JP2017181634A - Imaging apparatus and on-vehicle camera system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging apparatus capable of simultaneously performing a wide-angle shooting and a telephoto shooting with a simple configuration.SOLUTION: The imaging apparatus includes: a camera 10 having a telephoto lens 11; a fisheye lens 20 as wide angle means; and at least one reflection plane 31 that reflects an outgoing beam from the fisheye lens 20 for making incidence the same onto a part of an imaging surface of the camera 10. With this, the optical axial direction of a telephoto camera can be included in a field of wide angle photography; and thus, a wide-angle shooting and a telephoto shooting can be performed simultaneously.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an image pickup apparatus and an in-vehicle camera system, and for example, relates to an image pickup apparatus and an in-vehicle camera system that present an image of a vehicle side rear area taken by a camera to a driver.

  In recent years, various systems for assisting driving using an in-vehicle camera have been developed due to advances in camera technology and cost reduction. For example, a surround view system that monitors the front, back, left and right of a vehicle with a camera and eliminates blind spots is widely used. In the surround view system, in particular, when acquiring an image of the rear side area of the vehicle, imaging with a camera having a wide-angle shooting function and a telephoto shooting function is required.

  Patent Document 1 discloses a vehicle periphery visual recognition device that can capture both the vicinity and the distance of a vehicle while suppressing cost. The vehicle periphery visual recognition device of Patent Document 1 can change the width and direction of the field of view by combining a reflecting mirror having a flat portion and a convex portion with a camera and changing the position of reflecting the field of view by moving the reflecting mirror.

JP 2004-82778 A

  By the way, since it is necessary to confirm both the distance in the rear and the vicinity of the vehicle body at the time of departure from the vehicle-mounted camera, both the functions of the wide-angle camera and the telephoto camera are required at the same time. However, with the technique disclosed in Patent Document 1, it is difficult to simultaneously perform the wide-angle shooting function and the telephoto shooting function. Therefore, it is conceivable to install two cameras, a telephoto camera that captures the distance and a fish-eye camera that captures the entire surroundings. However, the increase in the number of cameras leads to an increase in cost, and the two cameras are housed in a small space on the door. There are also disadvantages that must be made.

  The present invention has been made in consideration of the above points, and provides an imaging apparatus and an in-vehicle camera system capable of simultaneously performing wide-angle shooting and telephoto shooting while having a simple configuration.

One aspect of the imaging device of the present invention is:
A camera having a telephoto lens;
Widening means,
At least one mirror that reflects the light emitted from the widening means and makes it incident on a part of the imaging surface of the camera;
It comprises.

  According to the present invention, wide-angle shooting and telephoto shooting can be performed simultaneously with a simple configuration.

1A and 1B are diagrams illustrating a configuration of an image pickup apparatus according to Embodiment 1, in which FIG. 1A is a view of the image pickup apparatus viewed from the rear of the vehicle, FIG. 1B is a view of the image pickup apparatus viewed from above, and FIG. Viewed from The figure which shows the output image of the camera obtained from the structure of FIG. Side view showing the mounting position of the imaging device and the front-rear direction field of view Front view showing the side view of the imaging device 5A and 5B are diagrams illustrating a configuration of an imaging device according to Embodiment 2, in which FIG. 5A is a diagram of the imaging device viewed from the rear of the vehicle, FIG. 5B is a diagram of the imaging device viewed from above, and FIG. Viewed from The figure which shows the output image of the camera obtained from the structure of FIG. Plan view showing the field of view of the imaging device 8A and 8B are diagrams illustrating a configuration of an imaging apparatus according to Embodiment 3, in which FIG. 8A is a diagram of the imaging apparatus viewed from the rear of the vehicle, and FIG. 8B is a diagram of the imaging apparatus viewed from above. The figure which shows the output image of the camera obtained from the structure of FIG. Diagram showing how the field of view is enlarged by a convex mirror A diagram showing how light enters the prism from the convex mirror Diagram showing how light is redirected by a prism The figure which shows the structure of the hexahedral prism with two mirror surfaces Plan view showing the field of view of the imaging device Side view showing the field of view of the imaging device Front view showing the side view of the imaging device Block diagram showing the configuration of the in-vehicle camera system

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that the optical path diagrams and prism shapes used in the following are expressed slightly differently from actual ones in order to make the diagrams easy to understand. A thick line in the prism represents a reflecting mirror surface.

