A vehicle camera system includes a camera that includes an image sensor, a filter mask, and a control and evaluation device, to which the image sensor outputs an image signal with frames that correspond to different exposure times. The image sensor includes an arrangement of sensor pixels outputting pixel signals, and the filter mask includes an arrangement of filter pixels situated in front of respective ones of the sensor pixels, where different filter pixels have different transmission behavior. The control and evaluation device compares to each other pixel signals (a) contained in the frames of different exposure times, and (b) output by sensor pixels which record light filtered differently by the filter pixels.