To improve recognition performance of a traffic signal even when a plurality of cameras are switched to recognize the traffic signal.SOLUTION: A traffic signal recognition device 1 acquires a first image obtained by imaging the front area of a vehicle by first imaging means mounted on the vehicle and a second image obtained by imaging the front of the vehicle by second imaging means having a narrower angle of view and a higher magnification than those of the first imaging means, selects an image in which the distance from a position of a traffic signal appearing on the image to an image end is a predetermined value or more and the size of the traffic signal appearing on the image is the largest, among a plurality of images composed of the acquired first and second images, as a processing image, and based on the selected processing image, recognizes the light of the traffic signal that is lit in front of the vehicle.SELECTED DRAWING: Figure 1
【課題】複数のカメラを切り換えて信号機を認識する場合であっても、信号機の認識性能を向上させる。【解決手段】信号機認識装置1は、車両に搭載された第1の撮像手段で車両前方を撮像した第1の画像と、第1の撮像手段よりも画角が狭く、尚且つ拡大倍率が高い第2の撮像手段で車両前方を撮像した第2の画像とを取得し、取得した第1の画像及び第2の画像からなる複数の画像のうちで、画像上に撮像されている信号機の位置から画像端までの距離が所定値以上であり、尚且つ、画像上に撮像されている信号機の大きさが最も大きい画像を処理画像として選択し、選択された処理画像に基づいて、車両の前方で点灯している信号機の灯火を認識する。【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
2023-10-16
Patent
Electronic Resource
Japanese
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