<Embodiment 1>
FIG. 1 is a diagram illustrating a configuration of an imaging apparatus according to Embodiment 1 of the present invention. The imaging apparatus according to the present embodiment is used in a side mirrorless system that replaces a vehicle side mirror with a camera and a monitor. That is, an imaging device is provided at the position of the conventional side mirror, and an image obtained by the imaging device is displayed on a monitor in the vehicle. However, the imaging device of the present embodiment and the embodiments described later can be used in addition to the side mirrorless system.

  1A is a diagram of the imaging device viewed from the rear of the vehicle, FIG. 1B is a diagram of the imaging device viewed from above, and FIG. 1C is a diagram of the imaging device viewed from the side of the vehicle.

  An imaging device is disposed at a position where the conventional side mirrors are disposed on the left and right side surfaces of the vehicle. The imaging device is supported so that the rear visual field is not blocked by a support body (not shown).

  The camera body 10 is attached with the vehicle rear facing. The camera body 10 has a telephoto lens 11. Light incident on the camera body 10 through the telephoto lens 11 is photoelectrically converted by an image sensor inside the camera body 10.

  Furthermore, the imaging apparatus has a fisheye lens 20 as a widening means. The fisheye lens 20 is attached with the side of the vehicle facing. As can be seen from FIGS. 1A and 1B, the fisheye lens 20 is disposed at a position protruding outward from the camera body 10 (that is, in a direction away from the vehicle). Further, as can be seen from FIGS. 1A and 1C, the fisheye lens 20 is disposed above the center of the imaging surface of the camera. The viewing angle of the fisheye lens 20 is greater than 180 °.

  As can be seen from FIG. 1B, a prism 30 is disposed between the fisheye lens 20 and the telephoto lens 11. The prism 30 has a reflective surface 31 of 45 ° outward. As a result, the light from the side of the vehicle that has exited the fisheye lens 20 is bent 90 ° by the reflecting surface 31 and then enters the telephoto lens 11 from the rear of the vehicle.

  In the configuration of FIG. 1, the upper half field of view is guided to the outside of the camera body 10 by the reflecting surface 31 of the prism 30 and widened by the fisheye lens 20. Thus, by widening the field of view outside the camera body 10, the camera body 10 and the vehicle body do not block the field of view of the camera, so that a wide-angle image with no blind spots can be obtained. Further, in the configuration of FIG. 1, since left and right images are obtained only in the upper half, the left and right are reversed and displayed by image processing.

  FIG. 2 shows an output image of the camera obtained from the configuration of FIG. The upper half of the image is a wide-angle image reflected by the fisheye lens 20, and the lower half is an image viewed directly by the telephoto lens 11. Here, the vehicle-mounted camera does not need to take a picture above the horizontal. Basically, you only need to see what is running on the road, so you can see below the horizon. Since the present embodiment shows what is not necessary in the upper half of the telephoto camera, the idea is to make the peripheral image visible in the upper half of the area.

  FIG. 3 is a side view showing the mounting position of the imaging apparatus (camera) and the front-rear direction visual field of the present embodiment. Note that the imaging device of the present embodiment has both a telephoto camera function and a wide-angle camera function, so hereinafter, when the telephoto camera function is fulfilled, it will be referred to as a "telephoto camera" and fulfill the wide-angle camera function. If so, it may be called a “wide-angle camera”.

  In the figure, L1 is the direction of the optical axis of the telephoto camera, F1 is the field of view of the telephoto camera (range reflected in the space), G1 is the range to be confirmed on the road surface by the telephoto camera, and F2 is the field of view of the wide-angle camera (image reflected in the space) Range), G2 indicates a required confirmation range on the road surface by the wide-angle camera.

  Since the telephoto image does not need to be seen above the horizontal direction, the optical axis L1 of the telephoto camera is set slightly downward from the horizontal.

  FIG. 4 is a front view showing a side view of the imaging apparatus according to the present embodiment. In the figure, L2 is the optical axis of the wide-angle camera, F2 is the field of view of the wide-angle camera (the range in space), and G2 is the required confirmation range on the road surface by the wide-angle camera. Since the fisheye lens 20 faces the opposite side of the vehicle body, neither the camera body 10 nor the vehicle body obstructs the field of view of the fisheye lens 20, so that a wide-angle image without a blind spot can be obtained.

