Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a vehicle lighting detection method includes receiving sensor data associated with operation of one or more vehicles, and extracting from the sensor data a plurality of images and a plurality of corresponding image labels, wherein the images each include at least a portion of an observed vehicle, and the image labels indicate the corresponding lighting state of the observed vehicle in each of the images. The method further includes training, with a processor, a machine learning model utilizing the plurality of images and the plurality of corresponding image labels.