US Patent 10525903 Moving traffic-light detection system for an automated vehicle

A traffic-light-detection system that visually determines a light-state of a traffic-light proximate to an automated vehicle includes a camera, a controller, and optionally a radar. The camera and the radar are on a host-vehicle. The camera renders a series-of-images of a traffic-light proximate to a host-vehicle. The radar detects radar-returns from the traffic-light. The controller is configured to determine a motion-pattern of the traffic-light based on the series-of-images and/or the radar-returns, and select a preferred-image from the series-of-images based on the motion-pattern. The preferred-image shows a light-source of the traffic-light characterized as being most directed at the camera when the motion-pattern indicates that the traffic-light is moving. The controller is further configured to determine a light-state of the traffic-light based on the preferred-image.