<Embodiment 2>
FIG. 5 is a diagram illustrating a configuration of the imaging apparatus according to the second embodiment. 5, components corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 5A is a view of the imaging device as seen from the rear of the vehicle, FIG. 5B is a view of the imaging device as seen from above, and FIG. 5C is a view of the imaging device as seen from the side of the vehicle.

  Compared with the imaging device of the first embodiment, the imaging device of the present embodiment is attached with the fisheye lens 20 facing downward rather than sideways, as can be seen from FIGS. 5A and 5C. Moreover, the fisheye lens 20 is arrange | positioned in the position which protruded below rather than the camera main body 10, as FIG. 5A, FIG. 5B and FIG. 5B show. Further, as can be seen from FIGS. 5A and 5C, the fisheye lens 20 is disposed on the vehicle body side (left side in the example in the figure) from the center of the imaging surface of the camera.

  As can be seen from FIG. 5C, a prism 30 is disposed between the fisheye lens 20 and the telephoto lens 11. The prism 30 has a reflective surface 31 of 45 ° downward. Thereby, the light from the lower side of the vehicle that has exited the fisheye lens 20 is bent 90 ° by the reflecting surface 31 and then enters the telephoto lens 11 from the rear of the vehicle.

  In the configuration of FIG. 5, the vertically long field of view on the vehicle body side half is guided downward from the camera body 10 by the reflecting surface 31 of the prism 30 and diffused (widened) by the fisheye lens 20. An image of the road surface at the front lower side is displayed at the top of the vertically long field of view and the road surface at the rear lower side is displayed at the bottom.

  FIG. 6 shows an output image of the camera obtained from the configuration of FIG. The left half (vehicle side) of the image is a wide-angle image projected by a fisheye lens, and the right half is an image viewed directly by a telephoto lens.

  FIG. 7 is a plan view showing the field of view of the imaging apparatus of the present embodiment. In the figure, L1 indicates the direction of the optical axis of the telephoto camera, G1 indicates the field of view on the road surface imaged by the telephoto camera, and G2 indicates the field of view on the road surface imaged by the wide-angle camera. In the case of the present embodiment, since the field of view is divided into right and left, the optical axis of the telephoto camera is slightly shifted inward so as to give up the rear part of the vehicle body. This is because the image of the vehicle body becomes the position reference of the rear image. The field of view of the vertically long telephoto camera is bent 90 ° downward with a plane mirror (reflecting surface 31) and guided under the camera, and the field of view is widened with the fisheye lens 20 with a viewing angle of 180 °. Although the field of view of the telephoto image and the wide-angle image is actually infinite, it shows the range to be viewed in the confirmation at the time of changing the lane for the purpose of illustration.

<Embodiment 3>
FIG. 8 is a diagram illustrating a configuration of the imaging apparatus according to the third embodiment. 8, components corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. FIG. 8A is a diagram of the imaging device viewed from the rear of the vehicle, and FIG. 8B is a diagram of the imaging device viewed from above.

  In the first embodiment and the second embodiment described above, the fisheye lens 20 is used as the widening means, whereas in the present embodiment, the convex mirror 40 is used as the widening means. In the first and second embodiments described above, the prism 30 that reflects light once is used, whereas in this embodiment, the prism 50 that reflects light twice is used.

  As can be seen from FIG. 8A, the convex mirror 40 is attached to a position below the camera body 10 with its side facing (that is, facing away from the vehicle body).

  As can be seen from FIG. 8A, the prism 50 is disposed in the imaging direction of the camera and at a position covering the upper side of the center of the imaging surface of the camera. The prism 50 is a hexahedral prism having two reflecting surfaces 51 and 52. The reflecting surface 51 is inclined 23 ° downward, and the reflecting surface 52 is inclined 45 ° with respect to the camera. The shape of the prism 50 will be described later with reference to FIG.

  The imaging apparatus according to the present embodiment projects a wide-angle field of view from the side of the camera (right side in the case of FIG. 8) to the lower side on the convex mirror 40 installed on the lower side of the camera, and the image captured on the convex mirror 40 is converted into a prism. The light is reflected twice at 50 and guided to the upper part of the field of view of the telephoto lens 11. In practice, refraction occurs when passing through the bottom surface of the prism 50.

