To provide a traffic light recognition method which allows for smooth traffic determination, and a traffic light recognition apparatus.SOLUTION: A method includes: a step S12 of capturing a forward image of a vehicle using an imaging unit mounted on the vehicle, estimating, by a controller for processing the image input from the imaging unit, a traffic light area where a target traffic light exists, the target traffic light being installed in an intersection closest to the vehicle in a traveling direction of the vehicle, from the image; a step S17 of determining a lighting color of the target traffic light on the basis of chromaticity determination ranges prepared for each of lighting colors of the target traffic light and chromaticity of pixels in the traffic light area; and a step S16 of determining whether the vehicle is located in the intersection or not, and switching, when a determination is made that the vehicle is located in the intersection, a chromaticity determination range for determining lighting of a color which indicates stop in the target traffic light to a range which is narrower than a chromaticity determination range set for the case where the vehicle is not located in the intersection.SELECTED DRAWING: Figure 4

    【課題】円滑な交通判断が可能とな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】方法は、車両に搭載された撮像部を用いて車両前方の画像を撮像し、撮像部から入力される画像を処理するコントローラが、車両の進行方向において車両の直近に位置する交差点に設けられている信号機である対象信号機が存在する信号機領域を、画像の中から推定するステップS12と、対象信号機の灯火の色毎に用意された色度の判定範囲と、信号機領域内の各画素の色度とに基づいて、対象信号機の灯火の色を判定する灯火色判定を行うS17と、交差点内に車両が位置するか否かを判定し、交差点内に車両が位置すると判定された場合には、対象信号機において停止を示す色の灯火を判定する色度の判定範囲を、交差点内に車両が位置しないと判定された場合に設定される色度の判定範囲よりも狭い範囲に切り替えるステップS16を行う。【選択図】図4


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    Titel :

    TRAFFIC LIGHT RECOGNITION METHOD AND TRAFFIC LIGHT RECOGNITION APPARATUS


    Weitere Titelangaben:

    信号機認識方法及び信号機認識装置


    Beteiligte:

    Erscheinungsdatum :

    2022-07-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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