JPH07280562A - Camera apparatus to be carried on moving object - Google Patents

Abstract

PURPOSE:To enable the using of a camera apparatus even under the backlight condition in which the sun light is incident on the camera lens by driving a filter means to shield incident light when the back. light condition is detected within a range of an image picked up. CONSTITUTION:When the sun light is incident within an angle thetac in the vertical direction under a normal condition in which a car 5 running ahead is picked up by camera devices 1-4 to display 11, the sun light also is incident within a photodetecting angle thetas almost the same as the angle thetac in the direction so that an output signal 21a of a photodiode 21 increases in level. On the other hand, no incidence occurs within a photodetecting angle thetas2 narrower than the photodetecting angle thetas1 and an output signal 22a of a photodiode 22 will not change in the level and with 21a>22a, a servo motor 24 is driven by a control signal C. As a result, a filter means 23 moves to a driving position L1 from a standby position L0 and shiels the sun shine S to prevent the direct incidence into a sensor 4. Even under such a condititon, as the shielding area does not reach the upper end part of a window W, the vehicle 5 running ahead can be captured to measure a distance R. After the releasing of the backlight condition, the signal C is turned OFF and the means 23 is returned to the position L0 by an energizing force 24, hence back to the normal condition.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera device mounted on a moving body such as a vehicle for continuously measuring a distance to an object to be photographed. The present invention also relates to a camera device for mounting a movable body that can be used.

[0002]

2. Description of the Related Art Conventionally, a pair of optical systems, that is, camera devices arranged in parallel to the optical axis in the left-right direction or in the vertical direction are used to compare two images formed on an image sensor of each camera device. 2. Description of the Related Art A camera device for mounting a moving body, which electrically processes a displacement amount between the two and measures a distance to an object to be photographed by the principle of a triangulation method, is well known.

Further, as described in, for example, Japanese Patent Laid-Open No. 232512/1990, a movable frame or window is set in one of the left and right images,
There is also a well-known camera device for mounting a moving body, which continuously captures a measuring object within a window while following the moving distance measuring object.

FIG. 6 is a block diagram showing a conventional moving body mounting camera device when applied to the vehicle distance measuring device referred to in the above publication. In the figure, 1 and 2 are a pair of convex lenses arranged in parallel at an interval L, and f is the focal length of each convex lens 1 and 2, 3 and 4
Is a pair of image sensors arranged at the image forming positions of the respective convex lenses 1 and 2, and the convex lens 1 and the image sensor 3 and the convex lens 2 and the image sensor 4 respectively constitute a pair of optical systems having the same configuration. ing.

Reference numeral 5 is an object located ahead of the convex lenses 1 and 2 by a distance R and photographed by a pair of optical systems, for example, a preceding vehicle, 6 and 7 are image sensors 3 and 4, respectively.
AD converters for converting the image signals G (analog signals) from the respective signals into digital signals GD, and 8 and 9 are memories for storing the respective digital signals GD as image data.

Reference numeral 10 is image data G in the memories 8 and 9.
A microcomputer (hereinafter, referred to as a microcomputer) that performs various processes on D, a distance measuring unit that measures a distance based on a trigonometric principle from a deviation amount obtained by comparing two image data GD, and a window ( The target capturing means for capturing the distance measurement target 5 will be described later). 1
1 is an image or image data G processed by the microcomputer 10.
A display for displaying D and a window setting unit 12 for setting a window W on the processed image.

Next, the operation of the conventional camera device for mounting a moving body shown in FIG. 6 will be described with reference to FIG. In FIG. 7, (a) is an image based on the image data GD in the reference side, for example, the memory 8 on the left side, and (b) is an image based on the image data GD in the dependent side, for example, the right side memory 9. Now, it is assumed that the images captured by the image sensors 3 and 4 are displayed on the display 11 as shown in FIG.

At this time, the driver operates the window setting unit 12 while looking at the display 11 to set the window W (the hatched portion in FIG. 7A) so as to capture the preceding vehicle 5. Thereby, the microcomputer 10 can determine which part of the image data GD in the memory 8 serving as the reference image should be used as the reference for distance calculation.

Therefore, the sum of the absolute values of the signal differences for each pixel is calculated while sequentially shifting the right image (b) by one pixel with respect to the left image (a). Here, the area involved in the calculation corresponds to the shaded area in the image (b) on the right side. In this way, when the shift amount when the sum of the absolute values of the signal differences calculated while comparing the left and right pixels is minimum is n pixels and the pixel pitch is P, the distance R to the preceding vehicle 5 is It is expressed by the formula.