  FIG. 9 shows an output image of the camera obtained from the configuration of FIG. The upper half of the image is a wide-angle image projected by the convex mirror 40, and the lower half is an image viewed directly by the telephoto lens 11. As mentioned in the first embodiment, the in-vehicle camera does not need to shoot above the horizontal and only needs to be seen below the horizon, so this embodiment does not need to be in the upper half of the telephoto camera. The idea is to make the surrounding image visible in the upper half of the area.

  FIG. 10 is a diagram showing how the field of view is enlarged by the convex mirror 40. The upper side of FIG. 10 is a side view, and the lower side is a cross-sectional view including a convex mirror 40 in the longitudinal direction of the vehicle body. The convex mirror 40 in FIG. 10 is a convex mirror of the left camera as viewed from the front of the vehicle body. As shown in the figure, the convex mirror 40 provides a wide-angle visual field in the longitudinal direction of the vehicle body.

  FIG. 11 is a diagram illustrating a state of incidence of light from the convex mirror 40 to the prism 50. The left side of the figure is a cross-sectional view in the left-right direction when viewed from the front of the vehicle body. The light reflected by the convex mirror 40 enters the prism 50 from the bottom surface, and the direction is changed horizontally by the reflecting surface 51 and travels through the prism 50. This light is reflected toward the camera body 10 by being reflected by the reflecting surface 52.

  FIG. 12 is a diagram illustrating a state of light turning by the prism 50. In the present embodiment, the light is turned by approximately 90 ° by the prism 50. The lower figure is a cross section of the left convex mirror 40 and prism 50 cut in the horizontal direction when viewed from the front of the vehicle body. The light reflected by the convex mirror 40 enters the prism 50 from the bottom surface of the prism 50, and is reflected by the reflecting surface 51 to face the reflecting surface 52, and further reflected by the reflecting surface 52 to face the camera body 10. .

  FIG. 13 is a diagram showing a configuration of a hexahedral prism 50 having two mirror surfaces used in the present embodiment. 13A is a view seen from the rear, FIG. 13B is a view seen from above, FIG. 13C is a sectional view taken along line AA ′ of FIG. 13B, FIG. 13D is a view seen from below, and FIG. These are views as seen from the camera side.

  FIG. 14 is a plan view showing the field of view of the imaging apparatus of the present embodiment. In the figure, L1 indicates the direction of the optical axis of the telephoto camera, G1 indicates the field of view on the road surface imaged by the telephoto camera, and G2 indicates the field of view on the road surface imaged by the wide-angle camera. In the present embodiment, since the field of view is divided vertically, the optical axis L1 of the telephoto camera is shifted slightly away from the vehicle body. This is because it is useless to point the telephoto camera to the part behind the car body.

  In this embodiment, the field of view of the horizontally long telephoto camera is bent 90 degrees outward by the reflecting surface 52, further reflected from below by the reflecting surface 51, and widened by the convex mirror 40 attached to the vehicle body side. The road surface of the range is reflected. Although the field of view of the telephoto image and the wide-angle image is actually infinite, it shows the range to be viewed in the confirmation at the time of changing the lane for the purpose of illustration.

  FIG. 15 is a side view illustrating the front-rear direction visual field of the imaging apparatus according to the present embodiment. In the figure, L1 is the direction of the optical axis of the telephoto camera, F1 is the field of view of the telephoto camera (range reflected in the space), G1 is the range to be confirmed on the road surface by the telephoto camera, and F2 is the field of view of the wide-angle camera (image reflected in the space) Range), G2 indicates a required confirmation range on the road surface by the wide-angle camera.

  FIG. 16 is a front view showing a side view of the imaging apparatus according to the present embodiment. In the figure, F2 is the field of view of the wide-angle camera (the range in space), and G2 is the required confirmation range on the road surface by the wide-angle camera. Since the convex mirror 40 faces the opposite side of the vehicle body, neither the camera body 10 nor the vehicle body obstructs the field of view of the convex mirror 40, so that a wide-angle image without a blind spot can be obtained.

<Embodiment 4>
In the present embodiment, a configuration of an in-vehicle camera system using the imaging device according to the above-described first to third embodiments will be described.

  The in-vehicle camera system 100 includes an imaging device 110, an image processing unit 120, a composition processing and detection processing unit 130, a display unit 140, an alarm unit 150, a direction indicator 160, and a speedometer 170.

