I believe traffic lights currently use three bulbs, red, yellow and green. Even without color a computer system can easily determine when each light is lit.

If there are single bulbs displaying red, green and yellow please give clear examples.

It’s not either lifar or regular cameras. Use both and combine the information to exceed the humans

Something I've seen noises about is time of flight systems for traffic. I think the idea is you can put those systems on traffic lights, cars, bicycles, and pedestrians and then cars can know where those things are.