Light state recognition device

A lighting-state recognition device comprising:

• circuitry configured to
• capture an image that includes a first traffic light and a second traffic light, wherein
• the first traffic light is a traffic light with a first arrow light, the first traffic light being installed at an intersection in front of a host vehicle and being on a closer side when viewed from the host vehicle, and
• the second traffic light is a traffic light with a second arrow light, the second traffic light being installed at the intersection and being on a further side when viewed from the host vehicle;
• and
• analyze the captured image to determine a first lighting-state indicating a lighting state of the first traffic light, and a second lighting-state indicating a lighting state of the second traffic light at predetermined processing cycles, wherein
• the circuitry is configured to estimate the first lighting-state of a current processing cycle based on the first lighting-state determined in a preceding processing cycle when
• at least part of the first traffic light is not captured in the image in the current processing cycle;
• and
• the first lighting-state determined in a preceding processing cycle agrees with the second lighting state determined in the current processing cycle, and
• the circuitry is configured to transmit the estimated first lighting-state of the current processing cycle to a driving assistance device to control a vehicle in accordance with the estimated first lighting-state,
• each of the first lighting-state and the second lighting-state further includes a first direction-unknown state and a second direction-unknown state, respectively
• the first direction-unknown state indicating that a direction indicated by the first arrow light is unknown when the first arrow light is lit;
• and
• the second direction-unknown state indicating that the direction indicated by the second arrow light is unknown when the second arrow light is lit, and
• the circuitry is configured to estimate the direction in which the second arrow light is pointing based on a position of the second arrow light that is lit in the second traffic light when the second lighting state is the second direction-unknown state.