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 self-position detector configured to detect a self-position of the vehicle on a map; a traffic light position estimator configured to estimate a position of a traffic light on an image on a basis of the self-position and the map information; a vehicle behavior estimator configured to estimate at least one of vehicle speed, yaw rate, and steering angle of the vehicle , as a vehicle behavior; a traffic light detection area setting unit configured to set a detection area of the traffic light on the image on a basis of the estimated position on the image of the traffic light and a displacement amount of the position on the image of the traffic light due to the vehicle behavior; and a traffic light recognition unit configured to detect a traffic light from the detection area, characterized in that the traffic light detection area setting unit sets the detection area larger as an amount of the vehicle behavior becomes larger, the traffic light detection area setting unit sets a predetermined time on a basis of a time difference between a timing for the imaging unit to capture an image and a timing at which the self-position has been detected, and the traffic light detection area setting unit estimates a vehicle movement amount on a basis of the vehicle behavior and the predetermined time, and sets the detection area on a basis of the estimated position on the image of the traffic light and the vehicle movement amount. 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 self-position detector configured to detect a self-position of the vehicle on a map; a traffic light position estimator configured to estimate a position of a traffic light on an image on a basis of the self-position and the map information; a vehicle behavior estimator configured to estimate at least one of vehicle speed, yaw rate, and steering angle of the vehicle , as a vehicle behavior; a traffic light detection area setting unit configured to set a detection area of the traffic light on the image on a basis of the estimated position on the image of the traffic light and a displacement amount of the position on the image of the traffic light due to the vehicle behavior; and the estimated position on the image of the traffic light and a displacement amount of the position on the image of the traffic light due to the vehicle behavior; and a traffic light recognition unit configured to detect a traffic light from the detection area, characterized in that the traffic light detection area setting unit sets the detection area larger as an amount of the vehicle behavior becomes larger, the traffic light detection area setting unit sets a predetermined time on a basis of a time difference between a timing for the imaging unit to capture an image and a timing at which the self-position has been detected, and the traffic light detection area setting unit estimates a vehicle movement amount on a basis of the vehicle behavior and the predetermined time, and sets the detection area on a basis of the estimated position on the image of the traffic light and the vehicle movement amount. <EOS>