Abstract: A method includes: recognizing a signal candidate position around a vehicle by using a sensor mounted on the vehicle, the signal candidate position being a position a traffic light is possibly present, the vehicle including a light configured in such a manner that a light distribution state of the light changes; and performing a first light control process of controlling the light in response to recognition of the signal candidate position, the first light control process including at least one of: increasing an intensity of light emitted to the signal candidate position to a value higher than before the recognition of the signal candidate position; or making the intensity of the light emitted to the signal candidate position higher than an intensity of light emitted to an area other than the signal candidate position.

Abstract: A stop line detection apparatus recognizes a boundary line of a lane on which the host vehicle travels, and detect a stop line at an intersection in front of the host vehicle. The apparatus sets an intersection area corresponding to the intersection in the road on which the host vehicle travels on the basis of a captured image by a front camera of the host vehicle, detects a crosswalk in the intersection area, a stop line search area setting unit configured to set a stop line search area extending from the crosswalk toward a front side in the lane on which the host vehicle travels, and performs stop line detection in the stop line search area. A depth of the stop line search area in an extending direction of a traveling lane is smaller than twice a depth of the crosswalk.