Traffic signal recognition system

A traffic signal recognition system applied to a vehicle and comprising:

• one or more memory devices in which camera image information and lamp pattern information are stored;
• and
• one or more processors, wherein
• the camera image information includes an image that is imaged by a camera installed on the vehicle and indicates a situation around the vehicle,
• the lamp pattern information, which is information on a traffic signal having a plurality of lamp parts, indicates a relative positional relationship between the plurality of lamp parts and an appearance of each of the plurality of lamp parts when lighted,
• the one or more processors are configured to:
• detect a subject traffic signal around the the vehicle based on the camera image information to acquire traffic signal detection information that indicates at least an appearance of each of a plurality of detected parts of the subject traffic signal;
• and
• execute lighting state recognition processing that recognizes a lighting state of the subject traffic signal by comparing the traffic signal detection information with the lamp pattern information, and
• in the lighting state recognition processing, the one or more processors recognize a lighting state of the plurality of lamp parts that is consistent with the appearance of each of the plurality of detected parts of the subject traffic signal as the lighting state of the subject traffic signal.