Robust Method for Detecting Traffic Signals and Their Associated States

A system comprising:

• a plurality of sensors coupled to a vehicle;
• and
• a computing system coupled to the vehicle, wherein the computing system is configured to:
• monitor, using first sensor data from one or more sensors of the plurality of sensors, a first target area located relative to the vehicle traveling in an environment;
• detect a change corresponding to the environment or the vehicle;
• responsive to detecting the change, monitor a second target area located relative to the vehicle using second sensor data from the one or more sensors, wherein the first target area and the second target area differ in size or shape;
• and
• control the vehicle based on monitoring the second target area.

A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:

• monitoring, using first sensor data from one or more sensors coupled to a vehicle, a first target area located relative to the vehicle traveling in an environment;
• detecting a change corresponding to the environment or the vehicle;
• responsive to detecting the change, monitoring a second target area located relative to the vehicle using second sensor data from the one or more sensors, wherein the first target area and the second target area differ in size or shape;
• and
• controlling the vehicle based on monitoring the second target area.