To provide a traffic signal recognition method and a traffic signal recognition device that can switch between cameras having different angles of view in consideration of a position where a traffic signal is installed to continuously recognize the traffic signal.SOLUTION: A traffic signal recognition method and a traffic signal recognition device select, as an image to be processed, one of a first image obtained by a first imaging unit picking up an image in front of a subject vehicle and a second image obtained by a second imaging unit having a narrower angle of view than that of the first image picking up an image of a place distant from an imageable range of the first image, and perform detection of a traffic signal based on the image to be processed. When the distance from the position of the subject vehicle to the position of a stop line becomes equal to or less than a predetermined first distance, the traffic signal recognition method and traffic signal recognition device select the first image as the image to be processed, when the distance from the position of the subject vehicle to the position of the stop line is larger than the first distance, select the second image as the image to be processed, calculate the distance between the position of the subject vehicle and the position of a traffic signal along the width direction of the road on which the traffic signal is installed as a positional displacement amount, and set the first distance shorter as the positional displacement amount is smaller.SELECTED DRAWING: Figure 1
【課題】信号機が設置されている位置を考慮して画角の異なるカメラを切り替え、信号機を継続して認識することができ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】信号機認識方法及び信号機認識装置は、自車両の前方を第1撮像部によって撮像した第1画像と、第1画像の撮像可能範囲よりも遠方を第1画像よりも画角が狭い第2撮像部によって撮像した第2画像のうち、一方を処理画像として選択して処理画像に基づいて信号機の検出を行う際、自車両の位置から停止線の位置までの距離が所定の第1距離以下となる場合には、第1画像を処理画像として選択し、自車両の位置から停止線の位置までの距離が第1距離よりも大きい場合には、第2画像を処理画像として選択し、信号機が設置された道路の幅方向に沿った信号機の位置と自車両の位置の間の距離を位置ズレ量として算出し、位置ズレ量が小さいほど第1距離を短く設定する。【選択図】図1
TRAFFIC SIGNAL RECOGNITION METHOD AND TRAFFIC SIGNAL RECOGNITION DEVICE
信号機認識方法及び信号機認識装置
2020-07-16
Patent
Electronic Resource
Japanese
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