Traffic signal recognition system

Patent metadata

Field	Value
Publication number	US-11017247-B2
Application number	US-202016875042-A
Country	US
Kind code	B2
Filing date	May 15, 2020
Priority date	Jun 24, 2019
Publication date	May 25, 2021
Grant date	May 25, 2021

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.

First claim

What is claimed is:

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 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.

2. 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.

3. 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.

4. 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.

5. 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.

6. 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.

Assignees

• Toyota Motor Co Ltd

Inventors

• Hayashi Yusuke
• Kawanai Taichi
• Ichikawa Kentaro

Classifications

• G08G1/09623 Primary

  Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence) · CPC title

• G06V20/584 Primary

  of vehicle lights or traffic lights · CPC title

• G08G1/04

  using optical or ultrasonic detectors · CPC title

• G08G1/0125

  Traffic data processing · CPC title

• G06T7/90

  Determination of colour characteristics · CPC title