R = (fL) / (nP)

Next, at a time after a short time has passed, the preceding vehicle 5 is moving, and its image is formed on the image sensors 3 and 4 at a position different from the previous sampling time. The moving position at this time is obtained from the area where the sum of the absolute values of the signal differences at the time of pixel shift becomes minimum as described above. Therefore, the window W after a short time has been set again, and the distance to the preceding vehicle 5 is calculated using the image signals G from the left and right image sensors 3 and 4.

As described above, when a pair of camera devices is mounted on an automobile to measure the inter-vehicle distance R from the preceding vehicle 5, the preceding vehicle 5 is tracked within the movable window W, thereby It is not necessary to move the entire optical system. However, in this type of mobile device-mounted camera device, sunlight may be directly incident on a moving vehicle, for example, in the morning and evening or when climbing a slope, and a backlit state may occur.

When such a backlit state is encountered and extremely bright light is directly incident on the image range of the optical system,
The image sensor is saturated and it becomes impossible to measure the distance to the object. Therefore, in such an extremely backlit state, it is determined that the camera device cannot be used, and processing is performed so that distance measurement and the like are prohibited.

[0014]

As described above, since the conventional camera device for mounting a moving body does not take any measures against the direct incidence of extremely high brightness light such as sunlight, it has a backlight condition. There was a problem that it became unusable.

The present invention has been made to solve the above problems, and an object of the present invention is to obtain a camera device for mounting on a movable body which can be used even when sunlight or the like is incident and a backlight condition occurs. To do.

[0016]

According to a first aspect of the present invention, there is provided a camera device for mounting a moving body, which includes a convex lens directed to an object to be photographed and an image sensor arranged at an image forming position of the convex lens. A first photodiode arranged in the same direction as the field of view of the camera device and having a first light-receiving angle equivalent to the angle of view in the orthogonal direction of the camera device;
The first device is arranged in the same direction as the field of view of the camera device, and
A second photodiode having a second light receiving angle narrower than the light receiving angle of, and a filter means arranged in front of the convex lens and movable in a direction perpendicular to the optical axis of the convex lens,
The filter driving means for driving the filter means and the filter driving means for blocking the upper part of the convex lens by the filter means when the output signal of the first photodiode becomes larger than the output signal of the second photodiode. And a filter control means for controlling.

According to a second aspect of the present invention, there is provided the movable body mounting camera device according to the first aspect, wherein the filter means is disposed in front of and above the convex lens, and is directed downward from the upper side with respect to the optical axis of the convex lens. It is movable vertically.

According to a third aspect of the present invention, in the camera device for mounting a movable body according to the first aspect, the filter means is arranged at the lower rear portion of the convex lens, and the filter means is arranged upward from the lower portion with respect to the optical axis of the convex lens. It is movable vertically.

According to a fourth aspect of the present invention, in the camera device for mounting a moving body according to the first aspect, the filter means is arranged on a front side or a rear side of the convex lens, and the filter means is arranged on the side of the optical axis of the convex lens. It is movable horizontally from the section.

According to a fifth aspect of the present invention, in the camera device for mounting a moving body according to any one of the first to fourth aspects, the filter means is constituted by a high-concentration neutral density filter. is there.

According to a sixth aspect of the present invention, in the camera device for mounting a moving body according to any one of the first to fourth aspects, the filter means is composed of a black light shielding plate.

According to a seventh aspect of the present invention, there is provided a moving body mounting camera device according to any one of the first to sixth aspects, in which an optical system arranged in parallel with the camera device and having the same configuration as the camera device. And another distance measuring means for measuring a distance on the basis of the trigonometric principle from a shift amount obtained by comparing two images formed on the image sensor of each camera device. The second photodiode, the filter means, and the filter drive means are arranged in at least one of the camera devices.

According to an eighth aspect of the present invention, in the camera device for mounting a moving body according to the seventh aspect, at least one of the camera devices is a window for setting a movable window within a captured image. The setting means and the target capturing means for capturing the distance measurement target in the window are included, and the filter means shields from the upper end of the convex lens to the image position corresponding to the upper end of the window.

[0024]

According to the first aspect of the present invention, when the backlight sensor means including the first and second photodiodes detects the incident state of the high-brightness light source within the photographed image range, that is, the backlight state, the filter means. Is driven within the range from the upper end to the center of the convex lens to block the high-intensity direct incident light.

According to the second aspect of the present invention, the filter means is driven vertically from the upper side to the lower side when the backlight state is detected.

