The integration of Traffic Light Detection (TLD) systems with Advanced Emergency Braking Systems (AEBS) marks a critical milestone in enhancing road safety and paving the way for advanced autonomous driving. This survey paper provides a panoramic and extensive overview of the state-of-the-art TLD solutions leveraging sensors and deep learning techniques. With an increasing emphasis on accident prevention and traffic management, the intersection of TLD and AEBS has become a focal point of research and development. This survey begins by elucidating the fundamental challenges associated with TLD, including varying environmental conditions, occlusions, and complex traffic scenarios. We explore the pivotal role of sensors such as cameras, LiDAR, and radar in providing the requisite data for TLD, and delve into the intricacies of sensor fusion techniques for enhanced perception. Deep Learning has emerged as a cornerstone technology in TLD, enabling robust object detection, classification, and real-time decision-making. We meticulously analyze a spectrum of deep learning architectures including Single-Shot Detectors (SSD), Faster R-CNN, YOLO, and custom-designed networks tailored for TLD applications. Furthermore, the survey examines critical components of the TLD pipeline, encompassing data collection, preprocessing, model training, real-time inference, and integration with AEBS. Emphasis is placed on real-time constraints, multi-modal sensor fusion, and adaptability to diverse traffic light configurations. The paper also delves into the significance of accurate traffic light state prediction, going beyond mere detection to anticipate traffic light changes and optimize vehicle control actions. Human-centric interaction and privacy concerns are addressed, encompassing driver warnings, user interfaces, and data anonymization strategies. Moreover, the survey discusses the importance of safety, validation, and collaboration within the TLD and AEBS ecosystem, emphasizing compliance with industry standards and continuous learning through OTA (over-the-air) updates.