| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect a traffic light ahead of a vehicle which the vehicle should follow.SOLUTION: A traffic light detection device is configured to perform the steps of: acquiring an image by imaging surroundings of a vehicle by using a vehicle-mounted imaging part (11) and detecting a vehicle's own position; estimating a relative position of traffic lights relative to the vehicle on the basis of map information containing position information on the traffic lights around the vehicle and the vehicle's own position; configuring a detection area for the position of the traffic lights on the image predicted based on the relative position of the traffic lights (S01); and detecting the traffic lights from the detection area configured on the image and determining the traffic light which the vehicle should follow (S09). In a case where the traffic lights predicted to be imaged on the detection area are two or more, if all the two or more traffic lights can be detected from the detection area (YES at S07), the traffic light which the vehicle should follow is determined among all the two or more traffic lights (S09).SELECTED DRAWING: Figure 4 |
