VEHICLE TAILLIGHT RECOGNITION BASED ON A VELOCITY ESTIMATION

A method for controlling an ego vehicle in an environment includes associating, by a velocity model, one or more objects within the environment with a respective velocity instance label. The method also includes selectively, by a recurrent network of the taillight recognition system, focusing on a selected region of the sequence of images according to a spatial attention model for a vehicle taillight recognition task. The method further includes concatenating the selected region with the respective velocity instance label of each object of the one or more objects within the environment to generate a concatenated region label. The method still further planning a trajectory of the ego vehicle based on inferring, at a classifier of the taillight recognition system, an intent of each object of the one or more objects according to a respective taillight state of each object, as determined based on the concatenated region label.