the housing <NUM>. This results in the vehicle-mounted camera <NUM> having an excellent appearance, and also in obtaining the cooling effect provided by release performed in the entire region of the outer face of the housing <NUM>. This makes it possible to more effectively suppress an increase in the temperature of the vehicle-mounted camera <NUM>.

Note that it is favorable that the entire region of the outer face of the housing <NUM> of the vehicle-mounted camera <NUM> be black although the functional portion <NUM> does not have to be arranged in the entire region of the outer face of the housing <NUM>. This results in the vehicle-mounted camera <NUM> having an excellent appearance and also being less likely to be affected by entrance of the sunlight. In particular, this makes it possible to capture a high-quality image.

Furthermore, the vehicle-mounted camera <NUM> can be attached not only to the windshield M01, but also to the rear window M02 as a rear-sensing camera. Moreover, the vehicle-mounted camera <NUM> may be used for, for example, viewing, not for sensing. In this case, it is possible to display and record a high-quality video using the vehicle-mounted camera <NUM>.

Further, the vehicle-mounted camera <NUM> does not have to be directly bonded to the inner surface of the windshield M01, and, for example, the vehicle-mounted camera <NUM> may be fixed to a ceiling of the automobile M through a bracket or the like. Furthermore, the vehicle-mounted camera <NUM> may have a configuration in which the shield portion <NUM> is not formed, and, for example, the vehicle-mounted camera <NUM> may be integrated with a rearview mirror.

In addition, the vehicle-mounted camera <NUM> is applicable not only to the automobile M, but also to various movable bodies. Examples of a movable body to which the vehicle-mounted camera <NUM> is applicable include an automobile, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, personal mobility, an airplane, a drone, a ship, a robot, construction machinery, and agricultural machinery (a tractor).

A drive control system <NUM> according to an embodiment of the present disclosure is a system used to control driving of the automobile M using the vehicle-mounted camera <NUM> described above. Specifically, the drive control system <NUM> controls the driving force generating mechanism M11, the braking mechanism M12, the steering mechanism M13, and the like of the automobile M using an image captured using the vehicle-mounted camera <NUM>.

The drive control system <NUM> may have a configuration corresponding to a function necessary for the automobile M. Specifically, examples of a function that can be implemented by the drive control system <NUM> include a driving assistance function and an autonomous driving function. A configuration of the drive control system <NUM> making it possible to implement the driving assistance function and the autonomous driving function is described below.

The driving assistance function is typically a function of advanced driver-assistance systems (ADAS) including collision avoidance, shock mitigation, following driving (maintaining a following distance), vehicle speed maintaining driving, a warning of collision, a warning of deviation from a lane, and the like. The drive control system <NUM> may be configured such that these driving assistance functions can be implemented.

<FIG> is a block diagram illustrating the configuration of the drive control system <NUM> making it possible to implement the driving assistance function. The drive control system <NUM> includes the vehicle-mounted camera <NUM>, a processor <NUM>, an information generator <NUM>, and a drive controller <NUM>. The processor <NUM> includes an image processor <NUM>, a recognition processor <NUM>, and a calculation processor <NUM>.

The respective structural elements of the drive control system <NUM> are connected to each other through a communication network. The communication network may be, for example, a vehicle-mounted communication network that conforms to any standard such as a controller area network (CAN), a local interconnect network (LIN), a local area network (LAN), or FlexRay (registered trademark).

<FIG> is a flowchart illustrating a drive control method performed by the drive control system <NUM> illustrated in <FIG>. The drive control method illustrated in <FIG> includes Step ST11 of image-capturing, Step ST12 of image processing, Step ST13 of recognition processing, Step ST14 of object-information calculation, Step ST15 of drive-control-information generation, and Step ST16 of drive-control-signal output.

In Step ST11 of image-capturing, the vehicle-mounted camera <NUM> captures an image of the scenery ahead of the automobile M through the windshield M01 to generate a raw image of the scenery. As described above, a high-quality raw image is obtained using the vehicle-mounted camera <NUM> due to a function of the functional portion <NUM>. For example, the vehicle-mounted camera <NUM> transmits the raw image to the processor <NUM> using an in-vehicle communication section mounted on the circuit board <NUM>.

The processor <NUM> typically includes an electronic control unit (ECU), and processes a raw image generated by the vehicle-mounted camera <NUM>. More specifically, in the processor <NUM>, the image processor <NUM> performs Step ST12 of image processing, the recognition processor <NUM> performs Step ST13 of recognition processing, and the calculation processor <NUM> performs Step ST14 of object-information calculation.

In Step ST12 of image processing, the image processor <NUM> performs image processing on the raw image to generate a processed image. The image processing performed by image processor <NUM> is typically processing performed to make it easy to recognize an object in a raw image, and examples of the image processing performed by image processor <NUM> include an automatic exposure control, an automatic white-balance adjustment, and high dynamic range combining.