Further, in the third aspect of the present invention, the filter means is driven vertically from the lower side to the upper side when the backlight state is detected.

Further, in the fourth aspect of the present invention, the filter means is driven horizontally from the side surface side when the backlight state is detected.

In the fifth aspect of the present invention, the high density neutral density filter is driven in the convex lens blocking direction when the backlight state is detected.

Further, in the sixth aspect of the present invention, the black light shielding plate is driven in the convex lens shielding direction when the backlight state is detected.

Further, according to a seventh aspect of the present invention, a backlight sensor means is provided in association with at least one optical system of the pair of optical systems for distance measurement, and the filter means is driven in the convex lens blocking direction when the backlight condition is detected. To do.

Further, according to claim 8 of the present invention, a backlight sensor means is provided in association with at least one optical system of the pair of optical systems for distance measurement, and a window for capturing and tracking an object is detected when a backlight condition is detected. The filter means is driven in the convex lens blocking direction within a range that does not interfere with the above.

[0032]

【Example】

Example 1. Embodiment 1 of the present invention (corresponding to claim 1, claim 2 and claim 5 to claim 8) will be described below with reference to the drawings. FIG. 1 is a block configuration diagram showing a schematic configuration when a first embodiment of the present invention is applied to a vehicle distance measuring device, and 1 to 12, R, f, G, GD and W are the same as those described above. is there.

Reference numerals 21 and 22 are the first elements arranged in the same direction as the visual field of the camera device including the convex lenses 1 and 2.
The second photodiode 23 is a filter means composed of a light-shielding blade arranged in front of the convex lenses 1 and 2 and capable of reciprocating. The filter means 23 may be composed of a high-concentration neutral density (ND) filter, a black shading plate, or the like. Further, here, for convenience, the case where the filter means 23 is arranged in front of only one of the convex lenses 2 is shown.

Reference numeral 24 is a filter driving means for driving the filter means 23 to open and close, that is, a servomotor, and constitutes a light shielding unit U1 together with the filter means 23.
Reference numeral 25 denotes a filter control means that constitutes the backlight detection unit U2 together with the pair of photodiodes 21 and 22, and when the output signal 21a of the first photodiode 21 becomes larger than the output signal 22a of the second photodiode 22. To generate a control signal C, and filter means 23
Drives the servomotor 24 so as to shield the upper portions of the convex lenses 1 and 2.

FIG. 2 is a perspective view specifically showing the light blocking unit U1 and the backlight detecting unit U2 in FIG. 1, and FIG. 3 is a configuration diagram optically showing the light blocking unit U1 and the backlight detecting unit U2. In FIG. 2, A is the optical axis of the convex lens 2, B is the moving direction of the filter means 23 which is perpendicular to the optical axis A, 31 is an opening end and a first photodiode 21 is provided at the bottom. Reference numeral 1 is a tubular body, and 32 is a second tubular body having an open end and provided with a second photodiode 22 at the bottom.

In FIG. 3, 40 is the direction of sunlight S, θ
s1 is the first light-receiving angle of the first photodiode 21, θs2 is the second light-receiving angle of the second photodiode 22, θc is the camera device, that is, the vertical angle of view of the convex lens 2, and D1 and D2 are each cylindrical. The opening diameters of the bodies 31 and 32, Ls1 and Ls2 are the lengths of the tubular bodies 31 and 32, L0 is the protrusion amount of the filter means 23 during standby, and L1.
Is the amount of protrusion when the filter means 23 is driven, and Li is the vertical length of the image sensor 4. The filter control means 25 is composed of a comparator that compares the output signals 21a and 22a of the photodiodes.

The photodiodes 21 and 22 are attached toward the open end sides of the cylindrical bodies 31 and 32, respectively. Further, the second tubular body 32 is formed to be longer and narrower than the first tubular body 31, and D1> D2, Ls1 <Ls.
It is 2. As a result, the first photodiode 21 has a first light receiving angle θs1 equivalent to the vertical angle of view θc of the camera device, and the second photodiode 22 has
The second light receiving angle θs2 is narrower than the first light receiving angle θs1.

Next, referring to the explanatory view of FIG.
The operation of the first embodiment of the present invention shown in FIG. 3 will be described. Here, one of the camera devices having the same configuration (for example, a camera device including the convex lens 2 and the image sensor 4) will be focused and described.

