Method and system for determining a state of traffic lights

Method of determining traffic lights state (104A-C, Fig. 1) comprising: obtaining a plurality of evidences and a corresponding plurality of evidence confidence values 201; calculating, for each possible state of the traffic lights, a mass (combined confidence) value 202, (mass value column, Fig. 4); generating a belief value for each possible state of the traffic lights 203, (belief value column, Fig. 4); generating a plausibility value for each possible state of the traffic lights by aggregating the mass value containing that state 203, (plausibility value column, Fig. 4); and determining a state of the traffic light based on the belief value and/or the plausibility value 204. The confidence values may be determined on measurements received from sensors capturing the evidences. The confidence values may comprise: state confidence value; lane confidence value; lane duration value; first distance value; second distance value; distance between detected position of the one or more traffic lights and a predetermined position of the one or more traffic lights; and an association confidence value. The mass (combined confidence) value may be determined using a: probability assignment technique; and/or historical confidence values. Aggregating the mass value may be based on one or more rules for combination of evidence.