Patent Document ID: 9731661
Application ID: 14455381
Patent Status: 1

Claim One:
1. A controller for detecting traffic signaling of a mobile environment, comprising: processing circuitry configured to: receive image frames captured by an imaging device to detect a traffic signal candidate therefrom based on at least a location of a vehicle, independently of a size and a shape of a traffic light housing associated with the traffic signal candidate; establish a score having a predefined value for the traffic signal candidate and track the traffic signal candidate by incrementing the score when the traffic signal candidate is determined to appear, based on a probabilistic estimator that indicates an expected value for a location of the traffic signal candidate, in a tracked image frame of the captured image frames, and decrementing the score when the traffic signal candidate is determined not to appear, based on the probabilistic estimator, in the tracked image frame; determine whether the traffic signal candidate is a traffic signal based on whether the score is above a specified threshold; and output a visual indicator signal that specifies a location of the traffic signal on a windshield of the vehicle or a screen in the vehicle.