Systems and methods for detecting traffic signal details

A vehicle, comprising:

• a body;
• at least one image capture device configured to acquire a plurality of images of an area forward of the vehicle, the area including a traffic lamp fixture having at least one traffic light;
• a data interface;
• and
• at least one processing device configured to:
• receive the plurality of images via the data interface;
• align areas of the plurality of images corresponding to the traffic light, based on a determined center of brightness;
• expand each pixel within the aligned areas into a subset of more than one pixel;
• determine a set of average pixel values including an average pixel value for each set of corresponding expanded pixels within the aligned areas;
• and
• determine, based on the set of average pixel values, whether the traffic light includes an arrow.

A method for traffic light detection, the method comprising:

• acquiring, via at least one image capture device, a plurality of images of an area forward of a vehicle, the area including a traffic lamp fixture having at least one traffic light;
• aligning areas of the plurality of images corresponding to the traffic light, based on a determined center of brightness;
• expanding each pixel within the aligned areas into a subset of more than one pixel;
• determining a set of average pixel values including an average pixel value for each set of corresponding expanded pixels within the aligned areas;
• and
• determining, based on the set of average pixel values, whether the traffic light includes an arrow.