To provide a traffic signal recognition method and a traffic signal recognition device that can continuously recognize the state of a traffic signal when a subject vehicle travels from a place distant from an intersection to the intersection, while reducing the influence of covering of the traffic signal due to an object around the subject vehicle.SOLUTION: A traffic signal recognition method and a traffic signal recognition device determine whether a traffic signal is covered while a subject travels to the position of a stop line, based on the position of the subject vehicle, the position of a traffic signal in front of the subject vehicle, and the presence or absence of an object in front of the subject vehicle, and when determining that the traffic signal may be covered, selects, from a first image obtained by a first imaging unit picking up an image in front of the subject vehicle and a second image obtained by a second imaging unit having a narrower angle of view than that of the first image picking up an image of a place distant from an imageable range of the first image, the first image as an image to be processed, and performs detection of a traffic signal based on the image to be processed.SELECTED DRAWING: Figure 1
【課題】自車両周囲の物体による信号機の遮蔽による影響を低減しつつ、自車両が交差点遠方から交差点まで走行する際に、信号機の状態を継続して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】信号機認識方法及び信号機認識装置は、自車両の位置、自車両の前方の信号機の位置、自車両の前方の物体の有無に基づいて、停止線の位置まで自車両が走行する間に、信号機が遮蔽され得るか否かを判定し、信号機が遮蔽され得ると判定した場合に、自車両の前方を第1撮像部によって撮像した第1画像と、第1画像の撮像可能範囲よりも遠方を第1画像よりも画角が狭い第2撮像部によって撮像した第2画像のうち、第1画像を処理画像として選択し、処理画像に基づいて信号機の検出を行う。【選択図】図1
TRAFFIC SIGNAL RECOGNITION METHOD AND TRAFFIC SIGNAL RECOGNITION DEVICE
信号機認識方法及び信号機認識装置
2020-07-16
Patent
Elektronische Ressource
Japanisch
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