Similarly to the above, the pair of optical systems 1 to 4 (camera devices) photograph the preceding vehicle 5, and the display 11 displays an image based on the image signal G from each of the image sensors 3 and 4. Further, the microcomputer 10 calculates the distance R to the preceding vehicle 5, and also displays a window W for capturing the preceding vehicle 5 on the display 11, as shown in FIG.

At this time, for example, the vertical angle of view θc of the camera device including the image sensor 2 is expressed by the following equation using the focal length f of the convex lens 2 and the vertical length Li of the image sensor 4.

Θc = 2 · tan ⁻¹ (Li / 2f)

On the other hand, each light receiving angle θ of the backlight detection unit U2
s1 and θs2 are (D1
/ Ls1) and (D2 / Ls2) and the vertical length of each photodiode 21 and 22. Therefore, the length Ls1 and the opening diameter D of the first tubular body 31
1 and the vertical lengths of the first photodiodes 21 are set so that the first light receiving angle θs1 is substantially equal to the vertical angle of view θc of the camera device including the convex lens 2.

Further, regarding the length Ls2 and the opening diameter D2 of the second tubular body 32 and the vertical length of the second photodiode 22, the second light receiving angle θs2 is the first light receiving angle θ.
It is set to be considerably narrower than s1. Normally, when the sunlight S is not incident within the angle of view θc, an image of the entire area of the memory 8 or 9 is displayed on the display 11, for example, as shown in FIG.

In this state, when the sunlight S is incident from the direction 40 within the vertical angle of view θc as shown in FIG. 3, if the sunlight S is left as it is, as shown in FIG. The image is displayed.

However, at this time, the sunlight S enters the first light receiving angle θs1 which is substantially the same as the vertical angle of view θc, so that the output signal 2 of the first photodiode 21 is increased.
The level of 1a increases significantly. On the other hand, the first acceptance angle θ
Since the sunlight S does not enter into the second light receiving angle θs2 that is considerably narrower than s1, the level of the output signal 22a of the second photodiode 22 does not change.

Therefore, 21a> 22a, and the control signal C from the comparator or filter control means 25.
Is output and the servo motor 24 in the light shielding unit U1 is output.
Is driven. As a result, the filter means 23 composed of an ND filter having a high light blocking property or a black light blocking plate moves from the standby position L0 to the driving position L1 and the sunlight S
Is reliably shielded to prevent the sunlight S from directly entering the image sensor 4. Therefore, the sun image is not displayed as shown by the shaded area in FIG.

Thus, even when the sunlight S is shielded, the shielding area by the filter means 23 does not reach the upper end portion of the window W, so that the preceding vehicle 5 can be captured by the window W without any trouble. The distance R can be measured. It goes without saying that the protrusion amount L1 of the filter means 23 when driven is set to a position up to the upper end of the window W at the maximum.

After that, when the backlight condition is released, the control signal C from the comparator 25 is turned off, so that the filter means 23 is moved to the normal position L0 by the urging force of the servo motor 24 or the return spring (not shown). Return. Therefore, the display image in the display 11 returns to the state of FIG. 4A, for example.

In the above embodiment, the filter means 23
Although the moving position is set in two stages from the standby position L0 to the driving position L1, it may be set in a plurality of stages. For example, by providing a third photodiode having a third light receiving angle between the first light receiving angle θs1 and the second light receiving angle θs2, the incident angle of the sunlight S can be detected in two stages. Therefore, the filter means 23 can be moved toward the center of the convex lenses 1 and 2 by a required amount according to the detection angle.

Although the light-shielding unit U1 is installed on each of the convex lenses 1 and 2, it may be installed on at least one of the convex lenses corresponding to the camera device side corresponding to the reference image.

Example 2. (Corresponding to Claim 3) In the first embodiment, the filter means 23 is moved vertically downward from the front upper part of the convex lens 2.
As described above, the rear lower portion of the convex lens 2 may be vertically moved upward, and similarly to the above, the rear lower portion of the convex lens 2 corresponding to the image region where the sunlight S may be incident can be shielded. .

Example 3. (Corresponding to Claim 4) In the first and second embodiments, the filter means 23 is used.
Was vertically moved with respect to the convex lens 2 downward from the front upper part or upward from the rear lower part. However, as shown in FIG. 6, the filter means 23 is arranged on the front or rear side of the convex lens 2. Then, from the side of the convex lens 2 to the side (arrow B
It may be moved horizontally in the o) direction.

As a result, similarly to the above, it is possible to shield the front upper part or the rear lower part of the convex lens 2 corresponding to the image area where the sunlight S can enter. In this case, the amount of movement of the filter means 23 increases, but even if there is no installation space above or below the camera device, the light blocking unit U1.
Since it can be installed, the degree of freedom in design can be increased.

