Vehicle vision system with lens pollution detection

  • US 10,397,451 B2
  • Filed: 07/09/2018
  • Issued: 08/27/2019
  • Est. Priority Date: 03/27/2012
  • Status: Active Grant
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First Claim
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1. A vision system for a vehicle, said vision system comprising:

  • a camera disposed at a vehicle and having a field of view exterior of the vehicle, said camera operable to capture frames of image data;

    wherein said camera comprises a lens and an imager comprising an array of photosensing elements having multiple columns of photosensing elements and multiple rows of photosensing elements;

    a processor operable to process image data captured by said camera;

    wherein, with the vehicle moving, and with said camera capturing image data, said processor models outputs of photosensing elements as Gaussian distributions;

    wherein, with the vehicle moving, and with said camera capturing frames of image data, said processor determines an output of respective ones of said modeled photosensing elements over multiple frames of captured image data;

    wherein, with the vehicle moving, and with said camera capturing frames of image data, said processor determines whether the output of a modeled photosensing element fits the respective Gaussian distribution for that photosensing element;

    wherein, responsive to determination that the output of the modeled photosensing element fits within the respective Gaussian distribution for that photosensing element, said vision system classifies that photosensing element as a blocked element;

    wherein, responsive to determination that the output of the modeled photosensing element does not fit within the respective Gaussian distribution for that photosensing element, said vision system classifies that photosensing element as a not blocked element; and

    wherein, responsive to determination over multiple frames of captured image data that the ratio of the number of photosensing elements classified as a blocked element to the number of photosensing elements classified as a not blocked element is greater than a threshold ratio, a blockage condition is determined.

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