{"id":"https://openalex.org/W4285274869","doi":"https://doi.org/10.1109/access.2022.3174859","title":"A Detection Model of the Complex Dynamic Traffic Environment for Unmanned Vehicles","display_name":"A Detection Model of the Complex Dynamic Traffic Environment for Unmanned Vehicles","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4285274869","doi":"https://doi.org/10.1109/access.2022.3174859"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3174859","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3174859","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09774374.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09774374.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055957977","display_name":"Shijuan Yang","orcid":"https://orcid.org/0000-0002-0604-6419"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijuan Yang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China"],"raw_orcid":"https://orcid.org/0000-0002-0604-6419","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102746398","display_name":"Li Gao","orcid":"https://orcid.org/0000-0002-6298-8208"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Gao","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024997323","display_name":"Yanan Zhao","orcid":"https://orcid.org/0000-0002-5549-5798"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanan Zhao","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China"],"raw_orcid":"https://orcid.org/0000-0002-5549-5798","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.783,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.71537979,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"10","issue":null,"first_page":"51873","last_page":"51888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8385380506515503},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.6778002381324768},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6608485579490662},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.5919126272201538},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5750595331192017},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.49298354983329773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4862314760684967},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4188401401042938},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3990877866744995},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.39622628688812256},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3517352044582367},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.22865653038024902},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07857456803321838}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8385380506515503},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.6778002381324768},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6608485579490662},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.5919126272201538},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5750595331192017},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.49298354983329773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4862314760684967},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4188401401042938},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3990877866744995},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.39622628688812256},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3517352044582367},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.22865653038024902},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07857456803321838},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3174859","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3174859","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09774374.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ce0b375c974747bfbdef55cb53de9539","is_oa":true,"landing_page_url":"https://doaj.org/article/ce0b375c974747bfbdef55cb53de9539","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 51873-51888 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3174859","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3174859","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09774374.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G2109481171","display_name":null,"funder_award_id":"2017YFC0804808","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3917871400","display_name":null,"funder_award_id":"2017YFC0804803","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7803025575","display_name":null,"funder_award_id":"2018YFB0105205-02","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285274869.pdf","grobid_xml":"https://content.openalex.org/works/W4285274869.grobid-xml"},"referenced_works_count":68,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1756120705","https://openalex.org/W1904073808","https://openalex.org/W2000841351","https://openalex.org/W2102605133","https://openalex.org/W2109255472","https://openalex.org/W2129440600","https://openalex.org/W2142838865","https://openalex.org/W2150066