Traffic signal recognition method and traffic signal recognition device
AssigneesNissan Motor Co., Ltd., RENAULT s.a.s.
InventorsToshihiko Nishimura, Haruo Matsuo
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Abstract
A traffic signal recognition method and a traffic signal recognition device estimate whether or not a vehicle can be decelerated at a predetermined deceleration acceleration and can stop before a stop line based on a position of the stop line corresponding to a traffic signal located in a traveling direction of the vehicle, select the traffic signal corresponding to the stop line as a target traffic signal in a case where it is estimated that the vehicle cannot stop before the stop line, set detection area corresponding to the target traffic signal on an image obtained by capturing the traveling direction of the vehicle, and determine a display state of the target traffic signal by executing image processing on the detection area.
Claims13
A traffic signal recognition method comprising:
- capturing an image of a traveling direction of a vehicle by using an imaging unit mounted on the vehicle;
- acquiring a position of a stop line corresponding to a traffic signal located in the traveling direction of the vehicle;
- estimating whether or not the vehicle can be decelerated at a predetermined deceleration and can stop before the stop line based on the acquired position of the stop line;
- selecting the traffic signal corresponding to the acquired position of the stop line as a target traffic signal when an estimation is made that the vehicle cannot stop before the stop line;
- setting a detection area corresponding to an area where the target traffic signal is estimated to be present on the image;
- and
- determining a display state of the target traffic signal by executing image processing on the detection area,
- wherein the detection area does not include an area of the image corresponding to another traffic signal located in the traveling direction of the vehicle that the vehicle can stop before at the predetermined deceleration.
A traffic signal recognition device comprising:
- an imaging unit mounted on a vehicle and a controller, wherein the controller is configured to:
- capture an image of a traveling direction of a vehicle by using the imaging unit;
- acquire a position of a stop line corresponding to a traffic signal located in the traveling direction of the vehicle;
- estimate whether or not the vehicle can be decelerated at a predetermined deceleration and can stop before the stop line based on the acquired position of the stop line;
- select the traffic signal corresponding to the acquired position of the stop line as a target traffic signal when an estimation is made that the vehicle cannot stop before the stop line;
- set a detection area corresponding to an area where the target traffic signal is estimated to be present on the image;
- and
- determine a display state of the target traffic signal by executing image processing on the detection area,
- wherein the detection area does not include an area of the image corresponding to another traffic signal located in the traveling direction of the vehicle that the vehicle can stop before at the predetermined deceleration.
A traffic signal recognition device comprising:
- an imaging unit mounted on a vehicle and a controller, wherein the controller is configured to:
- capture an image of a traveling direction of a vehicle by using the imaging unit;
- acquire, from map information, a position of a stop line corresponding to a traffic signal located in the traveling direction of the vehicle;
- estimate whether or not the vehicle can be decelerated at a predetermined deceleration and can stop before the acquired position of the stop line corresponding to the traffic signal;
- when an estimate is made that the vehicle cannot stop before the acquired position of the stop line corresponding to the traffic signal, limit a detection area of the image to comprise at least an area where the traffic signal corresponding to the stop line is estimated to be present in the captured image;
- and
- determine a display state of the traffic signal by executing image processing on the detection area,
- wherein the detection area does not include an area of the captured image corresponding to another traffic signal located in the traveling direction of the vehicle that the vehicle can stop before at the predetermined deceleration.
Dependencies are inferred from the claim text.