In the lighting conditions such as hazing, raining, and weak lighting condition, the accuracy of traffic sign recognition is not very high due to missed detection or incorrect positioning. In this article, we propose a traffic sign recognition (TSR) algorithm based on Faster R-CNN and YOLOv5. The road signs were detected from the driver’s point of view and the view was assisted by satellite images. First, we conduct image preprocessing by using guided image filtering for the input image to remove noises. Second, the processed image is input into the proposed networks for model training and testing. Three datasets are employed to verify the effectiveness of the proposed method finally. The outcomes of the traffic sign recognition are promising.