PROBLEM TO BE SOLVED: To provide a traffic signal recognition method with improved traffic signal recognition accuracy.SOLUTION: The traffic signal recognition method includes: acquiring a photographed image with a camera 101 of a vehicle V10 (S11); searching recognition target traffic light opposing to the vehicle V10 from among a plurality of traffic light (S12); calculating an area including each recognition target traffic light as an ROI (Region Of Interest) from a photographed image on the basis of map information, a state of the vehicle V10, and a state of the camera 101 (S13); calculating a prior probability distribution indicating an existence probability of a recognition target traffic light at each position in the ROI (S14); generating a contrast updated image by updating contrast of an image of the ROI in accordance with a prior probability distribution (S16); identifying an area of a lighting part of a recognition target traffic light in the ROI as a lighting area by extracting a feature point from a contrast update image (S17); and recognizing a lighting color of a recognition target traffic light on the basis of a color of an identified lighting area (S18).SELECTED DRAWING: Figure 4
【課題】交通信号の認識精度を向上した交通信号認識方法を提供する。【解決手段】この交通信号認識方法では、車両V10のカメラ101によって撮影画像を取得し(S11)、複数の信号機の中から、車両V10に対向する認識対象信号機を検索し(S12)、地図情報、車両V10の状態およびカメラ101の状態に基づいて、撮影画像の中から、認識対象信号機を含む領域をROIとして算出し(S13)、ROI内の各位置における認識対象信号機の存在確率を示す事前確率分布を算出し(S14)、ROIの画像のコントラストを、事前確率分布にしたがって更新することによって、コントラスト更新画像を生成し(S16)、コントラスト更新画像から特徴点を抽出することによって、ROI内における認識対象信号機の点灯部分の領域を点灯領域として特定し(S17)、特定された点灯領域の色に基づいて、認識対象信号機の点灯色を認識する(S18)。【選択図】図4
TRAFFIC SIGNAL RECOGNITION METHOD AND TRAFFIC SIGNAL RECOGNITION DEVICE
交通信号認識方法および交通信号認識装置
2018-04-19
Patent
Electronic Resource
Japanese
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