US Patent 12124001 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. A fog determination unit projects an overhead view of the reflection points indicated by the point data included in the set acquired by the point data acquisition unit onto a plane in depth and horizontal directions. The fog determination unit makes a decision as to whether in this case the reflection points are distributed in an arcuate shape around the optical sensor. The fog determination unit determines the density of fog based on a result of the decision.