The One-Stage Detector Algorithm Based on Background Prediction and Group Normalization for Vehicle Detection

This paper presents a robustness benchmark evaluation and optimization for vehicle detection. Real-time vehicle detection has become an essential means of data perception in the transportation field, covering various aspects such as intelligent transportation systems, video surveillance, and autonomous driving. However, evaluating and optimizing the robustness of vehicle detection in real traffic scenarios remains challenging. When data distributions change, such as the impact of adverse weather or sensor damages, model reliability cannot be guaranteed. We first conducted a large-scale robustness benchmark evaluation for vehicle detection. Analysis revealed that adverse weather, motion, and occlusion are the most detrimental factors to vehicle detection performance. The impact of color changes and noise, while present, is relatively less pronounced. Moreover, the robustness of vehicle detection is closely linked to its baseline performance and model size. And as the severity of corruption intensifies, the performance of models experiences a sharp drop. When the data distribution of images changes, the features of the vehicles that the model focuses on are weakened, making the activation level of the targets significantly reduced. By evaluation, we provided guidance and direction for optimizing detection robustness. Based on these findings, we propose TDIRM, a traffic-degraded image restoration model based on stable diffusion, designed to efficiently restore degraded images in real traffic scenarios and thereby enhance the robustness of vehicle detection. The model introduces an image semantics encoder (ISE) module to extract features that align with the latent description of the real background while excluding degradation-related information. Additionally, a triple control embedding attention (TCE) module is proposed to fully integrate all condition controls. Through a triple condition control mechanism, TDIRM achieves restoration results with high fidelity and consistency. Experimental results demonstrate that TDIRM improves vehicle detection mAP by 6.92% on real dense fog data, especially for small distant vehicles that were severely obscured by fog. By enabling semantic-structural-content collaborative optimization within the diffusion framework, TDIRM establishes a novel paradigm for traffic scene image restoration.

Vehicle detection is an important component in unmanned driving systems. This paper presents a real-time vehicle detection method under complex road conditions to solve the problem of real-time detection of road vehicles in automatic driving. Firstly using yolo network to build a deeper depth neural network, which is used to identify and score the vehicles in the image. Then, using the dynamic threshold method to remove some false candidate boxes, and using the Gauss attenuation function to filter the overlapping candidate boxes. The loss function normalized by the change rate is used to train the neural network, and the batch normalization layer is used to correct the input data of the network to avoid data deviation during the training process. Finally, a full convolution layer is added at the end of the network layer to transform the two-dimensional data into one-dimensional data and output the final recognition results. It is verified that this method improves the efficiency and accuracy of real-time vehicle detection, it can effectively detect vehicles on roads with complex backgrounds, and satisfy the real-time requirements of road vehicle detection.

In the field of intelligent transportation, accurate vehicle detection, tracking, and re-identification are essential tasks that enable real-time monitoring, congestion management, and safety improvements. To address these needs in high-traffic highway environments, this study proposes a multi stage traffic flow model combining deep learning and metric learning. The model leverages the Segment Anything Model for vehicle detection, utilizing language-prompting to automate segmentation, thereby reducing manual adjustments and improving adaptability across complex traffic scenarios. For vehicle tracking, the model employs the StrongSORT algorithm, integrated with mask-based tracking to enhance recognition coherence and maintain resilience against occlusions, especially in congested conditions. Additionally, the PP-OCR module accurately extracts timestamps to support interval speed measurement across multiple viewpoints, using vehicle re-identification results for precise multi-camera tracking. Experimental results demonstrate that the proposed model significantly outperforms state-of-the-art methods, achieving higher mean average precision and tracking accuracy in both high-density and challenging traffic conditions, highlighting its robustness and suitability for intelligent transportation systems.

With the rapid development of Internet of Things (IoT) and UAV technology, for the whole IoT system of vehicle detection, the middle and high level of information transmission and server processing has made a breakthrough, so at the bottom of the real-time detection of the vehicle by the UAV is the key to the whole system. However, UAV vehicle detection faces the challenges of too many small targets in the image leading to low detection accuracy, limited hardware platform resources requiring control of model size, and real-time detection requiring high inference speed. Aiming at the above problems, we propose a lightweight model PrFu-YOLO based on YOLOv8 improvement, which achieves a good balance between the accuracy, inference speed, and model size. And it realizes real-time vehicle detection embedded in an UAV platform. To solve the problem of low vehicle detection accuracy, we design a new structure PrFuFPN based on adding a small target detection layer to achieve more advanced feature fusion. To address the limited resources of the platform and the problem of real-time vehicle detection, we add GhostConv to the structure and constantly try to adjust the parameters of the network. Finally, extensive experiments were conducted on the VisDrone2019 and CARPK data sets to fully evaluate the model. Compared to YOLOv8s on the VisDrone2019 test set, mAP50 was improved by 10.05%, mA95 by 14.54%, the number of parameters was reduced by 8.13%, and the model size was reduced by 12.5%, while the FPS of 67.13 fully met the needs of real-time detection.

