PURPOSE: To prevent the erroneous control of a signal lamp lighting control in a signal controller that performs signal control by detecting signal waiting vehicles by preventing the erroneous detection of the signal waiting vehicles due to vehicles running in the reverse direction and the mistake in detecting the signal waiting vehicles.

CONSTITUTION: A TV camera 1 is installed so as to overlook a subordinate road. A signal controller 2 is provided with a differential processing part 5 investigating the luminance change of the video of the TV camera 1, an object contour extraction part 30 extracting the contour of the object in the video from the luminance change and detecting a vehicle and an approaching vehicle detection part 6 detecting the vehicle approaching an intersecting point from the moving direction of the detected vehicle and outputting the detection signal to a processing part 7.