| 摘要 |
PROBLEM TO BE SOLVED: To appropriately recognize a temporary stop sign in the travelling direction of a vehicle, and appropriately control the vehicle according to the recognized stop sign. SOLUTION: A stop sign recognition determination part 34 determines that a temporary stop sign is recognized when a current position of the own vehicle is recognized to be before an intersection by an intersection recognition part 21, a priority of a travelling road of the own vehicle is recognized by the crossing recognition part 21 to be equal to or lower than that of a road intersecting the travelling road of the own vehicle at the intersection, no traffic signal is recognized by the crossing recognition part 21, a predetermined triangular shape or V shape is identified by a sign shape identification part 32 in an edge image corresponding to image data output from an outside camera 14, and a color of pixel in at least a part of a predetermined internal area of the triangular shape or V shape extracted by a color information extraction part 33 is red. COPYRIGHT: (C)2007,JPO&INPIT
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