# US 2020/0401824 A1 · Traffic signal recognition system

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- Number: US 2020/0401824 A1
- Document ID: US20200401824A1
- Status: Published application
- Kind: A1
- Application number: 16/875,042
- Filed: 2020-05-15
- Published: 2020-12-24
- Earliest claimed: 2019-06-24
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Yusuke Hayashi; Taichi Kawanai; Kentaro Ichikawa
- Web page: https://patentgrep.com/patent/US20200401824A1

## CPC

- G06V 20/584: {of vehicle lights or traffic lights}
- G08G 1/09623: {Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence)}
- G06T 7/90: Determination of colour characteristics
- G08G 1/0125: {Traffic data processing}
- G08G 1/04: using optical or ultrasonic detectors
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

Camera image information includes an image that is imaged by a camera installed on a vehicle. Lamp pattern information, which is information on a traffic signal having plural lamp parts, indicates a relative positional relationship between the plural lamp parts and an appearance of each lamp part when lighted. A system detects 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 plural detected parts of the subject traffic signal. The system compares the traffic signal detection information with the lamp pattern information. The system recognizes a lighting state of the plural lamp parts that is consistent with the appearance of each of the plural detected parts of the subject traffic signal as a lighting state of the subject traffic signal.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The traffic signal recognition system according to claim 1, wherein
the traffic signal detection information further indicates a relative positional relationship between the plurality of detected parts of the subject traffic signal, 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 both the appearance of each of the plurality of detected parts of the subject traffic signal and the relative positional relationship between the plurality of detected parts as the lighting state of the subject traffic signal.

### Claim 3 (depends on 2)

The traffic signal recognition system according to claim 2, wherein
the appearance of each of the plurality of detected parts of the subject traffic signal includes whether lighted or not.

### Claim 4 (depends on 1)

The traffic signal recognition system according to claim 1, wherein
the appearance of each of the plurality of lamp parts when lighted includes a color, and
the appearance of each of the plurality of detected parts of the subject traffic signal includes a color.

### Claim 5 (depends on 4)

The traffic signal recognition system according to claim 4, wherein
the appearance of each of the plurality of lamp parts when lighted further includes a shape, and
the appearance of each of the plurality of detected parts of the subject traffic signal further includes a shape when lighted.

### Claim 6 (depends on 1)

The traffic signal recognition system according to claim 1, wherein
a lamp pattern database indicates a position of the traffic signal in an absolute coordinate system and the lamp pattern information which are associated with each other,
position information indicates a position and an orientation of the vehicle or the camera in the absolute coordinate system, and
based on the lamp pattern database and the position information, the one or more processors identify the traffic signal expected to be imaged by the camera as the subject traffic signal and select the lamp pattern information associated with the position of the subject traffic signal from the lamp pattern database.