425","https://openalex.org/W2166623283","https://openalex.org/W2194775991","https://openalex.org/W2340897893","https://openalex.org/W2401150670","https://openalex.org/W2510352715","https://openalex.org/W2565639579","https://openalex.org/W2570343428","https://openalex.org/W2613825824","https://openalex.org/W2618530766","https://openalex.org/W2781228439","https://openalex.org/W2788055254","https://openalex.org/W2793067285","https://openalex.org/W2806070179","https://openalex.org/W2887463361","https://openalex.org/W2893538180","https://openalex.org/W2898514682","https://openalex.org/W2901100349","https://openalex.org/W2913539075","https://openalex.org/W2921271497","https://openalex.org/W2924873663","https://openalex.org/W2933146514","https://openalex.org/W2942617529","https://openalex.org/W2963037989","https://openalex.org/W2963163009","https://openalex.org/W2963292632","https://openalex.org/W2963857746","https://openalex.org/W2964241181","https://openalex.org/W2966739904","https://openalex.org/W2982083293","https://openalex.org/W2998213123","https://openalex.org/W2998728501","https://openalex.org/W3009131247","https://openalex.org/W3016101116","https://openalex.org/W3018757597","https://openalex.org/W3035344055","https://openalex.org/W3043944662","https://openalex.org/W3093597327","https://openalex.org/W3093875115","https://openalex.org/W3113272803","https://openalex.org/W3117782667","https://openalex.org/W3124358233","https://openalex.org/W3128282360","https://openalex.org/W3156073063","https://openalex.org/W3158577358","https://openalex.org/W3160125988","https://openalex.org/W3161079486","https://openalex.org/W3204387772","https://openalex.org/W4288257146","https://openalex.org/W4293584584","https://openalex.org/W4297775537","https://openalex.org/W6714138976","https://openalex.org/W6737664043","https://openalex.org/W6750227808","https://openalex.org/W6776110894","https://openalex.org/W6777046832","https://openalex.org/W6780747106","https://openalex.org/W6780945792","https://openalex.org/W6781550413"],"related_works":["https://openalex.org/W4298130764","https://openalex.org/W2804364458","https://openalex.org/W2132641928","https://openalex.org/W4310225030","https://openalex.org/W2090259340","https://openalex.org/W1926736923","https://openalex.org/W2158836806","https://openalex.org/W2393816671","https://openalex.org/W2083665254","https://openalex.org/W3088721469"],"abstract_inverted_index":{"It":[0],"has":[1],"always":[2],"been":[3],"an":[4,166],"important":[5],"and":[6,52,102,122,146,159,212,236,240],"arduous":[7],"task":[8],"to":[9,37,41,48,66,116,154,169,183],"detect":[10],"the":[11,21,28,33,43,50,56,63,80,90,100,104,108,113,118,132,140,143,147,156,171,179,188,193,199,208,213,219,222,232,241],"complex":[12,57,81],"dynamic":[13,58,82],"traffic":[14,59,83],"environment,":[15],"especially":[16],"for":[17,31,69,85],"unmanned":[18,44,70,86],"driving.":[19],"Although":[20],"existing":[22],"advanced":[23,204],"detection":[24,34,77,205,230],"models":[25,206],"have":[26],"reached":[27],"speed":[29,53],"requirements":[30],"detection,":[32],"accuracy":[35,51,158,172],"needs":[36],"be":[38,67],"further":[39],"elevated":[40],"improve":[42,155,170],"driving\u2019s":[45],"safety.":[46],"How":[47],"balance":[49],"of":[54,79,93,120,135,151,173,221,229,234],"detecting":[55],"environment":[60,84],"is":[61],"still":[62],"primary":[64],"problem":[65],"solved":[68],"vehicles.":[71],"Therefore,":[72],"this":[73],"article":[74],"proposes":[75],"a":[76,245],"model":[78,115,174,201,224,243],"vehicles":[87],"by":[88,139],"following":[89],"framework":[91],"idea":[92],"YOLOv3.":[94],"Firstly,":[95],"we":[96,130,164,177,197],"regard":[97],"MobileNetv3":[98],"as":[99],"backbone":[101],"replace":[103],"traditional":[105],"convolution":[106,111],"with":[107,202],"depthwise":[109],"separable":[110],"in":[112,125,207],"whole":[114],"reduce":[117,160],"number":[119,233],"parameters":[121,235],"calculations.":[123],"Secondly,":[124],"enhanced":[126],"feature":[127,137,152],"fusion":[128,134,153],"layers,":[129],"perform":[131],"multi-scale":[133],"four":[136],"maps":[138],"compress-and-expand":[141],"module,":[142,145],"SPP":[144],"cross-layer":[148],"bidirectional":[149],"module":[150],"locating":[157],"false":[161],"detections.":[162],"Thirdly,":[163],"add":[165],"IoU":[167],"loss":[168,228],"regression.":[175],"Then,":[176],"employ":[178],"improved":[180],"clustering":[181,194],"algorithm":[182],"re-cluster":[184],"anchor":[185],"boxes,":[186],"reducing":[187],"time":[189],"overhead":[190],"while":[191],"improving":[192],"accuracy.":[195],"Finally,":[196],"compare":[198],"proposed":[200,223,242],"other":[203],"processed":[209],"BDD":[210],"dataset":[211],"KITTI":[214],"dataset.":[215],"We":[216],"verify":[217],"that":[218],"mAP":[220],"improves":[225],"notably":[226],"without":[227],"speed,":[231],"calculations":[237],"decreases":[238],"dramatically,":[239],"exhibits":[244],"more":[246],"superior":[247],"performance.":[248]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}