An auto exposure method for a spatially-multiplexed-exposure (SME) high-dynamic-range (HDR) image sensor includes (a) retrieving raw image data from an exposure of the spatially-multiplexed-exposure high-dynamic-range image sensor, (b) preprocessing long-exposure pixel values and short-exposure pixel values of the raw image data to remove therefrom long-exposure pixel values and short-exposure pixel values failing to meet one or more quality requirements, (c) synthesizing, into an high-dynamic-range histogram, the long-exposure pixel values remaining after the step of preprocessing and the short-exposure pixel values remaining after the step of preprocessing, (d) deriving a goodness metric from the high-dynamic-range histogram, (e) adjusting at least one of the long exposure time and the short exposure time, based at least in part upon the goodness metric, and (f) outputting the at least one of the long exposure time and the short exposure time, as adjusted, to the spatially-multiplexed-exposure high-dynamic-range image sensor.