A computer-implemented method for operating an autonomous driving vehicle, ADV, the method comprising: perceiving a driving environment based on sensor data obtained from a plurality of sensors mounted on the ADV, including detecting a traffic light at an initial time (T1), the plurality of sensors including at least one image sensor; determining an initial exposure time at the initial time (T1) in an initial sensor setting of the at least one image sensor upon detecting the traffic light; and determining whether the initial exposure time of the at least one image sensor exceeds a predetermined threshold; wherein the predetermined threshold is determined based on the red light intensity saturation threshold; in response to determining that the initial exposure time of the at least one image sensor exceeds the predetermined threshold, applying a first sensor setting to the at least one image sensor to capture a first frame; applying a second sensor setting to the at least one image sensor to capture a second frame; determining a color of the traffic light based on sensor data of the at least one image sensor in the first frame; and controlling the ADV to drive autonomously according to the color of the traffic light determined based on sensor data of the at least one image sensor in the first frame and the driving environment perceived based on sensor data of the at least one image sensor in the second frame, wherein the first sensor setting includes at least one of a first exposure time or a first gain, wherein the second sensor setting includes at least one of a second exposure time or a second gain, and wherein the at least one of the first exposure time or the first gain is less than the at least one of the second exposure time or the second gain respectively. perceiving a driving environment based on sensor data obtained from a plurality of sensors mounted on the ADV, including detecting a traffic light at an initial time (T1), the plurality of sensors including at least one image sensor; determining an initial exposure time at the initial time (T1) in an initial sensor setting of the at least one image sensor upon detecting the traffic light; and determining whether the initial exposure time of the at least one image sensor exceeds a predetermined threshold; wherein the predetermined threshold is determined based on the red light intensity saturation threshold; in response to determining that the initial exposure time of the at least one image sensor exceeds the predetermined threshold, applying a first sensor setting to the at least one image sensor to capture a first frame; applying a second sensor setting to the at least one image sensor to capture a second frame; determining a color of the traffic light based on sensor data of the at least one image sensor in the first frame; and controlling the ADV to drive autonomously according to the color of the traffic light determined based on sensor data of the at least one image sensor in the first frame and the driving environment perceived based on sensor data of the at least one image sensor in the second frame, wherein the first sensor setting includes at least one of a first exposure time or a first gain, wherein the second sensor setting includes at least one of a second exposure time or a second gain, and wherein the at least one of the first exposure time or the first gain is less than the at least one of the second exposure time or the second gain respectively. <EOS>