Deep learning-based classification and detection algorithms have emerged as a powerful tool for vehicle detection in intelligent transportation systems. The limitations of the number of high-quality labeled training samples makes the single vehicle detection methods incapable of accomplishing acceptable accuracy in road vehicle detection. This paper presents detection and classification of vehicles on publicly available datasets by utilizing the YOLO-v5 architecture. This paper’s findings utilize the concept of transfer learning through fine tuning the weights of the pre-trained YOLO-v5 architecture. To employ the concept of transfer learning, extensive data sets of images and videos of the congested traffic patterns were collected by the authors. These datasets were made more comprehensive by pointing various attributes, for instance high- and low-density traffic patterns, occlusions, and different weather circumstances. All of these gathered datasets were manually annotated. Ultimately, the improved YOLO-v5 structure becomes accustomed to any difficult traffic patterns. By fine-tuning the pre-trained network through our datasets, our proposed YOLO-v5 has exceeded several other traditional vehicle detection methods in terms of detection accuracy and execution time. Detailed simulations performed on the PKU, COCO, and DAWN datasets demonstrate the effectiveness of the proposed method in various challenging situations.

Efficient anomaly detection and traffic monitoring are the advance features of Intelligent Transportation Systems (ITS) while existing techniques struggle in handling hazardous scenarios in traffic. Traditional detection methods based on bounding-box approach as discussed in earlier studies, show reduced effectiveness with variable vehicle types and complex traffic patterns deployed in heterogeneous traffic environment. This paper presents an advanced framework of computer vision for real-time traffic monitoring and anomaly detection in different traffic environments. The system utilizes YOLOv8 instance segmentation models that achieves pixel-level accuracy in vehicle detection while maintaining real-time processing capabilities. Using user-defined regions of interest (ROIs) in the paradigm of road-region focused detection eliminates background interference. The proposed framework implements pixel-level vehicle segmentation and supports simultaneous vehicle counting, traffic density analysis and substantially improves accuracy in anomaly detection by eliminating background noise. The proposed system was authenticated on urban traffic datasets across all analyzed frames <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$(n=7)$</tex> proving exceptional performance with consistent anomaly detection. The results displayed noteworthy enhancement in processing efficiency and detection accuracy in comparison to existing methodologies, including average occupancy percentages ranging from 63.31 % to <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\text{7 1 \%}$</tex> and maximum occupancy reaching <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\text{9 3. 7 4 \%}$</tex>.

Increasing driving safety by virtue of advanced technology requires real-time and accurate detection of vehicles in far and close distance, which pose a threat to the host vehicle. This paper presents a real-time on-road vehicle detection algorithm based on monocular vision. First, auto-adapted threshold segmentation is proposed to extract shadow features. Then, a special mask is used for morphology computing to retain the features of vehicles in far and close distance. And, vanishing point constraint is applied for the fast verification of vehicles. Finally, the tracking of vehicles assists to stabilize the detection results. The experiments show that the average processing speed reaches 39 frames/ms, and the fast detection of vehicle under different weather conditions in the day time can also work accurately.

