A traffic signal recognition apparatus comprising: an imager mounted in a vehicle and configured to acquire an image by imaging surroundings of the vehicle; a self-position detector configured to detect a self-position of the vehicle; a traffic signal detector configured to detect, in the image, a traffic signal (Ts1, Ts2, Ts3) around the vehicle; a traffic signal position estimator configured to estimate a relative position of the traffic signal (Ts1, Ts2, Ts3) with respect to the vehicle, using the self-position and map information (D02) containing positional information on the traffic signals (Ts1, Ts2, Ts3), a traffic signal identifier configured to identify two or more of the traffic signals (Ts1, Ts2, Ts3) around the vehicle that are predicted to be captured in the image, using the estimated relative position; characterized by: a priority level assigner configured to assign a priority level to each of the two or more traffic signals (Ts1, Ts2, Ts3) identified by the traffic signal identifier , using a possibility of the traffic signal (Ts1, Ts2, Ts3) being blocked out of sight that is derived from the positional information on the traffic signal, wherein the two or more traffic signals (Ts1, Ts2, Ts3) have different relative positions with respect to each other, and when the traffic signal identifier identifies the two or more traffic signals (Ts1, Ts2, Ts3), the traffic signal detector detects, in the image, a traffic signal (Ts1) with a highest priority level among the two or more traffic signals (Ts1, Ts2, Ts3), wherein after succeeding in detecting a traffic signal with the highest priority level, the traffic signal detector is configured to continue detecting the traffic signal (Ts1) and the traffic signal detector is configured to perform image processing for traffic signal detection on the image within a detection area set for the traffic signal having the highest priority level. an imager mounted in a vehicle and configured to acquire an image by imaging surroundings of the vehicle; a self-position detector configured to detect a self-position of the vehicle; a traffic signal detector configured to detect, in the image, a traffic signal (Ts1, Ts2, Ts3) around the vehicle; a traffic signal position estimator configured to estimate a relative position of the traffic signal (Ts1, Ts2, Ts3) with respect to the vehicle, using the self-position and map information (D02) containing positional information on the traffic signals (Ts1, Ts2, Ts3), a traffic signal identifier configured to identify two or more of the traffic signals (Ts1, Ts2, Ts3) around the vehicle that are predicted to be captured in the image, using the estimated relative position; a priority level assigner configured to assign a priority level to each of the two or more traffic signals (Ts1, Ts2, Ts3) identified by the traffic signal identifier , using a possibility of the traffic signal (Ts1, Ts2, Ts3) being blocked out of sight that is derived from the positional information on the traffic signal, wherein the two or more traffic signals (Ts1, Ts2, Ts3) have different relative positions with respect to each other, and when the traffic signal identifier identifies the two or more traffic signals (Ts1, Ts2, Ts3), the traffic signal detector detects, in the image, a traffic signal (Ts1) with a highest priority level among the two or more traffic signals (Ts1, Ts2, Ts3), wherein after succeeding in detecting a traffic signal with the highest priority level, the traffic signal detector is configured to continue detecting the traffic signal (Ts1) and the traffic signal detector is configured to perform image processing for traffic signal detection on the image within a detection area set for the traffic signal having the highest priority level. <EOS>