RECOGNITION DEVICE, MOVING OBJECT, RECOGNITION METHOD, AND STORAGE MEDIUM

The present invention provides a recognition device that is mounted on a moving object and recognizes a lighting situation of a traffic signal, the recognition device comprising: an imaging unit that periodically images an external environment of the moving object; at least one processor with a memory comprising instructions cause the at least one processor to at least: sequentially detect, for each image periodically obtained by the imaging unit, a lighting mode of the traffic signal included in the image; and determine, in a case where a same lighting mode of the traffic signal is continuously detected for a predetermined time, the lighting mode as a lighting situation of the traffic signal, wherein the predetermined time is twice or more as long as an imaging cycle of the imaging unit.