| 摘要 |
PROBLEM TO BE SOLVED: To clearly image both a traffic light which emits own light and a traffic sign which does not emit own light so as to be recognizable. SOLUTION: When imaging a traffic light 19 or a traffic sign 20 by an external camera 13 at a timing determined based on map information containing a position of an intersection and the presence/absence of the traffic light 19 at the intersection and an own vehicle position of the map, a fixed exposure quantity is set when the imaging object is the traffic light 19 which emits light by itself. Therefore, the color of a light emitting part of the traffic light 19 can be surely recognized both in the night and in the daytime. When the imaging object is the traffic sign 20 which does not own light, a variable exposure quantity is set according to the brightness of the outside world. Therefore, the kind of the traffic sign 20 which does not emit light by itself can be surely recognized. According to this, recognition of the color of the light emitting part of the traffic light 19 or recognition of the shape or pattern of the traffic sign 20 can be prevented from being difficult due to excessively large exposure quantity or excessively small exposure quantity. COPYRIGHT: (C)2009,JPO&INPIT
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