Note that, in Step ST12 of image processing, at least a portion of the image processing may be performed by an image processor mounted on the circuit board <NUM> of the vehicle-mounted camera <NUM>. Note that, when the image processor of the vehicle-mounted camera <NUM> performs all of the image processing of Step ST12 of image processing, the processor <NUM> does not have to include the image processor <NUM>.

In Step ST13 of recognition processing, the recognition processor <NUM> performs recognition processing on the processed image to recognize an object in the processed image. Note that the object recognized by the recognition processor <NUM> is not limited to a three-dimensional object, and examples of the recognized object include a vehicle, a pedestrian, an obstacle, a traffic light, a traffic sign, a lane of a road, and a curb.

In Step ST14 of calculation processing, the calculation processor <NUM> calculates object information related to an object in the processed image. Examples of the object information calculated by the calculation processor <NUM> include the shape of an object, the distance to an object, and the movement direction and the movement speed of an object. The calculation processor <NUM> uses a plurality of temporally consecutive processed images to calculate dynamic object information.

A method for calculating a following distance to a preceding automobile MF is described as an example of the method for calculating object information that is performed by the calculation processor <NUM>. <FIG> illustrates an example of a processed image G generated by the image processor <NUM>. The preceding automobile MF, and two lanes L1 and L2 that define travel lanes appear in the processed image G illustrated in <FIG>.

First, a vanishing point V at which the two lanes L1 and L2 intersect is obtained in the processed image G. Note that the vanishing point V may be obtained from other objects without using the lanes L1 and L2. For example, the calculation processor <NUM> may also obtain the vanishing point V using, for example, a curb, or a movement trajectory of a fixed object such as a traffic sign in a plurality of processed images.

Next, a distance D0 from a lower edge G1 of the processed image to the vanishing point V (a dimension in an up-down direction of the image), and a distance D1 from the lower edge G1 of the processed image to the preceding automobile MF (a dimension in the up-down direction of the image) are obtained. The following distance to the preceding automobile MF can be obtained using the distances D0 and D1. For example, the use of a ratio between the distance D0 and the distance D1 makes it possible to calculate the following distance to the preceding automobile MF.

The processor <NUM> transmits, to the information generator <NUM>, data including the processed image and the object information that are obtained in Steps ST12 to ST14. Note that the processor <NUM> is not limited to the configuration described above, and, for example, the processor <NUM> may include a structural element other than image processor <NUM>, the recognition processor <NUM>, and the calculation processor <NUM>.

In Step ST15 of drive-control-information generation, the information generator <NUM> generates drive control information including details of driving necessary for the automobile M. More particularly, on the basis of the data transmitted by the processor <NUM>, the information generator <NUM> determines details of driving to be performed by the automobile M, and generates drive control information including the details of driving.

Examples of the details of driving of the automobile M include a change in speed (acceleration and deceleration) and a change in traveling direction. The following are specific examples: when the following distance of the automobile M to the preceding automobile MF is small, the information generator <NUM> determines that the automobile M is to be decelerated, and when the automobile M is likely to deviate from its lane, the information generator <NUM> determines that the traveling direction is to be changed such that the automobile M moves toward a lane center.

The information generator <NUM> transmits the drive control information to the drive controller <NUM>. Note that the information generator <NUM> may generate information other than the drive control information. For example, the information generator <NUM> may detect the brightness in the ambient environment from a processed image, and may generate information regarding an illumination control performed to turn on a headlight of the automobile M when it is dark in the ambient environment.

In Step ST16 of drive-control-signal output, the drive controller <NUM> outputs a drive control signal on the basis of the drive control information. For example, the drive controller <NUM> can accelerate the automobile M using the driving force generating mechanism M11, decelerate the automobile M using the braking mechanism M12, and change a traveling direction of the automobile M using the steering mechanism M13.

The autonomous driving function is a function of autonomously driving the automobile M without an operation being performed by a driver. In order to implement an autonomous driving function, there is a need for a more sophisticated drive control, compared to the case of the driving assistance function. The use of the vehicle-mounted camera <NUM> being capable of generating a high-quality raw image enables the drive control system <NUM> to more accurately perform a sophisticated drive control that makes it possible to implement an autonomous driving function.

<FIG> is a block diagram illustrating a configuration of the drive control system <NUM> making it possible to implement an autonomous driving function. In addition to the respective structural elements illustrated in <FIG>, this drive control system <NUM> further includes a mapping processor <NUM> and a path planning section <NUM> that are included in the processor <NUM>. Descriptions of structural elements similar to those illustrated in <FIG> are omitted below as appropriate.

