FIELD: physics.
SUBSTANCE: presented device (10) includes: an image pickup unit (31) that is mounted on the vehicle and captures an image of the surrounding situation; a vehicle location detecting unit (11) that detects the location of the vehicle; a cartographic information unit (12) that stores cartographic information; a traffic light position estimator (13) that estimates the position of the traffic light near the vehicle with reference to the vehicle location and map information and specifies a traffic light area, in which the traffic light is judged to be present; a traffic light detecting unit (32) that detects a traffic light by examining the traffic light search area by the image; and an obstruction estimating unit (22) that estimates, whether a permanent obstruction condition occurs, when the traffic light is constantly blocked in the traffic light search area. When the obstruction estimating unit (22) estimates that a permanent obstruction condition occurs, the traffic light position estimating unit (13) selects the traffic light search area based on the constant-obstruction status.
EFFECT: selecting a traffic light for the purpose of detection based on the constant-obstruction status of the traffic light.
7 cl, 18 dwg
