US Patent 11391845 Fog determination apparatus, fog determination method, and computer readable medium

A point data acquisition unit acquires a set of point data indicating reflection points obtained by an optical sensor that receives reflected light of an emitted light beam reflected at the reflection points. Point data is a pair of first point data indicating a first reflection point, which is a reflection point of a given light beam, and second point data indicating a second reflection point, which is a reflection point at which the intensity of reflected light of the given light beam is lower than that at the first reflection point. A fog determination unit determines the density of fog based on a distribution of a distance between the first reflection point and the second reflection point concerning the point data included in the acquired set.