Systems and methods are provided for interpreting traffic information by a vehicle. In one embodiment, a method includes: receiving, by a processor, sensor data from one or more sensing devices of the vehicle, where the sensor data depicts a traffic device in an environment of the vehicle; receiving, by the processor, map data associated with the environment of the vehicle, where the map data includes traffic devices; matching, by the processor, the traffic device of the sensor data with a traffic device of the map data; determining, by the processor, a probability distribution of a traffic signal associated with the matched traffic devices based on a Hidden Markov model (HMM); and planning, by the processor, control of the vehicle based on the probability distribution.