Example 4. Further, although the case where the present invention is applied to the distance measuring device using the window W is shown, the present invention can also be applied to a device not using the window W. Also, the case where the present invention is applied to a distance measuring device having two optical systems is shown.
The present invention can also be applied to other camera devices for applications other than the distance measuring device including a single optical system.

Further, although the preceding vehicle 5 is taken as the camera device for mounting on the vehicle, it is also possible to set an arbitrary object as the camera device for mounting on the moving body other than the vehicle. It goes without saying that the same effect is achieved.

[0056]

As described above, according to the first aspect of the present invention, the camera device including the convex lens facing the object to be photographed and the image sensor arranged at the image forming position of the convex lens is the same as the field of view of the camera device. A first photodiode having a first light-receiving angle that is arranged in the same direction as the vertical angle of view of the camera device, and a first photodiode that is arranged in the same direction as the field of view of the camera device. Second narrow
A second photodiode having a light receiving angle of, a filter means arranged in front of the convex lens and movable in a direction perpendicular to the optical axis of the convex lens, a filter driving means for driving the filter means, and a first photo diode. When the output signal of the diode becomes larger than the output signal of the second photodiode, the filter means includes a filter control means for controlling the filter drive means so as to shield the upper part of the convex lens, and within the captured image range. When the backlight condition is detected, the filter means is driven within the range from the upper end to the central part of the convex lens so as to block the high-intensity direct incident light. However, there is an effect that a camera device for mounting a moving body that can be used is obtained.

According to a second aspect of the present invention, in the first aspect, the filter means is disposed in front of and above the convex lens, and is movable vertically from the upper side to the lower side with respect to the optical axis of the convex lens. , When the backlight condition is detected, the filter means is driven to block the high brightness direct incident light.
There is an effect that a camera device for mounting a moving body can be obtained in which the filter means can be easily moved and can be used even when sunlight or the like is directly incident and is in a backlit state.

According to a third aspect of the present invention, in the first aspect, the filter means is arranged at the rear lower part of the convex lens and is movable vertically from the lower part to the upper direction with respect to the optical axis of the convex lens. , When the backlight condition is detected, the filter means is driven to block the high brightness direct incident light.
There is an effect that a camera device for mounting a moving body can be obtained in which the filter means can be easily moved and can be used even when sunlight or the like is directly incident and is in a backlit state.

According to a fourth aspect of the present invention, in the first aspect, the filter means is arranged on the front side or the rear side of the convex lens, and is horizontal from the side to the optical axis of the convex lens. The filter means is driven to block the high-intensity direct incident light when the backlight state is detected, so that the filter means is easy to install and even when sunlight or the like is directly incident and the backlight state occurs. There is an effect that a camera device for mounting a movable body that can be used is obtained.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the filter means is composed of a high-concentration neutral density filter to surely shield high-intensity direct incident light. As a result, there is an effect that a camera device for mounting a moving body which can be used even when sunlight or the like is directly incident and a backlight state is obtained.

According to a sixth aspect of the present invention, in any one of the first to fourth aspects, the filter means is composed of a black light shielding plate so as to surely shield the high-intensity direct incident light. Therefore, there is an effect that a camera device for mounting a moving object that can be used even when sunlight or the like is directly incident and a backlight state is obtained.

Further, according to claim 7 of the present invention, in any one of claims 1 to 6, there is provided another camera device which is arranged in parallel with the camera device and which comprises an optical system having the same configuration as the camera device. A distance measuring means for measuring a distance on the basis of a trigonometric principle from a displacement amount obtained by comparing two images formed on the image sensor of each camera device, the first and second photodiodes, Filter means and filter driving means are arranged in at least one of the camera devices, and the filter means is driven in the convex lens blocking direction when a backlit state is detected in association with at least one optical system of the pair of optical systems. Therefore, there is an effect that a camera device for mounting a moving object that can be reliably used for distance measurement can be obtained even when sunlight or the like is directly incident and a backlight condition occurs.

According to an eighth aspect of the present invention, there is provided a moving body mounting camera device according to the seventh aspect, wherein at least one of the camera devices is a window for setting a movable window within a captured image. The filter means includes a setting means and a target capturing means for capturing a distance measurement target in the window, and the filter means shields from an upper end portion of the convex lens to an image position corresponding to an upper end portion of the window, and a pair of optical elements for distance measurement. When the backlit state is detected in relation to at least one of the optical systems of the system, the filter means is driven in the convex lens blocking direction within the range that does not hinder the window for capturing and tracking the object. In addition, there is an effect that a camera device for mounting a moving body can be obtained which can be used for measuring the follow-up distance without any trouble even when sunlight or the like is directly incident and the backlight state occurs.

