{"id":"https://openalex.org/W3165638656","doi":"https://doi.org/10.1177/15501477211018374","title":"An improved traffic lights recognition algorithm for autonomous driving in complex scenarios","display_name":"An improved traffic lights recognition algorithm for autonomous driving in complex scenarios","publication_year":2021,"publication_date":"2021-05-01","ids":{"openalex":"https://openalex.org/W3165638656","doi":"https://doi.org/10.1177/15501477211018374","mag":"3165638656"},"language":"en","primary_location":{"id":"doi:10.1177/15501477211018374","is_oa":true,"landing_page_url":"https://doi.org/10.1177/15501477211018374","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/15501477211018374","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://journals.sagepub.com/doi/pdf/10.1177/15501477211018374","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100739060","display_name":"Ziyue Li","orcid":"https://orcid.org/0000-0001-9901-432X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyue Li","raw_affiliation_strings":["National Engineering Laboratory for Integrated Command and Dispatch Technology, Beijing, China","Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9901-432X","affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Integrated Command and Dispatch Technology, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101524100","display_name":"Qinghua Zeng","orcid":"https://orcid.org/0000-0002-3660-3212"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qinghua Zeng","raw_affiliation_strings":["Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101446496","display_name":"Yuchao Liu","orcid":"https://orcid.org/0000-0002-6816-4955"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuchao Liu","raw_affiliation_strings":["National Engineering Laboratory for Integrated Command and Dispatch Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Integrated Command and Dispatch Technology, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108092986","display_name":"Jianye Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianye Liu","raw_affiliation_strings":["Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100412815","display_name":"Lin Li","orcid":"https://orcid.org/0000-0001-7553-6916"},"institutions":[{"id":"https://openalex.org/I4210163738","display_name":"China Astronaut Research and Training Center","ror":"https://ror.org/001ycj259","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210163738"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Li","raw_affiliation_strings":["China Astronaut Research and Training Center, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Astronaut Research and Training Center, Beijing, China","institution_ids":["https://openalex.org/I4210163738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101524100"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":{"value":2200,"currency":"USD","value_usd":2200},"apc_paid":{"value":2200,"currency":"USD","value_usd":2200},"fwci":2.2599,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.89066077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"17","issue":"5","first_page":"155014772110183","last_page":"155014772110183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9986000061035156,"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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.8725450038909912},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.596602737903595},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.582938551902771},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5159202814102173},{"id":"https://openalex.org/keywords/region-of-interest","display_name":"Region of interest","score":0.4957939088344574},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.46877163648605347},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4647582769393921},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43120384216308594},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34200239181518555}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8725450038909912},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.596602737903595},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.582938551902771},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5159202814102173},{"id":"https://openalex.org/C19609008","wikidata":"https://www.wikidata.org/wiki/Q2138203","display_name":"Region of