To efficiently execute recognition processing of a traffic light.SOLUTION: A traffic light recognition device comprises: a recognition zone setting unit 15 that sets a recognition zone S at a position in front of a traffic light A; a camera 2a that captures an image of the front; a traffic light recognition unit 17 that executes recognition processing of the traffic light A based on the imaging result of the camera 2a, when a surrounding vehicle V1 is in the recognition zone S; an external situation recognition unit 12 that recognizes a size and a position of the surrounding vehicle V1; and a shielded environment determination unit 16 for determining whether an area within a remaining recognition zone S1 other than a difficult zone in the recognition zone S where it is difficult to recognize the traffic light A is a traffic light shielded environment in which a sight line from the camera 2a to the traffic light A is blocked by the surrounding vehicle V1 when an own vehicle V travels in the remaining recognition zone S1. The traffic light recognition unit 17 does not execute the recognition processing of the traffic light A in the difficult zone N, and does not execute the recognition processing of the traffic light A in the remaining recognition zone S1 when it is determined that the environment is the traffic light shielded environment.SELECTED DRAWING: Figure 1
【課題】信号機の認識処理を効率良く実行する。【解決手段】信号機認識装置は、信号機Aの手前の位置に認識ゾーンSを設定する認識ゾーン設定部15と、前方を撮像するカメラ2aと、周辺車両V1が認識ゾーンS内である場合に、カメラ2aの撮像結果に基づいて信号機Aの認識処理を実行する信号機認識部17と、周辺車両V1の大きさ及び位置を認識する外部状況認識部12と、認識ゾーンSのうち信号機Aの認識が困難な困難ゾーン以外の残存認識ゾーンS1内が、残存認識ゾーンS1内を自車両Vが走行するときにカメラ2aから信号機Aへの視線が周辺車両V1によって遮られる信号機遮蔽環境であるか否かを判定する遮蔽環境判定部16とを備える。信号機認識部17は、困難ゾーンN内では信号機Aの認識処理を実行せず、信号機遮蔽環境であると判定されている場合、残存認識ゾーンS1内において信号機Aの認識処理を実行しない。【選択図】図1
TRAFFIC LIGHT RECOGNITION DEVICE AND AUTOMATIC DRIVING SYSTEM
信号機認識装置、及び自動運転システム
2019-07-22
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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