To provide a traffic light recognition method and a traffic light recognition device that can distinguish between an object resembling a traffic light and a traffic light among traffic light candidates included in an image that captures ahead of a vehicle.SOLUTION: A traffic light recognition method and a traffic light recognition device include the steps of: extracting traffic light candidates from an image that captures ahead of a vehicle in a traveling direction; calculating, as a first change history, a model for a direction history corresponding to a traffic light candidate for the vehicle in a static mode based on travel information including the amount of movement and the amount of change in attitude angle of the vehicle; calculating, as a second change history, a direction history of the vehicle in the static mode based on positional trajectories of the traffic light candidates on the image; and identifying, as an identified traffic light candidate, only the traffic light candidates for which a difference between the first change history and the second change history is equal to or less than a prescribed amount.SELECTED DRAWING: Figure 1

    【課題】車両の前方を撮像した画像に含まれる信号機候補のうち、信号機と似ている対象物と信号機とを区別することが可能な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、車両の進行方向前方を撮像した画像から信号機候補を抽出し、車両の移動量及び姿勢角変化量を含む走行情報に基づいて、車両の静止系における信号機候補に対応する方向の履歴のモデルを第1変化履歴として算出し、信号機候補の画像上での位置軌跡に基づいて、車両の静止系における方向の履歴を第2変化履歴として算出し、第1変化履歴と第2変化履歴の間のズレが所定量以下である信号機候補のみを、特定信号機候補として特定する。【選択図】図1


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    Title :

    TRAFFIC LIGHT RECOGNITION METHOD AND TRAFFIC LIGHT RECOGNITION DEVICE


    Additional title:

    信号機認識方法及び信号機認識装置


    Contributors:

    Publication date :

    2023-10-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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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