To appropriately identify a traffic light for a self-vehicle which the self-vehicle has to obey from among a plurality of traffic lights included in a front camera image.SOLUTION: A traffic light identification device 20 for a self-vehicle performs: identifying a driver gazing position which corresponds to a position gazed by a driver in front of a self-vehicle 1 and appears on a front camera image captured by a front camera 2 based on a positional relation between a driver monitor camera 7 and the front camera 2 and also based on a driver monitor camera image including the face of the driver of the self-vehicle 1 captured by the driver monitor camera 7; detecting traffic lights included in the front camera image; identifying the traffic light for the self-vehicle which the self-vehicle has to obey among a plurality of traffic lights included in the front camera image when the plurality of traffic lights are detected; and identifying the traffic light located at the driver gazing position among the traffic lights included in the front camera image as the traffic light for the self-vehicle when there is no preceding vehicle in front of the self-vehicle, the self-vehicle is entering an intersection, and also a braking operation by the driver is detected.SELECTED DRAWING: Figure 7
【課題】前方カメラ画像に含まれる複数の信号機から自車両が従うべき自車両用信号機を適切に特定する。【解決手段】自車両用信号機特定装置20は、ドライバモニタカメラ7と前方カメラ2との位置関係と、ドライバモニタカメラ7によって撮像された自車両1の運転者の顔を含むドライバモニタカメラ画像とに基づいて、運転者が注視している自車両1の前方の位置に対応する、前方カメラ2によって撮像された前方カメラ画像上の運転者注視位置を特定し、前方カメラ画像に含まれる信号機を検出し、前方カメラ画像に含まれる複数の信号機が検出された場合に複数の信号機のうちの自車両が従うべき自車両用信号機を特定し、自車両の前方に先行車が存在せず、かつ、自車両が交差点に進入中であり、かつ、運転者による制動操作が検出されたときに、前方カメラ画像に含まれる複数の信号機のうちの運転者注視位置に存在する信号機を自車両用信号機として特定する。【選択図】図7
TRAFFIC LIGHT IDENTIFICATION DEVICE FOR SELF-VEHICLE, SELF-VEHICLE, TRAFFIC LIGHT IDENTIFICATION METHOD FOR SELF-VEHICLE, AND PROGRAM
自車両用信号機特定装置、自車両、自車両用信号機特定方法及びプログラム
2024-09-20
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
European Patent Office | 2025
|Traffic light state identification method and device and vehicle
European Patent Office | 2021
|Traffic light identification method and device, electronic equipment and vehicle
European Patent Office | 2025
|