| 摘要 |
A traffic light recognition device is provided with a camera (11) that captures an image of the vicinity of a vehicle, a map information acquisition unit (17) that acquires map information for the vicinity of the vehicle, a current vehicle position detection unit (12) that detects the current position of the vehicle on a map, and a traffic light position estimation unit (21) that estimates the position of the traffic light in the image on the basis of the current vehicle position and the map information. The traffic light recognition device is additionally provided with an imaging orientation setting unit (23) that sets the imaging direction of the camera on the basis of the position of the traffic light in the image and the future direction of movement of the traffic light in the image, a camera orientation control unit (24) that changes the imaging direction of the camera to an imaging direction set by an imaging direction setting unit, and a traffic light recognition unit (14) that recognizes the traffic light from the image captured by the camera in the imaging direction. The present invention makes it possible to highly accurately detect the lighting state of a traffic light without being affected by the orientation of a camera. |
