| 摘要 |
A traffic signal recognition apparatus (100) including a control device (10) is provided. The control device (10) executes: a captured image acquisition function which acquires a captured image around an own vehicle from a camera (20); an own vehicle position acquisition function which acquires a current position of the own vehicle; a target traffic signal specifying function which refers to map information to specify a traffic signal to be targeted in a traveling link for the own vehicle, the map information including traveling link data and traffic signal data, the traveling link data including a connected link and traveling direction information which are related to each other, the connected link being defined by a directed link including a start point, an end point and an up direction or down direction and connected with each of the start point and the end point of the directed link, the traveling direction information specifying a traveling direction including straight ahead, right turn or left turn, the traffic signal data including position information about the traffic signal related to the traveling link; a traffic signal image area extraction function which extracts an image area of the traffic signal on the basis of the position information about the traffic signal and image capturing property information about the camera (20); and a traffic signal content recognition function which recognizes a traffic signal content of the traffic signal on the basis of an image of the traffic signal in the image area. |
