1. A method comprising: determining a state of a traffic intersection using information from one or more sensors of a vehicle, wherein determining the state of the traffic intersection comprises determining a state of a traffic signal of the traffic intersection, and wherein the vehicle is configured to operate in an autonomous mode; determining a confidence in the state of the traffic signal; determining an uncertainty associated with the determined state of the traffic intersection based on the confidence in the state of the traffic signal; and controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty.