a detector configured to detect a target traffic light from an image showing surroundings of a host vehicle and generate traffic light detecting information including a traffic light image showing an appearance of the target traffic light;

a recognizer configured to recognize a lighting state of the target traffic light by comparing the traffic light detecting information and lighting pattern information of the target traffic light;

a specifier configured to specify a positional relationship between the host vehicle and the target traffic light on the basis of position information of the host vehicle and the traffic light detecting information;

a determinator configured to determine a center of a lighting area corresponding to a lighting portion of the target traffic light in the traffic light image; and

an image converter configured to perform a predetermined conversion process on the traffic light image on the basis of the positional relationship in order to compare with the lighting pattern information,

wherein the recognizer recognizes the lighting state by comparing the center of the lighting area in a traffic light image, which is performed the predetermined conversion process, with the lighting pattern information.