To provide a traffic light recognition device capable of improving traffic light detection accuracy, and to provide a traffic light recognition method and a vehicle controller thereof.SOLUTION: A driving support ECU20 acquires, from a front camera, as an observed lighting position, a position of a traffic light candidate being a lighting device having a probability equal to greater than a predetermined value, of being a traffic light. Further, the driving support ECU20 acquires, as a map-information-based traffic light position, a position of the traffic light that is present in front of an own vehicle by referring to map data near a current position of the own vehicle. Then, the driving support ECU20 determines that the lighting device is the traffic light, based on a state that a proximity degree δ being a difference between the map-information-based traffic light position and the observed lighting device is less than a predetermined regardable-degree threshold Dth.SELECTED DRAWING: Figure 5
【課題】信号機の検出精度を向上可能な信号機認識装置、信号機認識方法、車両制御装置を提供する。【解決手段】運転支援ECU20は前方カメラから信号機である確率が所定値以上の灯火装置である信号機候補の位置を、観測灯火位置として取得する。また、運転支援ECU20は、自車両の現在位置付近の地図データを参照することにより、自車両の前方に存在する信号機の位置を地図情報信号機位置として取得する。そして、運転支援ECU20は、地図上信号機位置と観測灯火装置の位置の差である近接度δが所定の見なし閾値Dth未満であることに基づいて、当該灯火装置を信号機であるとを判定する。【選択図】図5
TRAFFIC LIGHT RECOGNITION DEVICE, TRAFFIC LIGHT RECOGNITION METHOD, AND VEHICLE CONTROLLER
信号機認識装置、信号機認識方法、車両制御装置
2022-02-18
Patent
Elektronische Ressource
Japanisch
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