Traffic light estimation

Information is sensed by a range sensor (e.g. LiDAR or RADAR) on a vehicle (e.g. autonomous vehicle 100) traveling on a first drivable region 1302, 1316 that forms an intersection with a second drivable region 1304, 1306. Traffic signal 1318 controls the intersection. An onboard planning circuit uses the information to determine movement states of a first object on the first region and a second object 1328 on the second region - each movement state comprising a stationary or mobile state and a movement direction. The planning circuit determines a traffic signal state based on at least one of the movement states; determines a traffic delay at the intersection (e.g. from object speed profiles); and generates data for controlling an operation of the vehicle (e.g. stopping or travelling through the intersection) based on the traffic signal state and traffic delay. If the traffic signal permits the vehicle to proceed but the likelihood of the second object stopping is low, the vehicle may be controlled to travel through the intersection before or after the second object.