A ROBUST METHOD FOR DETECTING TRAFFIC SIGNALS AND THEIR ASSOCIATED STATES

A camera viewing the area in front of a vehicle equipped with an autopilot is used to register images from the environment to detect traffic lights, determine their location and their state and determine whether there is a known location within a threshold distance to the determined location of the detected traffic light of a known traffic light.Upon determining that there is no known traffic light at proximity of the detection traffic light location, obtaining additional information about the detected traffic light.