<FIG> is a flowchart illustrating a drive control method performed by the drive control system <NUM> illustrated in <FIG>. In addition to the respective steps illustrated in <FIG>, the drive control method illustrated in <FIG> includes Step ST21 of mapping processing, which is performed by the mapping processor <NUM>, and Step ST22 of path planning, which is performed by the path planning section <NUM>.

As illustrated in <FIG>, Step ST21 of mapping processing and Step ST22 of path planning are performed between Step ST14 of object-information calculation and Step ST15 of drive-control-information generation. Step ST22 of path planning is performed after Step ST21 of mapping processing.

In Step ST21 of mapping processing, the mapping processor <NUM> performs spatial mapping using a processed image and object information to create a digital map. The digital map created by the mapping processor <NUM> is a three-dimensional map created by combining static information and dynamic information that are necessary to perform autonomous driving.

In the drive control system <NUM>, it is possible to create a high-resolution digital map using the mapping processor <NUM> since a high-quality raw image is obtained using the vehicle-mounted camera <NUM>. Note that the mapping processor <NUM> can create a digital map including more information by acquiring information other than a raw image obtained using the vehicle-mounted camera <NUM>.

For example, the mapping processor <NUM> can acquire information from, for example, a surrounding information detector and a positioning section that is included in the automobile M. Further, the mapping processor <NUM> can acquire various information by communicating with various apparatuses situated in the external environment through a vehicle-exterior communication section that makes it possible to perform a vehicle-exterior communication.

The surrounding information detector is configured as, for example, an ultrasonic sensor, a radar device, a LIDAR (light detection and ranging, laser imaging detection and ranging) device, or the like. The mapping processor <NUM> can also acquire, from the surrounding information detector, information regarding, for example, regions in the rear and on the lateral side of the automobile M that is not easily obtained from the vehicle-mounted camera <NUM>.

The positioning section is capable of receiving, for example, a global navigation satellite system (GNSS) signal from a GNSS satellite (such as a Global Positioning System (GPS) signal from a GPS satellite) and performing positioning. The mapping processor <NUM> can acquire information regarding the position of the automobile M from the positioning section.

The vehicle-exterior communication section may use, for example, Global System for Mobile Communications (GSM) (registered trademark), WiMAX (registered trademark), Long-Term Evolution (LTE) (registered trademark), LTE-advanced (LTE-A), a wireless LAN (also referred to as Wi-Fi (registered trademark)), Bluetooth (registered trademark), or the like.

In Step ST22 of path planning, the path planning section <NUM> performs path planning performed to determine a traveling route of the automobile M, using a digital map. Examples of the path planning include various processes such as detection of an empty space on a road, and prediction of the movement of an object such as a vehicle and a human.

After Step ST22 of path planning, the processor <NUM> collectively transmits, to the information generator <NUM>, data including the digital map and a result of the path planning that are obtained in Steps ST21 and ST22, in addition to the data including the processed image and the object information that are obtained in Steps ST12 to ST14.

In Step ST15 of drive-control-information generation, the information generator <NUM> generates drive control information including details of driving performed to cause the automobile M to travel along a traveling route in accordance with the path planning determined in Step ST22 of path planning. The information generator <NUM> transmits the generated drive control information to the drive controller <NUM>.

In Step ST16 of drive-control-signal output, the drive controller <NUM> outputs a drive control signal on the basis of the drive control information. In other words, the drive controller <NUM> controls driving of the driving force generating mechanism M11, the braking mechanism M12, the steering mechanism M13, and the like such that the automobile M can safely travel along a traveling route in accordance with the path planning.

Claim 1:
A vehicle-mounted camera, comprising:
an imaging device (<NUM>);
a housing (<NUM>) that includes an accommodation portion (<NUM>) that accommodates the imaging device (<NUM>), an outer face that is exposed to an outer space, an opening (<NUM>) that causes the accommodation portion (<NUM>) and the outer space to communicate with each other, and a functional portion (<NUM>) that forms at least a portion of the outer face, the functional portion (<NUM>) being a functional portion that absorbs visible light from among light entering from the outer space and off which infrared light from among the light entering from the outer space is reflected; and
an optical system (<NUM>) that causes light entering the opening from the outer space to be imaged onto the imaging device (<NUM>), wherein
the functional portion (<NUM>) has a stacking structure that includes an infrared-light reflection layer (42a; 42b) off which infrared light is reflected, and a visible-light absorption layer (41a; 41b) that absorbs visible light, characterized in that:
the visible-light absorption layer (41a) is situated further outward than the infrared-light reflection layer (42a), and infrared light is transmitted through the visible-light absorption layer (41a), or
the infrared-light reflection layer (42b) is situated further outward than the visible-light absorption layer (41b), and visible light is transmitted through the infrared-light reflection layer (42b).