US Patent 10339400 Traffic light detection using multiple cameras

Various arrangements for imaging a traffic light are presented. A distance to the traffic light from a vehicle may be determined. A camera mode may be selected based on the determined distance to the traffic light. One or more images from one or more cameras may be captured and received based on the selected camera mode. A state of the traffic light within the one or more received images may then be determined. The vehicle may then be driven autonomously based on the determined state of the traffic light.