interest","level":2,"score":0.4957939088344574},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.46877163648605347},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4647582769393921},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43120384216308594},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34200239181518555},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/15501477211018374","is_oa":true,"landing_page_url":"https://doi.org/10.1177/15501477211018374","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/15501477211018374","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:sae:intdis:v:17:y:2021:i:5:p:15501477211018374","is_oa":false,"landing_page_url":"https://journals.sagepub.com/doi/10.1177/15501477211018374","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:91087c7f2d904085b8c5be2776d5fb7a","is_oa":true,"landing_page_url":"https://doaj.org/article/91087c7f2d904085b8c5be2776d5fb7a","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":"International Journal of Distributed Sensor Networks, Vol 17 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1177/15501477211018374","is_oa":true,"landing_page_url":"https://doi.org/10.1177/15501477211018374","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/15501477211018374","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2604812170","display_name":null,"funder_award_id":"61533008, 61603181, 61673208,61873125","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6332275626","display_name":null,"funder_award_id":"6142006190201","funder_id":"https://openalex.org/F4320335833","funder_display_name":"National Defense Basic Scientific Research Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335833","display_name":"National Defense Basic Scientific Research Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1566405224","https://openalex.org/W2052533453","https://openalex.org/W2117539524","https://openalex.org/W2126628495","https://openalex.org/W2136922672","https://openalex.org/W2183161252","https://openalex.org/W2271799811","https://openalex.org/W2534225927","https://openalex.org/W2541102286","https://openalex.org/W2599547390","https://openalex.org/W2735029784","https://openalex.org/W2883223908","https://openalex.org/W2902340917","https://openalex.org/W2903967792","https://openalex.org/W3007191641","https://openalex.org/W3011093026","https://openalex.org/W3088728687","https://openalex.org/W3094584336","https://openalex.org/W3128596107","https://openalex.org/W3149166261","https://openalex.org/W4234552385","https://openalex.org/W4235007444","https://openalex.org/W4236936139","https://openalex.org/W4245976051","https://openalex.org/W4247324276","https://openalex.org/W4301379696"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W2593280956","https://openalex.org/W2004312940","https://openalex.org/W1909961747","https://openalex.org/W1938318326","https://openalex.org/W1969479488","https://openalex.org/W2785359964"],"abstract_inverted_index":{"Image":[0],"recognition":[1,33],"is":[2,11,145],"susceptible":[3],"to":[4,13,51,121,136,147],"interference":[5],"from":[6],"the":[7,53,57,97,100,103,106,111,122,130,138,151,175,190],"external":[8],"environment.":[9],"It":[10],"challenging":[12],"accurately":[14],"and":[15,22,41,75,105,127,149,163,187],"reliably":[16],"recognize":[17],"traffic":[18,31,90,141],"lights":[19,32,91],"in":[20,78,184],"all-time":[21],"all-weather":[23],"conditions.":[24],"This":[25],"article":[26],"proposed":[27,176],"an":[28],"improved":[29],"vision-based":[30],"algorithm":[34,157,177],"for":[35],"autonomous":[36,194],"driving,":[37],"integrating":[38],"deep":[39],"learning":[40],"multi-sensor":[42,69,123],"data":[43,70,124,161],"fusion":[44,125],"assist":[45],"(MSDA).":[46],"We":[47,154],"introduce":[48],"a":[49,79,84,159,179],"method":[50],"obtain":[52],"best":[54],"size":[55,108],"of":[56,59,102,109,140,193],"region":[58],"interest":[60],"(ROI)":[61],"dynamically,":[62],"including":[63],"four":[64],"aspects.":[65],"First,":[66],"based":[67],"on":[68],"(RTK":[71],"BDS/GPS,":[72],"IMU,":[73],"camera,":[74],"LiDAR)":[76],"acquired":[77],"normal":[80],"environment,":[81],"we":[82],"generated":[83],"prior":[85],"map":[86],"that":[87,174],"contained":[88],"sufficient":[89],"information.":[92],"And":[93],"then,":[94],"by":[95],"analyzing":[96],"relationship":[98],"between":[99],"error":[101],"sensors":[104],"optimal":[107,131],"ROI,":[110],"adaptively":[112],"dynamic":[113],"adjustment":[114],"(ADA)":[115],"model":[116],"was":[117],"built.":[118],"Furthermore,":[119],"according":[120],"positioning":[126],"ADA":[128],"model,":[129],"ROI":[132],"can":[133,188],"be":[134],"obtained":[135],"predict":[137],"location":[139],"lights.":[142],"Finally,":[143],"YOLOv4":[144],"employed":[146],"extract":[148],"identify":[150],"image":[152],"features.":[153],"evaluated":[155],"our":[156],"using":[158],"public":[160],"set":[162],"actual":[164],"city":[165],"road":[166],"test":[167],"at":[168],"night.":[169],"The":[170],"experimental":[171],"results":[172],"demonstrate":[173],"has":[178],"relatively":[180],"high":[181],"accuracy":[182],"rate":[183],"complex":[185],"scenarios":[186],"promote":[189],"engineering":[191],"application":[192],"driving":[195],"technology.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}