| 摘要 |
A traffic signal recognition apparatus (100) acquires (11) image data (D08) by imaging the surroundings of a vehicle, detects (12) a self-position of the vehicle, and detects, in the image, a traffic signal around the vehicle. The traffic signal recognition apparatus identifies (23) two or more of the traffic signal predicted to be captured in the image, based on information on the self-position (D05) and map information (D02) containing positional information on the traffic signals, and assigns (24) a priority level to each of the two or more traffic signals thus identified, based on a possibility of the traffic signal being blocked out of sight. When the two or more traffic signals are identified, the traffic signal detected (15) in the image is a traffic signal with a highest priority level among the two or more traffic signals. |
