Traffic light detection auto-labeling and federated learning based on vehicle-to-infrastructure communications

A method for traffic light auto-labeling includes aggregating vehicle-to-infrastructure (V2I) traffic light signals at an intersection to determine transition states of each driving lane at the intersection during operation of an ego vehicle. The method also includes automatically labeling image training data to form auto-labeled image training data for a traffic light recognition model within the ego vehicle according to the determined transition states of each driving lane at the intersection. The method further includes planning a trajectory of the ego vehicle to comply with a right-of-way according to the determined transition states of each driving lane at the intersection according to a trained traffic light detection model. A federated learning module may train the traffic light recognition model using the auto-labeled image training data during the operation of the ego vehicle.