Method and device for detecting fog using spectroscopy

• US 9,297,754 B2
• Filed: 01/26/2011
• Issued: 03/29/2016
• Est. Priority Date: 03/02/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Ehlgen, Tobias, Van Staa, Sebastian
• Primary Examiner(s): LUO, KATE H
• Application Number:
  US13/581,562
• Publication Number:
  US 20130057687A1
• Time in Patent Office: 1,889 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G01N 2021/1776 Colour camera
• CPC Class Codes: G01N 21/538 for determining atmospheric attenuation and visibility
• CPC Class Codes: G01N 2201/0216 Vehicle borne

Abstract

A method for detection or the density determination or the classification of an aerosol using spectroscopy includes: using an image taken by a camera for a vehicle, a first value of a parameter being ascertained from the at least one image in a first step, using a first color filtering, and a second value for the same parameter being ascertained in a second step having a second color filtering, which is different from the preceding color filtering, and the values ascertained in the at least two steps are compared, and as a function of the result of the comparison, the detection or the density determination or the classification of the aerosol is carried out.

Claims

1. A method for performing one of detection, density determination, or classification of an aerosol in an environment using at least one image of the environment taken by a camera of a vehicle, comprising:

in a first step, ascertaining a first value of a selected parameter of the at least one image using a first color filtering;

in a second step, ascertaining a second value of the selected parameter one of;

(i) without the first color filtering, or (ii) using a second color filtering different from the first color filtering;

comparing the ascertained first and second values; and

performing, as a function of the result of the comparison, the one of detection, density determination, or classification of the aerosol,

wherein;

the selected parameter is one of the average brightness value or the gradient of the pixels,

the comparison of the first and second values is achieved by formation of at least one of a difference, a quotient, and a variance using gray value distribution data,

the comparison of the first and second values is achieved by formation of a difference between the first and second values,

the difference is compared to a first threshold value and a second threshold value higher than the first threshold vale, and

the aerosol is one of detected or classified if the difference is higher than the first threshold value and lower than the second threshold value.

2. The method as recited in claim 1, wherein the aerosol is illuminated using vehicle headlights, and the spectral characteristic of the vehicle headlights is taken into account in the one of detection, density determination, or classification of the aerosol.

3. The method as recited in claim 2, wherein the result of the comparison is subjected to a second comparison against a predetermined expected result for the case of non-presence of an aerosol.

4. The method as recited in claim 2, wherein the method is used for at least one of (i) regulation of illumination range of the vehicle headlights, (ii) light distribution of the vehicle headlights, and (iii) influencing of one of a vehicle safety function, a driver assistance function or a drive train function.

5. The method as recited in claim 1, wherein the ascertainment of the first and second values of the selected parameter takes place by taking into account only a selected portion of the image.

6. The method as recited in claim 5, wherein the selection of the selected portion of the image satisfies at least one of the following conditions:

(i) the selected portion includes best illumination by the headlight;

(ii) the location of the selected portion of the image is changed depending on the steering angle; and

(iii) the selected portion of the image is set corresponding to the surface topology of the scenery located in the image.

7. The method as recited in claim 1, further comprising:

checking the aerosol detection for plausibility using additional data.

8. The method as recited in claim 1, wherein the first color filtering determines a red portion of the at least one image, and an absence of the first color filtering determines a gray portion of the at least one image.

9. A method for performing one of detection, density determination, or classification of an aerosol in an environment using at least one image of the environment taken by a camera of a vehicle, comprising:

in a first step, ascertaining a first value of a selected parameter of the at least one image using a first color filtering;

in a second step, ascertaining a second value of the selected parameter one of;

(i) without the first color filtering, or (ii) using a second color filtering different from the first color filtering;

comparing the ascertained first and second values; and

performing, as a function of the result of the comparison, the one of detection, density determination, or classification of the aerosol,

wherein the selected parameter is one of the average brightness value or the gradient of the pixels,

wherein the aerosol is illuminated using vehicle headlights, and the spectral characteristic of the vehicle headlights is taken into account in the one of detection, density determination, or classification of the aerosol, and

wherein a convolution of the spectrum of the headlight with absorption characteristic of at least one possible aerosol is carried out, and the aerosol is detected as a function of the convolution.

10. A device for performing one of detection, density determination, or classification of an aerosol in an environment using at least one image of the environment taken by a camera of a vehicle, comprising:

a parameter determination unit having at least a first color filter and a second color filter different from the first color filter, wherein the parameter determination unit is configured to;

ascertain, in a first step, a first value of a selected parameter of the at least one image using a first color filtering; and

ascertain, in a second step, a second value of the selected parameter one of;

(i) without using the first color filter, or (ii) using the second color filter; and

a comparator configured to compare the ascertained first and second values by determining a difference between the ascertained first and second values, and perform the one of detection, density determination, or classification of the aerosol as a function of the difference,

wherein;

the selected parameter is one of the average brightness value or the gradient of the pixels,

the difference is compared to a first threshold value and a second threshold value higher than the first threshold value, and

the aerosol is one of detected or classified if the difference is higher than the first threshold value and lower than the second threshold value.

11. The device as recited in claim 10, wherein the first color filtering determines a red portion of the at least one image, and an absence of the first color filtering determines a gray portion of the at least one image.

12. The device as recited in claim 10, wherein the aerosol is illuminated using vehicle headlights, and the spectral characteristic of the vehicle headlights is taken into account in the one of detection, density determination, or classification of the aerosol.

13. The device as recited in claim 12, wherein the device subjects the result of the comparison to a second comparison against a predetermined expected result for the case of non-presence of an aerosol.

14. The device as recited in claim 10, wherein the ascertainment of the first and second values of the selected parameter takes place by taking into account only a selected portion of the image.

15. The device as recited in claim 14, wherein the selection of the selected portion of the image satisfies at least one of the following conditions:

(i) the selected portion includes best illumination by the headlight;

(ii) the location of the selected portion of the image is changed depending on the steering angle; and

(iii) the selected portion of the image is set corresponding to the surface topology of the scenery located in the image.

16. The device as recited in claim 10, wherein the device checks the aerosol detection for plausibility using additional data.

17. A device for performing one of detection, density determination, or classification of an aerosol in an environment using at least one image of the environment taken by a camera of a vehicle, comprising:

a parameter determination unit having at least a first color filter and a second color filter different from the first color filter, wherein the parameter determination unit is configured to;

ascertain, in a first step, a first value of a selected parameter of the at least one image using a first color filtering; and

ascertain, in a second step, a second value of the selected parameter one of;

(i) without using the first color filter, or (ii) using the second color filter; and

a comparator configured to determine a difference between the ascertained first and second values, and perform the one of detection, density determination, or classification of the aerosol as a function of the difference,

wherein the selected parameter is one of the average brightness value or the gradient of the pixels,

wherein the aerosol is illuminated using vehicle headlights, and the spectral characteristic of the vehicle headlights is taken into account in the one of detection, density determination, or classification of the aerosol, and

wherein a convolution of the spectrum of the headlight with absorption characteristic of at least one possible aerosol is carried out, and the aerosol is detected as a function of the convolution.