BI.METHOD BASED ON IMAGE PROCESSINGA.System OverviewOur goal was to design a modular algorithm for Traffic Lights Recognition (TLR) that is able to detect supported and suspended traffic lights in a dynamic urban environment. Regarding the previous w orks, we decided to base our algorithm on the light property emission of traffics lights. Therefore, the layout of our TL R algorithm consists mainly of three steps as illustrated in Fig . 2.