TRAFFIC SIGNAL RECOGNITION DEVICE, TRAFFIC SIGNAL RECOGNITION METHOD AND VEHICLE CONTROL DEVICE

A traffic signal recognition device recognizes a traffic signal present around a vehicle. The device acquires a position of the vehicle, and acquires a position of the traffic signal registered in map data based on the acquired position of the vehicle. The device acquires a position of a lighting device detected using an image frame captured by an in-vehicle camera. The device determines whether the lighting device corresponds to the traffic signal based on a difference between the acquired position of the traffic signal and the acquired position of the lighting device.