TRAFFIC LIGHT DETECTION AND CLASSIFICATION FOR AUTONOMOUS DRIVING VEHICLES

A driving environment is perceived based on sensor data obtained from a plurality of sensors mounted on the ADV, including detecting a traffic light, where the plurality of sensors includes at least one image sensor. A first sensor setting is applied to the at least one image sensor to capture a first frame, and a second sensor setting is applied to the at least one image sensor to capture a second frame. A color of the traffic light is determined based on sensor data of the at least one image sensor in the first frame. The ADV is controlled to drive autonomously according to the color of the traffic light determined based on sensor data of the at least one image sensor in the first frame and a driving environment perceived based on sensor data of the at least one image sensor in the second frame.