To provide a traffic light recognition method and a traffic light recognition device capable of recognizing a lighting state of a traffic light even in an environment where the traffic light flickers.SOLUTION: When incapable of detecting at least one of a color signal and an arrow signal of a traffic light from an image obtained by capturing the traffic light installed at an intersection in a traveling direction of a vehicle, a traffic light recognition device 1 estimates the color signal or the arrow signal that was not able to be detected from the image, based on a past image acquired in the past relative to the time of capturing the image, identifies a lighting state of the traffic light based on the estimated color signal and the arrow signal, and determines a direction in which the vehicle is permitted to travel at the intersection.SELECTED DRAWING: Figure 1
【課題】信号機のちらつきが発生する環境であっても、信号機の点灯状態を認識することができる信号機認識方法及び信号機認識装置を提供する。【解決手段】信号機認識装置1は、車両の進行方向にある交差点に設置された信号機を撮像した画像から、信号機の色信号又は矢印信号の少なくとも一方を検出できない場合に、当該画像の撮像時点よりも過去に取得した過去画像に基づいて、当該画像から検出できなかった色信号又は矢印信号を推定し、推定した色信号及び矢印信号に基づいて、信号機の点灯状態を特定し、交差点において車両の進行が許可される方向を判定する。【選択図】図1
TRAFFIC LIGHT RECOGNITION METHOD AND TRAFFIC LIGHT RECOGNITION DEVICE
信号機認識方法及び信号機認識装置
30.04.2020
Patent
Elektronische Ressource
Japanisch
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