A traffic light recognition device, comprising: an imaging unit mounted on a vehicle and configured to capture an image around the vehicle; a map information acquisition unit configured to acquire map information around the vehicle; a vehicle current position detector configured to detect a current position on a map of the vehicle; a traffic light position estimator configured to estimate a position on an image of a traffic light on a basis of the current position and the map information; an imaging direction setting unit configured to set an imaging direction of the imaging unit on a basis of the position on the image of the traffic light and of a moving direction in the future on the image of the traffic light; an imaging direction change unit configured to change the imaging direction of the imaging unit to an imaging direction set by the imaging direction setting unit by driving rotation angles in pan and tilt directions of the imaging unit; and a traffic light recognition unit configured to recognize the traffic light from an image captured in the imaging direction by the imaging unit, wherein a change point (Z1-Z4) at which the imaging direction change unit changes the imaging direction of the imaging unit is set, and the imaging direction change unit changes the imaging direction when the vehicle reaches the change point (Z1-Z4); characterized in that the imaging direction setting unit sets, on a basis of a distance from a stop position provided for the traffic light to the vehicle and of a traveling speed of the vehicle, a change restriction area, in front of the traffic light, for restricting changing the imaging direction of the imaging unit when the vehicle is within said change restriction area, and changes the imaging direction of the imaging unit before entering this change restriction area. an imaging unit mounted on a vehicle and configured to capture an image around the vehicle; a map information acquisition unit configured to acquire map information around the vehicle; a vehicle current position detector configured to detect a current position on a map of the vehicle; a traffic light position estimator configured to estimate a position on an image of a traffic light on a basis of the current position and the map information; an imaging direction setting unit configured to set an imaging direction of the imaging unit on a basis of the position on the image of the traffic light and of a moving direction in the future on the image of the traffic light; an imaging direction change unit configured to change the imaging direction of the imaging unit to an imaging direction set by the imaging direction setting unit by driving rotation angles in pan and tilt directions of the imaging unit; and a traffic light recognition unit configured to recognize the traffic light from an image captured in the imaging direction by the imaging unit, wherein a change point (Z1-Z4) at which the imaging direction change unit changes the imaging direction of the imaging unit is set, and the imaging direction change unit changes the imaging direction when the vehicle reaches the change point (Z1-Z4); characterized in that the imaging direction setting unit sets, on a basis of a distance from a stop position provided for the traffic light to the vehicle and of a traveling speed of the vehicle, a change restriction area, in front of the traffic light, for restricting changing the imaging direction of the imaging unit when the vehicle is within said change restriction area, and changes the imaging direction of the imaging unit before entering this change restriction area.