Systems, methods, and non-transitory computer-readable mediums for estimating a residual time of a current traffic signal

A system comprising:

• a controller programmed to:
• estimate an initial residual time of a current traffic signal until a change of the current traffic signal based on a signal plan and information received from vehicle sensors;
• collect information about a vehicle queue;
• estimate a residual time of the current traffic signal until the change of the current traffic signal based on the information about the vehicle queue;
• estimate a final residual time of the current traffic signal until the change of the current traffic signal based on the initial residual time and the estimated residual time of the current traffic signal;
• and
• control, via an actuator of the ego vehicle, movement of the ego vehicle to autonomously drive based on the estimate of the final residual time of the current traffic signal.

A non-transitory computer-readable medium that, when executed by a controller, cause the controller to:

• estimate an initial residual time of a current traffic signal until a change of the current traffic signal based on a signal plan and information received from vehicle sensors;
• collect information about a vehicle queue;
• estimate a residual time of the current traffic signal until the change of the current traffic signal based on the information about the vehicle queue;
• estimate a final residual time of the current traffic signal until the change of the current traffic signal based on the initial residual time and the estimated residual time of the current traffic signal;
• and
• control, via an actuator of the ego vehicle, movement of the ego vehicle to autonomously drive based on the estimate of the final residual time of the current traffic signal.