Method and apparatus for recognizing an intensity of an aerosol in a field of vision of a camera on a vehicle

• US 9,676,321 B2
• Filed: 04/20/2012
• Issued: 06/13/2017
• Est. Priority Date: 04/28/2011
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Van Staa, Sebastian, Ehlgen, Tobias
• Primary Examiner(s): Rush, Eric
• Application Number:
  US14/114,151
• Publication Number:
  US 20140044312A1
• Time in Patent Office: 1,880 Days
• Field of Search: 382104, 382162, 382260, 382100, 382165
• CPC Class Codes: B60Q 1/085 due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers B60Q1/10, B60Q1/12, B60Q1/1423 take precedence
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 1/20 Fog lights
• CPC Class Codes: B60Q 2300/312 Adverse weather
• CPC Class Codes: G01N 21/538 for determining atmospheric attenuation and visibility
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10024 Color image
• CPC Class Codes: G06T 2207/30192 Weather; Meteorology
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/00 Image analysis
• CPC Class Codes: G06T 7/44 using image operators, e.g. filters, edge density metrics or local histograms
• CPC Class Codes: G06T 7/90 Determination of colour characteristics
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A method for recognizing an intensity of an aerosol in a field of view of a camera of a vehicle includes: reading in image information of an image of the camera, providing a color indicator value for at least one subsection of the image, the color indicator value representing a relation between (i) a first parameter representing a value obtained with application of a first color filter to the image information in the subsection, and (ii) a second parameter representing a value obtained without application of a color filter, or with application of a second color filter differing from the first color filter, and providing a gradient indicator value representing a brightness difference of a different image region of the image, an aerosol intensity value being determined using the color indicator and the gradient indicator values.

Claims

1. A method for determining an intensity of an aerosol in a field of view of a camera of a vehicle, comprising:

reading in image information of an image taken by the camera;

providing (i) a color indicator value for at least one selected subsection of the image taken by the camera, and (ii) a gradient indicator value, wherein the color indicator value represents a relation between a first parameter and a second parameter, wherein the first parameter represents a value obtained with application of a first color filter to the image information in the at least one selected subsection, and the second parameter represents a value obtained one of (a) without application of a color filter, or (b) with application of a second color filter differing from the first color filter, to the image information in the at least one selected subsection, and wherein the gradient indicator value represents a brightness difference, derived from the image information, of a different image region of the image taken by the camera; and

determining an aerosol intensity value using the color indicator value and the gradient indicator value in order to determine the intensity of the aerosol in the field of view of the camera of the vehicle.

2. The method as recited in claim 1, wherein the aerosol intensity value is determined by a weighted linear combination of the color indicator value and the gradient indicator value.

3. The method as recited in claim 2, further comprising:

before the determination of the aerosol intensity value, at least one of (i) standardizing the color indicator value in a range between two color indicator boundary values, and (ii) standardizing the gradient indicator value in a range between two gradient indicator boundary values.

4. The method as recited in claim 2, wherein one of the first color filter or the second color filter is a color filter which filters out red portions in the image information.

5. The method as recited in claim 2, wherein the aerosol indicator intensity value is represented by a scalar.

6. The method as recited in claim 2, wherein:

the image taken by the camera is segmented into multiple non-overlapping image segments; and

the gradient indicator value is determined using image information from a central image segment of the image taken by the camera, the central image segment being surrounded by the remaining image segments of the image.

7. The method as recited in claim 2, further comprising:

comparing the aerosol intensity value to a predetermined threshold value;

wherein the presence of an intensity of the aerosol critical for roadway traffic in the field of view of the camera of the vehicle is determined when the aerosol intensity value is at a specified relation to the predetermined threshold value.

8. The method as recited in claim 2, further comprising:

modifying a radiation of light by a headlight system of the vehicle in a region of illumination in front of the vehicle, in response to the determined intensity of the aerosol in the field of view of the camera of the vehicle.

9. The method as recited in claim 8, wherein the modification of the radiation of light is achieved by modifying a light radiation parameter as a function of a time of the presence of a specified minimum intensity of the aerosol.

10. The method as recited in claim 8, wherein the modification of the radiation of light includes a modification of light distribution.

11. The method as recited in claim 8, wherein the modification of the radiation of light includes switching a light radiation parameter between different states of illumination.

12. A device for method for determining an intensity of an aerosol in a field of view of a camera of a vehicle, comprising:

an interface for reading in image information of an image taken by the camera;

a unit for providing (i) a color indicator value for at least one selected subsection of the image taken by the camera, and (ii) a gradient indicator value, wherein the color indicator value represents a relation between a first parameter and a second parameter, wherein the first parameter represents a value obtained with application of a first color filter to the image information in the at least one selected subsection, and the second parameter represents a value obtained one of (a) without application of a color filter, or (b) with application of a second color filter differing from the first color filter, to the image information in the at least one selected subsection, and wherein the gradient indicator value represents a brightness difference, derived from the image information, of a different image region of the image taken by the camera; and

a unit for determining an aerosol intensity value using the color indicator value and the gradient indicator value in order to determine the intensity of the aerosol in the field of view of the camera of the vehicle.

13. A non-transitory computer-readable data storage medium storing a computer program having program codes which, when executed on a computer, perform a method for determining an intensity of an aerosol in a field of view of a camera of a vehicle, the method comprising:

reading in image information of an image taken by the camera;

providing (i) a color indicator value for at least one selected subsection of the image taken by the camera, and (ii) a gradient indicator value, wherein the color indicator value represents a relation between a first parameter and a second parameter, wherein the first parameter represents a value obtained with application of a first color filter to the image information in the at least one selected subsection, and the second parameter represents a value obtained one of (a) without application of a color filter, or (b) with application of a second color filter differing from the first color filter, to the image information in the at least one selected subsection, and wherein the gradient indicator value represents a brightness difference, derived from the image information, of a different image region of the image taken by the camera; and

determining an aerosol intensity value using the color indicator value and the gradient indicator value in order to determine the intensity of the aerosol in the field of view of the camera of the vehicle.