  The imaging device described in Embodiment 1-3 described above is used as the right dual camera 111 and the left dual camera 112. Since the right and left cameras 111 and 112 have the functions of a telephoto camera and the function of a wide-angle camera, respectively, the number of image processing circuits in the subsequent stage can be reduced. That is, when both a telephoto camera and a wide-angle camera are provided as in the prior art, two image processing circuits for the right side and two for the left side are necessary, whereas the above-described Embodiment 1-3 has been described. If an imaging device is used, it is sufficient to provide one image processing circuit for the right side and one for the left side. Therefore, the circuit scale of the image processing unit 120 can be reduced.

  When the left and right sides of the image are inverted due to mirror reflection, the image processing unit provided corresponding to the right and left cameras 111 and 112 corrects the positional relationship correctly by inverting the left and right. Note that this inversion processing may be performed by the synthesis processing and detection processing unit 130.

  The display unit 140 displays one or both images around the vehicle or behind the vehicle.

  The composition processing and detection processing unit 130 detects the vehicle using an image obtained by directly viewing the rear with a telephoto lens and a wide-angle image showing the periphery of the vehicle when traveling at a certain speed or more or when there is direction indication information. When an approaching vehicle is detected, warning information is output to the alarm unit 150. When there is direction indication information, it warns that there is an approaching vehicle by both an audio alarm by the display unit 140 and the alarm unit 150. If there is no direction instruction, the detection information may be simply displayed on the display unit 140.

<Summary>
According to the imaging apparatus described in Embodiment 1-3, at least one of a camera having a telephoto lens, a wide-angle widening unit, and at least one of which reflects light emitted from the wide-angle widening unit and makes it incident on a part of the imaging surface of the camera. With the configuration including the mirror, a high-magnification image and a wide viewing angle image can be acquired simultaneously.

  In addition, by reflecting the light emitted from the wide-angle widening means with a mirror, it is possible to design a field of view for wide-angle shooting so that no blind spot is generated.

  In addition, the mirror may be embodied by something other than a prism, but when embodied by a prism as in the embodiment, (1) there is no risk of the mirror surface becoming dirty, (2) the incident surface of the light beam exposed to the outside is Since it is a flat surface, it can be easily cleaned. (3) Since the angle between the surfaces is fixed, there is no possibility that the captured image will be blurred due to vibration.

  Further, as in the first embodiment, the mirror turns the field of view of the camera away from the vehicle body, and the wide-angle means is arranged at a position farther from the vehicle body than the camera, thereby widening the field of view outside the camera body 10. By doing so, the camera body 10 and the vehicle body do not block the field of view and no blind spots are generated. In addition, you may change arbitrarily the direction which changes a visual field between an outer side and the downward direction.

  Further, as in the second and third embodiments, the mirror turns the field of view of the camera downward, the widening means is disposed below the camera, and the field of view is widened on the lower side of the camera body 10, The camera body 10 does not block the field of view and no blind spots are generated. The direction in which the field of view is turned may be arbitrarily changed from below to the outside direction of the vehicle body.

  In the first and third embodiments, the field of view of the camera is divided into two in the vertical direction, the upper field of view contains an image widened by the widening means, and the lower field of view is an image directly viewed by the camera. To enter. As a result, the upper region that is not meaningful for the telephoto can be effectively allocated to the wide-angle peripheral image. In other words, since the telephoto lens has the highest resolution in the vicinity of the optical axis, the optical axis is directed backward infinitely far away, but if the lower side is seen from the horizontal direction, it is sufficient for safety confirmation, so the upper side of the field of view is assigned to a wide-angle image.

  In addition, as in the second embodiment, the field of view of the camera is divided into two in the left-right direction, and an image that has been widened by the widening means enters the field of view inside as viewed from the vehicle body, and the field of view outside as viewed from the vehicle body. Added an image directly viewed by the camera. This is because the telephoto lens has the highest resolution near the optical axis, so the optical axis is directed backward infinitely far away, but the part near the body of the field of view is useless because it only shows the body, so the field near the body was assigned to a wide-angle image.

  In the present specification, the division into two does not mean two equal parts.

  In the first and second embodiments, the fish-eye lens is used as the widening means, but a wide-angle lens may be used instead of the fish-eye lens.

