Method and control unit for recognizing a weather condition in the surroundings of a vehicle

• US 9,946,937 B2
• Filed: 05/15/2012
• Issued: 04/17/2018
• Est. Priority Date: 06/17/2011
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Faber, Petko, Schwarzenberg, Gregor
• Primary Examiner(s): Thirugnanam, Gandhi
• Application Number:
  US14/126,885
• Publication Number:
  US 20140233805A1
• Time in Patent Office: 2,163 Days
• CPC Class Codes: G01W 1/00 Meteorology
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights

Abstract

A method for recognizing a weather condition in the surroundings of a vehicle. The method includes a step of ascertaining at least one imaging feature in image information. The image information represents a depiction of at least a portion of the surroundings, and the imaging feature represents a light effect on a reflective or luminescent object in the portion of the surroundings. In addition, the method includes a step of determining weather information for characterizing the weather condition based on a comparison between the imaging feature and at least one expected value.

Claims

1. A method for recognizing a weather condition in surroundings of a vehicle, comprising:

emitting a light bundle from a headlight of the vehicle;

capturing, by an image capture device of the vehicle, a plurality of images of a surroundings of the vehicle;

ascertaining, by a processing device of the vehicle in the images of the surroundings, light spots that are produced in response to the emitted light bundle, and a height and a width of the light spots, the height representing an apparent vertical size of the light spot and the width representing an apparent horizontal size of the light spot, the light spots including reflections of the emitted light bundle from at least one of;

a road in front of the vehicle, or a space above the road in front of the vehicle;

determining, by the processing device, weather information for characterizing the weather condition based on a comparison of the ascertained height of the light spots to a plurality of different expected height value ranges and of the ascertained width of the light spots to a plurality of different expected width value ranges; and

controlling, using a vehicle control system, operation of a vehicle system based on the determined weather information, the vehicle system including at least one of;

an anti-lock braking system, an electronic stability program system, or an optical detection system.

2. The method as recited in claim 1, further comprising ascertaining a light effect in the images, wherein:

the light effect represents at least one light-dark gradient,

at least one of a scattering characteristic value and a refraction characteristic value is ascertained from the imaging feature of the light-dark gradient in the ascertaining step,

the scattering characteristic value represents a light scattering in an image range around the one of the reflective object and the luminescent object, and

the refraction characteristic value represents a light refraction in the image range around the one of the reflective object and the luminescent object

the at least one of the scattering characteristic value and the refraction characteristic value is compared to at least one of an expected value of the at least one of the scattering characteristic value and an expected value of the refraction characteristic value in the determining step.

3. The method as recited in claim 1, wherein positions of the light spots are ascertained in the ascertaining step, and the positions are compared to expected value ranges in the determining step.

4. The method as recited in claim 1, further comprising ascertaining a light effect in the images, wherein:

the light effect represents at least one ground brightness,

a light distribution of the ground brightness is ascertained from the imaging feature in the ascertaining step, and

the light distribution is compared to an expected value of the light distribution in the determining step.

5. The method as recited in claim 1, further comprising ascertaining a light effect in the images, wherein:

the light effect represents at least one brightness in a lateral area near the ground, the lateral area being situated to a side of the vehicle, outside an area directly illuminated by headlights of the vehicle, and

a lateral area brightness value of the brightness is ascertained from the imaging feature in the ascertaining step, and

the lateral area brightness value is compared to an expected value of the lateral area brightness value in the determining step.

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

ascertaining in the ascertaining step a further imaging feature in the image information, the further imaging feature representing a further light effect on one of a further reflective object and a further luminescent object in a portion of the surroundings; and

determining the weather information based on a further comparison between the further imaging feature and at least one further expected value in the determining step.

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

ascertaining at least one additional imaging feature from additional image information in an additional ascertaining step, the additional image information representing an additional depiction of at least the area of the surroundings at an additional point in time, and the additional imaging feature representing an additional light effect on the one of the reflective object and the luminescent object in the area of the surroundings at the additional point in time; and

determining the weather information in the determining step based on an additional comparison between the additional imaging feature and at least one additional expected value, the weather information being determined based on a change between the comparison and the additional comparison.

