# US 10,771,665 B1 · Determination of illuminator obstruction by known optical properties > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,771,665 B1 - Document ID: US10771665B1 - Status: Granted - Kind: B1 - Application number: 16/287,672 - Filed: 2019-02-27 - Published: 2020-08-27 - Granted: 2020-09-08 - Earliest claimed: 2019-02-27 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: David Michael Herman; Ashwin Arunmozhi; Venkatesh Krishnan - Web page: https://patentgrep.com/patent/US10771665B1 ## CPC - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06V 10/764: using classification, e.g. of video objects - H04N 23/55: Optical parts specially adapted for electronic image sensors; Mounting thereof - H04N 23/56: provided with illuminating means - H04N 23/57: Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices - H04N 23/74: by influencing the scene brightness using illuminating means - H04N 23/811: {by dust removal, e.g. from surfaces of the image sensor or processing of the image signal output by the electronic image sensor} - B60R 2300/103: using camera systems provided with artificial illumination device, e.g. IR light source - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract A vehicle includes an image sensor having a field of view, an illuminator aimed at the field of view; and a computer including a processor and a memory storing instructions executable by the processor. The computer is programmed to illuminate an object external to the vehicle; determine that the object has a known optical property; determine the optical property of the object from a database; calculate luminance of the illuminator based at least on the optical property of the object; and adjust at least one of the illuminator, the image sensor, and the computer based at least on the luminance of the illuminator. ## Claims ### Claim 1 A vehicle comprising: an image sensor having a field of view; an illuminator aimed at the field of view; and a computer including a processor and a memory storing instructions executable by the processor to: illuminate an object external to the vehicle; determine that the object has a known optical property; determine the optical property of the object from a database; calculate luminance of the illuminator based at least on the optical property of the object; and adjust at least one of the illuminator, the image sensor, and the computer based at least on the luminance of the illuminator. ### Claim 2 (depends on 1) The vehicle as set forth in claim 1, wherein the memory stores further instructions executable to adjust the illuminator by cleaning a lens of the illuminator based at least on the luminance of the illuminator. ### Claim 3 (depends on 2) The vehicle as set forth in claim 2, wherein the memory stores further instructions executable to spray fluid at the lens to clean the lens. ### Claim 4 (depends on 1) The vehicle as set forth in claim 1, wherein the memory stores further instructions executable to compare the luminance of the illuminator with a threshold and to adjust at least one of the illuminator, the image sensor, and the computer when the luminance is below the threshold. ### Claim 5 (depends on 1) The vehicle as set forth in claim 1, wherein the memory stores further instructions executable to determine the geometry of the object and to determine a type of the object based on the geometry. ### Claim 6 (depends on 1) The vehicle as set forth in claim 1, wherein the memory stores further instructions executable to determine the shape of the object and to calculate the luminance of the illuminator based at least on the shape. ### Claim 7 (depends on 1) The vehicle as set forth in claim 1, wherein the memory stores further instructions executable to determine the distance between the object and the illuminator and/or the orientation of the object relative to the illuminator and to calculate the luminance of the illuminator based at least on the distance and/or orientation. ### Claim 8 (depends on 1) The vehicle as set forth in claim 1, wherein the memory stores further instructions executable to capture an image the object during the illumination. ### Claim 9 A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to: illuminate an object external to a vehicle with an illuminator; determine that the object has a known optical property; determine the optical property of the object from a database; calculate luminance of the illuminator based at least on the optical property of the object; and clean a lens of the illuminator based at least on the luminance of the illuminator. ### Claim 10 (depends on 9) The system as set forth in claim 9, wherein the memory stores further instructions executable to spray fluid at the lens to clean the lens. ### Claim 11 (depends on 9) The system as set forth in claim 9, wherein the memory stores further instructions executable to compare the luminance of the illuminator with a threshold and to clean the lens of the illuminator when the luminance is below the threshold. ### Claim 12 (depends on 9) The system as set forth in claim 9, wherein the memory stores further instructions executable to determine the geometry of the object and to determine a type of the object based on the geometry of the object. ### Claim 13 (depends on 9) The system as set forth in claim 9, wherein the memory stores further instructions executable to determine the shape of the object relative to the illuminator and to calculate the luminance of the illuminator based at least on the shape. ### Claim 14 (depends on 9) The system as set forth in claim 9, wherein the memory stores further instructions executable to determine the distance between the object and the illuminator and/or the orientation of the object relative to the illuminator and to calculate the luminance of the illuminator based at least on the distance and/or orientation. ### Claim 15 A method comprising: illuminating an object; determining the that the object has a known optical property; determining the optical property of the object from a database; calculating luminance of the illuminator based at least on the optical property of the object; and adjusting at least one of the illuminator, an image sensor, and a computer based at least on the luminance of the illuminator. ### Claim 16 (depends on 15) The method as set forth in claim 15, wherein adjusting the illuminator includes cleaning a lens of the illuminator. ### Claim 17 (depends on 15) The method as set forth in claim 15, wherein determining a type of the object includes determining the geometry of the object. ### Claim 18 (depends on 15) The method as set forth in claim 15, further comprising comparing the luminance of the illuminator with a threshold and cleaning the illuminator when the luminance is below the threshold. ### Claim 19 (depends on 15) The method as set forth in claim 15, further comprising determining the shape of the object and calculating the luminance of the illuminator based at least on the shape. ### Claim 20 (depends on 15) The computer as set forth in claim 15, further comprising determining the distance between the object and the illuminator and/or the orientation of the object relative to the illuminator and calculating the luminance of the illuminator based at least on the distance and/or orientation.