Table 1 summarizes the widening means, the mirror, the field division, and the telephoto optical axis in the imaging apparatus of Embodiment 1-3.

  In general, when a convex mirror is arranged in a part of the field of view of a telephoto camera, what is reflected on the convex mirror is generally in a direction opposite to the optical axis of the telephoto camera. Although it is theoretically possible to capture the direction of the optical axis of the telephoto camera at the part where the reflection angle becomes shallow by increasing the curvature of the convex mirror, the image reflected on the convex mirror at a shallow reflection angle is extremely distorted, Actually, an object in that direction cannot be visually recognized. In other words, the optical axis direction of the telephoto camera is a blind spot that is not reflected on the convex mirror, so that the function as an in-vehicle wide-angle camera is insufficient.

  In the case of a lens, the field of view can be expanded, but the opposite direction cannot be directed. In other words, when the telephoto lens and fisheye lens facing backward are combined, the front cannot be seen.

  On the other hand, the imaging apparatus of the present invention makes it possible to include the optical axis direction of the telephoto camera in the field of view of wide-angle shooting by reflecting a part of the field of view of the telephoto camera with a mirror and guiding it to a convex mirror or a fisheye lens. ing.

  The above-described embodiments are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. That is, the present invention can be implemented in various forms without departing from the gist or main features thereof.

  The present invention is applicable to general imaging apparatuses, but is particularly suitable for an imaging apparatus and an in-vehicle camera system that monitor the side and rear of a vehicle.

DESCRIPTION OF SYMBOLS 10 Camera main body 11 Telephoto lens 20 Fisheye lens 30, 50 Prism 31, 51, 52 Reflecting surface 40 Convex mirror 100 In-vehicle camera system 110 Imaging device 111 Right combined camera 112 Left combined camera 120 Image processing unit 130 Composition processing and detection processing unit 140 Display unit 150 Alarm unit 160 Direction indicator 170 Speedometer L1 Direction of optical axis of telephoto camera L2 Direction of optical axis of wide-angle camera F1 Field of view of telephoto camera (scope in space)
Field of view of F2 wide-angle camera (scope in space)
G1 Confirmation range on the road surface with a telephoto camera G2 Confirmation range on the road surface with a wide-angle camera

Claims (12)

A camera having a telephoto lens;
Widening means,
At least one mirror that reflects the light emitted from the widening means and makes it incident on a part of the imaging surface of the camera;
An imaging apparatus comprising: The wide angle means is a fisheye lens or a wide angle lens.
The imaging device according to claim 1. The widening means is a convex mirror.
The imaging device according to claim 1. The mirror is embodied as a reflective surface of a prism;
The imaging device according to claim 1. The mirror is arranged to be inclined with respect to the direction of the optical axis of the camera,
The widening means is arranged at a position where the camera does not block the field of view of the widening means.
The imaging device according to claim 1. Dividing the field of view of the camera into two parts,
One field of view contains an image directly viewed by the camera,
In the other visual field, an image widened by the widening means enters.
The imaging device according to claim 1. An in-vehicle camera system that obtains a peripheral image of a vehicle body by an imaging device attached to the vehicle body,
The imaging device
A camera having a telephoto lens;
Widening means,
At least one mirror that reflects the light emitted from the widening means and makes it incident on a part of the imaging surface of the camera;
An in-vehicle camera system comprising: The camera is attached toward the rear of the vehicle body,
The mirror turns the camera field of view downward;
The widening means is disposed below the camera;
The in-vehicle camera system according to claim 7. The camera is attached toward the rear of the vehicle body,
The mirror turns the camera field of view away from the vehicle body,
The wide angle means is disposed at a position farther from the vehicle body than the camera.
The in-vehicle camera system according to claim 7. Dividing the field of view of the camera into two parts,
One field of view contains an image directly viewed by the camera,
In the other visual field, an image widened by the widening means enters.
The in-vehicle camera system according to claim 7. Dividing the field of view of the camera into two in the vertical direction,
In the upper visual field, an image widened by the widening means enters,
The lower field of view contains an image directly viewed by the camera,
The in-vehicle camera system according to claim 10. Dividing the field of view of the camera into left and right directions,
In the field of view seen from the vehicle body, an image widened by the widening means enters,
An image viewed directly by the camera enters the field of view outside the vehicle body,
The in-vehicle camera system according to claim 10.

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