PROBLEM TO BE SOLVED: To accurately detect a traffic light ahead of a vehicle which the vehicle should follow.SOLUTION: A traffic light detection device is configured to perform the steps of: acquiring an image by imaging surroundings of a vehicle by using a vehicle-mounted imaging part (11) and detecting a vehicle's own position; estimating a relative position of traffic lights relative to the vehicle on the basis of map information containing position information on the traffic lights around the vehicle and the vehicle's own position; configuring a detection area for the position of the traffic lights on the image predicted based on the relative position of the traffic lights (S01); and detecting the traffic lights from the detection area configured on the image and determining the traffic light which the vehicle should follow (S09). In a case where the traffic lights predicted to be imaged on the detection area are two or more, if all the two or more traffic lights can be detected from the detection area (YES at S07), the traffic light which the vehicle should follow is determined among all the two or more traffic lights (S09).SELECTED DRAWING: Figure 4
【課題】車両が従うべき手前側の信号機を精度良く検出する。【解決手段】信号機検出装置は、車両に搭載された撮像部(11)を用いて車両の周囲を撮像して画像を取得し、車両の自己位置を検出する。車両の周囲にある信号機の位置情報を含む地図情報と自己位置とから、信号機の車両に対する相対位置を推定し、信号機の相対位置から予測される画像上の信号機の位置に検出領域を設定し(S01)、画像上に設定された検出領域から信号機を検出し、車両が従うべき信号機を特定する(S09)。検出領域に写ることが予測される信号機が2つ以上である場合であって、検出領域から2以上のすべての信号機が検出できた場合(S07でYES)、2以上のすべての信号機の中から車両が従うべき信号機を特定する(S09)。【選択図】図4
TRAFFIC LIGHT DETECTION DEVICE AND TRAFFIC LIGHT DETECTION METHOD
信号機検出装置及び信号機検出方法
2016-03-31
Patent
Electronic Resource
Japanese
TRAFFIC LIGHT DETECTION DEVICE AND TRAFFIC LIGHT DETECTION METHOD
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