Onboard fog determining apparatus

• US 7,693,629 B2
• Filed: 11/14/2006
• Issued: 04/06/2010
• Est. Priority Date: 11/14/2006
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kawasaki, Naoki
• Primary Examiner(s): Zanelli; Michael J.
• Application Number:
  US11/598,857
• Publication Number:
  US 20080110556A1
• Time in Patent Office: 1,239 Days
• Field of Search: None
• US Class Current: 701/36
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road

Abstract

An image process for determining whether an image is foggy determines a shape of a road for driving of a vehicle in an image captured by an onboard camera based on white road line recognition. Based on the road shape, the process determines, in the image, a distant road area on the road for driving at a specified distance from the vehicle. The process processes, of the entire image captured by the camera, an image portion corresponding to the distant road area to determine whether an image is foggy. Thus, a load on image processing decreases compared with analysis of the entire image. The distant road area is located on the road at the specified distance far from the vehicle in the image. Generally, a road continues in the distance. Since the corresponding area possibly captures a distant part, the fog determination accuracy can be ensured.

Claims

1. An onboard fog determining apparatus in a vehicle having an onboard camera, the apparatus comprising:

foggy image determining means for performing a determination as to whether or not an image captured by the onboard camera is foggy;

road shape determining means for determining, in the image, a shape of a road for driving of the vehicle; and

distant road area determining means for determining, in the image, a distant road area equivalent to an area on a road at a specified distance far from the vehicle, based on the shape of the road,

wherein the foggy image determining means uses, of the image, an image portion corresponding to the distant road area so as to perform the determination.

2. The onboard fog determination apparatus of claim 1,

wherein the road shape determining means has at least two of:

first determination means for detecting a road sign provided along a road from an image captured by the onboard camera and determining a shape of the road for driving of the vehicle;

second determination means for detecting a position of a forward vehicle in the image and determining a shape of the road for driving of the vehicle based on the detected position of the forward vehicle; and

third determination means for determining a shape of the road for driving of the vehicle based on at least one of a steering angle detected by a steering sensor and a yaw rate of the vehicle detected by a yaw rate sensor,

wherein the first determination means is used to determine a shape of a road for driving of the vehicle,

wherein the second determination means is used to determine a shape of a road for driving of the vehicle when a shape of the road is not determined by the first determination means, and

wherein the third determination means is used to determine a shape of a road for driving of the vehicle when a shape of the road is not determined by the first and second determination means.

3. The onboard fog determination apparatus of claim 1, further comprising:

distant point determining means for determining, in the image, a distant point at a specified distance from the vehicle on a road for driving of the vehicle based on a road shape determined by the road shape determining means and a prestored distant line indicating the specified distance from the vehicle on a flat ground,

wherein the distant road area determining means determines the distant road area with reference to the distant point.

4. The onboard fog determination apparatus of claim 3,

wherein the distant road area determining means determines an outer frame of the distant road area with reference to a distant point determined by the distant point determining means and removes at least one of a road part and a forward vehicle part from within the outer frame to reduce the distant road area, and

wherein the foggy image determining means uses, of the image, an image portion corresponding to the reduced distant road area so as to perform the determination.

5. The onboard fog determination apparatus of claim 1,

wherein the foggy image determining means determines whether or not an image is foggy, based on an edge strength distribution of brightness for an image portion corresponding to the distant road area.

6. The onboard fog determination apparatus of claim 5,

wherein the foggy image determining means determines whether or not an image is foggy, based on a ratio of an edge strength smaller than or equal to a specified strength in an edge strength distribution chart of brightness for the image portion corresponding to the distant road area.

7. The onboard fog determination apparatus of claim 1,

wherein the foggy image determining means determines whether or not an image portion corresponding to the distant road area is foggy, by comparing the image portion, which corresponds to the distant road area determined by the distant road area determining means, with an image portion, which corresponds to a close roadside area predetermined as a range of a roadside near the vehicle.

8. The onboard fog determination apparatus of claim 7,

wherein the foggy image determining means

calculates an intense edge amount as a ratio smaller than or equal to a specified reference strength in an edge strength distribution chart of brightness for an image portion corresponding to the distant road area,

calculates a threshold value based on an edge strength distribution chart of brightness for an image portion corresponding to the close roadside area, and

determines whether or not an image is foggy, based on comparison between the intense edge amount and the threshold value.

9. The onboard fog determination apparatus of claim 1,

wherein the foggy image determining means determines whether or not an image is foggy, based on a plurality of image portions individually corresponding to a plurality of distance road areas determined by the distant road area determining means in images captured by the onboard camera at a plurality of time points.

10. The onboard fog determination apparatus of claim 1,

wherein the foggy image determining means repeatedly determines whether or not the image is foggy, and

wherein an image is more easily determined to be foggy in a case of determining the image to be foggy in a previous determination than in a case of determining the image not to be foggy in the previous determination.

11. A method used in a fog determination apparatus in a vehicle having an onboard camera, the method comprising:

determining, in an image captured by the onboard camera, a shape of a road for driving of the vehicle;

determining, in the image, a distant road area equivalent to an area on a road at a specified distance far from the vehicle, based on the shape of the road; and

determining whether or not an image captured by the onboard camera is foggy, by using, of the image, an image portion corresponding to the distant road area.

12. An onboard fog determining apparatus in a vehicle having an onboard camera, the apparatus comprising:

a road shape determining unit that determines, in an image captured by the onboard camera, a shape of a road for driving of the vehicle;

a distant road area determining unit that determines, in the image, a distant road area equivalent to an area on a road at a specified distance far from the vehicle, based on the shape of the road; and

a foggy image determining unit that determines whether or not an image captured by the onboard camera is foggy, by using, of the image, an image portion corresponding to the distant road area.