Traffic light detection system for vehicle

A vehicle 100 detects a traffic light at a first location based on multiple video streams captured by respective on-board video cameras 122 and determines its own location using first data from multiple sensors 121 (e.g. GNSS receivers and RADAR or LIDAR) wherein the first data is validated against second location data obtained by filtering the first location data. It determines that a traffic light is expected at the first location based on a semantic map and the own-location and, in response, uses the captured data to detect a traffic signal of the traffic light. It determines a trajectory 198 in accordance with the traffic signal and a control circuit operates the vehicle in accordance with the trajectory. The location of the traffic light may be validated based on a DSRC message received from it. The vehicle location may be validated based on the semantic map. The traffic signal may be recognised using a machine learning model.