Create traffic light negotiation systems for autonomous vehicles using MATLAB's Automated Driving Toolbox. This project develops perception algorithms to detect, classify, and respond to traffic signals in real-world scenarios. The tutorial covers color/shape recognition, state machine design for intersection handling, and sensor fusion with GPS/map data. Includes techniques for dealing with challenging conditions like occlusions, glare, and unconventional signal placements. The package provides simulated and real-world test scenarios with performance metrics for reliability testing.