[Brief description of drawings]

FIG. 1 is a block configuration diagram showing a schematic configuration when a first embodiment of the present invention (corresponding to claim 1, claim 2, and claim 5 to claim 8) is applied to a distance measuring device.

FIG. 2 is a perspective view showing a specific configuration of a light shielding unit and a backlight detection unit in FIG.

FIG. 3 is a configuration diagram optically showing a light shielding unit and a backlight detection unit in FIG.

FIG. 4 is an explanatory diagram showing an example of a display image according to the first embodiment of the present invention, in which (a) shows a case where sunlight is not incident.
(B) shows the case where sunlight is incident, respectively.

FIG. 5 is a configuration diagram optically showing a light shielding unit and a backlight detection unit according to Embodiment 2 (corresponding to claim 3) of the present invention.

FIG. 6 is a side view showing a schematic configuration of a main part in a third embodiment (corresponding to claim 4) of the present invention.

FIG. 7 is a block configuration diagram showing a schematic configuration when a conventional camera device for mounting a moving body is applied to a distance measuring device.

FIG. 8 is an explanatory diagram showing an example of a display image in a conventional camera device for mounting a moving body.

[Explanation of reference numerals] 1, 2 convex lens, 3, 4 image sensor, 5 preceding vehicle (shooting target), 8, 9 memory, 10 microcomputer, 1
1 Display, 12 Window Setting Unit, 21 First Photodiode, 22 Second Photodiode, 21a Output Signal of First Photodiode, 22
a output signal of the second photodiode, 23 filter means, 24 servo motor (filter drive means), 2
5 Filter control means, A optical axis, B vertical direction, Bo
Horizontal direction, C control signal, G image signal, GD image data, standby position of L0 filter means, moving position of L1 filter means, S sunlight, U1 shading unit,
U2 backlight detection unit, W window, θc vertical direction angle of view, θs1 first light receiving angle, θs2 second light receiving angle.

Claims (8)

[Claims] 1. A camera device including a convex lens directed to an object to be photographed and an image sensor arranged at an image forming position of the convex lens; and a camera device arranged in the same direction as the field of view of the camera device and perpendicular to the camera device. A first photodiode having a first light receiving angle equivalent to the directional field angle; and a second light receiving angle arranged in the same direction as the field of view of the camera device and narrower than the first light receiving angle. Second
Of the photodiode, filter means arranged in front of the convex lens and movable in a direction perpendicular to the optical axis of the convex lens, filter driving means for driving the filter means, and output of the first photodiode. When the signal becomes larger than the output signal of the second photodiode,
A camera device for mounting a moving body, comprising: a filter control unit that controls the filter drive unit so that the filter unit shields an upper portion of the convex lens. 2. The moving body according to claim 1, wherein the filter means is arranged in an upper part in front of the convex lens and is vertically movable from an upper part to an optical axis of the convex lens in a downward direction. On-board camera device. 3. The moving body according to claim 1, wherein the filter means is arranged at a lower rear portion of the convex lens and is vertically movable upward from the lower portion with respect to an optical axis of the convex lens. On-board camera device. 4. The filter means is arranged on a front side or a rear side of the convex lens, and is horizontally movable laterally from the side with respect to the optical axis of the convex lens. 1. A camera device for mounting a moving body. 5. The camera device for mounting a moving body according to claim 1, wherein the filter means is a high density neutral density filter. 6. The camera device for mounting a moving body according to claim 1, wherein the filter means is composed of a black light shielding plate. 7. Comparing two images formed on an image sensor of each of the camera devices with another camera device arranged in parallel with the camera device and having an optical system of the same configuration as that of the camera device. Distance measuring means for measuring a distance from the obtained shift amount based on the principle of trigonometry is provided, and the first and second photodiodes, the filter means, and the filter driving means are arranged in at least one of the camera devices. The camera device for mounting a moving body according to any one of claims 1 to 6, wherein the camera device is mounted on a moving body. 8. At least one of the camera devices includes window setting means for setting a movable window in a captured image, and target capturing means for capturing a distance measurement target in the window. The camera device for mounting a moving object according to claim 7, wherein the filter unit blocks from an upper end of the convex lens to an image position corresponding to an upper end of the window.