PROBLEM TO BE SOLVED: To provide a traffic signal detection apparatus and a traffic signal detection method, which enable highly accurate detection of a traffic signal existing ahead of a vehicle itself.SOLUTION: A detection apparatus includes: a detection zone setup part 113 for setting a detection zone in which a traffic signal is estimated to exist ahead of a vehicle itself as a reference detection zone on the basis of map data and a position and attitude of the vehicle itself; and a traffic signal detection part 132 for detecting a traffic signal from a traffic signal detection zone R1. In a case where no traffic signal is detected within the traffic signal detection zone R1, the detection zone setup part 113 sets a traffic signal detection zone R2 farther ahead of the vehicle itself by a first given distance d1. In a case where no traffic signal is detected in the traffic signal detection zone R2 as a result of detecting a traffic signal, the traffic signal detection part 132 performs traffic signal detection while sequentially moving the detection zone ahead of a first initial detection zone.SELECTED DRAWING: Figure 1
【課題】自車両の前方に存在する信号機を高精度に検出することが可能な信号機検出装置、及び信号機検出方法を提供する。【解決手段】地図データ、及び自車両の位置及び姿勢に基づいて、自車両前方の信号機が存在すると推定される検出領域を、基準検出領域として設定する検出領域設定部113と、信号機検出領域R1から信号機を検出する信号機検出部132とを有する。検出領域設定部113は、信号機検出領域R1内で信号機が検出されない場合には、自車両から予め設定した第1所定距離d1だけ前方に信号機検出領域R2を設定する。信号機検出部132は、信号機検出領域R2での信号機検出を行い、該信号機検出領域R2にて信号機が検出されない場合には、検出領域を、第1初期検出領域から徐々に前方に移動させながら、信号機検出を行う。【選択図】 図1
TRAFFIC SIGNAL DETECTION APPARATUS AND TRAFFIC SIGNAL DETECTION METHOD
信号機検出装置及び信号機検出方法
2016-02-08
Patent
Elektronische Ressource
Japanisch
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