10. The method as recited in claim 1, further comprising, based on the weather condition, at least one of:

deactivating a function of a video-based system on board the vehicle,

degrading the function of the video-based system on board the vehicle, and

adapting a light distribution, using the headlight, ahead of the vehicle.

11. The method as recited in claim 1, wherein one of the height and the width represents a number of pixels in one of a longitudinal orientation and a transverse orientation to the vehicle.

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

plotting, over time, the width of the light spots on an abscissa of a plot and the height of the light spots on an ordinate of the plot; and

determining the weather information by comparing the plot over time to the expected value ranges.

13. The method as recited in claim 1, wherein the expected height and width value ranges correspond to a plurality of different weather conditions.

14. The method as recited in claim 13, wherein the determining selects a specific one of the plurality of weather conditions corresponding to specific expected height and width values having a closest match to the ascertained height and width values.

15. The method as recited in claim 1, wherein ascertaining the height and width of the light spot includes counting a number of pixels in the image corresponding to the light spot in a longitudinal direction and a transverse direction with respect to the vehicle.

8. A control unit for a vehicle, the control unit comprising:

a processing unit; and

a non-transitory machine-readable storage medium having program instructions, which when executed by the processing unit perform a method of recognizing a weather condition in surroundings of the vehicle, the method including;

receiving from an image capture device of the vehicle a plurality of images of the surroundings of the vehicle while a headlight of the vehicle emits a light bundle;

ascertaining in the images of the surroundings light spots that are produced in response to the emitted light bundle, and a height and a width of the light spots, the height representing an apparent vertical size of the light spot and the width representing an apparent horizontal size of the light spot, the light spots including reflections of the emitted light bundle from at least one of;

a road in front of the vehicle, or a space above the road in front of the vehicle;

determining weather information for characterizing the weather condition based on a comparison of the ascertained height of the light spots to a plurality of different expected height value ranges and of the ascertained width of the light spots to a plurality of different expected width value ranges; and

controlling operation of a vehicle system based on the determined weather information, the vehicle system including at least one of;

an anti-lock braking system, an electronic stability program system, or an optical detection system.

16. The control unit as recited in claim 8, wherein:

a position of the light spot is ascertained from the imaging feature in the ascertaining step, and

the position is compared to an expected value of the position in the determining step.

17. The control unit as recited in claim 8, wherein the expected height and width value ranges correspond to a plurality of different weather conditions.

9. A non-transitory machine-readable storage medium having program instructions, which when executed by a processor perform a method for recognizing a weather condition in surroundings of a vehicle, the method comprising:

emitting a light bundle from a headlight of the vehicle;

capturing, by an image capture device of the vehicle, a plurality of images of the surroundings of the vehicle;

ascertaining in the images of the surroundings light spots that are produced in response to the emitted light bundle, and a height and a width of the light spots, the height representing an apparent vertical size of the light spot and the width representing an apparent horizontal size of the light spot, the light spots including reflections of the emitted light bundle from at least one of;

a road in front of the vehicle, or a space above the road in front of the vehicle;

determining weather information for characterizing the weather condition based on a comparison of the height of the light spots to a plurality of different expected height value ranges and of the ascertained width of the light spots to a plurality of different expected width value ranges; and

controlling, using a vehicle control system, operation of a vehicle system based on the determined weather information, the vehicle system including at least one of;

an anti-lock braking system, an electronic stability program system, or an optical detection system.

18. The non-transitory machine-readable storage medium as recited in claim 9, wherein:

a position of the light spot is ascertained from the imaging feature in the ascertaining step, and

the position is compared to an expected value of the position in the determining step.

19. The non-transitory machine-readable storage medium as recited in claim 9, wherein the expected height and width value ranges correspond to a plurality of different weather conditions.