中文摘要：

提出了基于智能车辆中车载摄像头的交通信号灯检测与识别方法．通过对已有交通信号灯图像进行训练及采用色彩分割的方法而提取候选区域；将候选区域作为输入，提出了基于级联滤波的候选区域分类方法；同时，采用标准互相关模板匹配法对级联滤波后的候选区域交通信号灯进行验证．真实环境下的实验结果表明，所提出方法在复杂的城市环境中对于智能车辆的交通信号灯识别的有效性和实时性较高．

英文摘要：

A method for detection and recognition of traffic lights based on intelligent vehicle mounted cam era was proposed. Applying the threshold acquired by image training, the candidate regions of traffic lights are extracted using the color segmentation method. Next the concatenated filters are proposed as a way to classify the extracted candidate regions. And then template matching using normalized cross correlation techniques is adopted to validate the classified traffic lights candidates. The experimental results show that the proposed algorithm works effectively and robustly for traffic lights recognition for intelligent vehicles in complex urban environments.