Intelligent Transportation Systems (ITS) are increasingly shifting toward data-driven and artificial intelligence-based frameworks that integrate sensing, prediction, and control to enhance mobility efficiency, safety, and adaptability. This dissertation contributes to the development of next-generation ITS through three complementary studies focusing on flexible traffic monitoring, real-time traffic forecasting, and stability-aware vehicle control. The first study develops a multi-drone framework for wide-view corridor traffic analysis and origin-destination (OD) estimation. By coordinating multiple unmanned aerial vehicles, as demonstrated with two drones in this study, the framework enables continuous vehicle tracking across extended corridors. A deep learning-based pipeline combining vehicle detection and tracking automatically reconstructs vehicle trajectories and matches them across drone views. Field experiments conducted at a freeway weaving section achieved over 91% accuracy in OD flow estimation compared with ground-truth data, demonstrating the framework’s effectiveness for scalable and high-resolution traffic monitoring. The second study proposes a day-specific spatial-temporal graph convolutional network (Day-STGCN) for real-time traffic forecasting. Building upon the classical STGCN architecture, the model integrates rolling historical time-dependent features with day-type categorization to capture both short-term variations and long-term recurring patterns. Using real-world sensor data, the model significantly improves prediction accuracy over baseline graph neural networks, providing robust day-aware forecasting that reflects realistic daily traffic dynamics. The third study investigates cooperative adaptive cruise control (CACC) and its effects on traffic string stability under varying market penetration rates of connected and automated vehicles (CAVs). Analytical derivations establish explicit stability conditions linking controller parameters, time headway, and control intervals in both homogeneous and heterogeneous traffic flows. The results reveal that appropriately designed CACC controllers enhance string stability even in mixed environments with different types of vehicles. Collectively, these studies present an integrated framework that advances ITS through data-driven sensing, learning, and control, offering theoretical and practical foundations for more intelligent, responsive, and stable transportation systems.

Aim. Threats of a non-physical nature have a significant effect on the security of intelligent transportation systems (ITS). They may have the form of unlawful interference in the development and implementation of ITS. The creation of a trusted framework for the development and implementation of ITS is examined as in the case of intelligent water transportation systems (IWTS). Problems. By decree of the President of the Russian Federation, ITS, telecommunications and security of information processing are among the priority areas of scientific and technological development. ITS technologies, as well as those involved in the creation of trusted, secure system and application software are among the most important critical high technologies. The operation of ITS involves wide use of computerised systems that implement the latest information and telecommunication technologies, automated and automatic control technologies, artificial intelligence that can pose security threats. ITS are to be developed and operated in a trusted environment. Methods. The paper used the methodology for ensuring the security of IWTS, development of secure hardware and software platforms for secure automated systems, methods of system analysis, dependability theory, information protection, and law. Results. The paper defines the problem of creating a trusted framework for the development and implementation of IWTS, the applicable terminology is developed. The author examined the effect of IWTS on the security of critical information infrastructure (CII) and national security, developed a model of relationships between the IWTS security domains taking into account threats of physical and non-physical origin. Examples of computer incidents within IWTS that caused consequences at the national and international levels are given. The composition of the IWTS facilities attributed to CII is defined, critical processes implemented by standard CII facilities as part of the IWTS are set forth. The author lists conceptual problems of IWTS security, defines the principles of creating a trusted framework for the development and implementation of IWTS. Conclusion. Ensuring the security of IWTS against modern threats requires solving a number of problems associated with the creation of a trusted framework for the development and implementation of IWTS. For the purpose of improving the timeliness and quality of their solution, the paper proposes an intuitive terminology that reflects the subject area and helps finding a common understanding of the security domain by experts from various industries. IWTS facilities have an effect on CII security and national security in general. That is taken into account in the model of relationships between IWTS security domains, demonstrated using cases of computer incidents within IWTS that caused consequences at the national and international level. Given the above, the paper lists IWTS facilities attributed to CII and sets forth examples of critical processes implemented by standard CII facilities as part of the IWTS. The defined list of conceptual IWTS security problems take into account the growing landscape of IWTS security threats that includes insecure software, hardware and software platforms, software and hardware systems and emerging technologies. When developing the principles for the creation of a trusted IWTS development and implementation framework, the author took into account the best practice of implementing the methodology for creating national secure hardware and software platforms of CII facilities that enables the creation of secure automated systems for various applications that are based on domestically-developed solutions. The examined matters are of a systemic nature, which allows using the findings in the development and implementation of ITS in other modes of transportation.

Intelligent transportation systems (ITS) depend on precise vehicle identification and speed estimation to provide real-time traffic monitoring, accident avoidance, and effective traffic flow management. This paper, a novel deep neural network (DNN)-based method for real-time vehicle detection and speed estimate is presented. For accurate vehicle detection, we use cutting-edge object detection models like YOLOv5, and we use computer vision algorithms to determine a vehicle's speed from video frames. The technology operates reliably in a range of environmental circumstances and processes real-time traffic video streams. High detection accuracy (above 95%) and accurate speed estimation with an average error margin of less than 5 km/h are demonstrated by the experimental findings. A scalable and economical architecture for traffic surveillance applications is provided by the suggested approach.

In recent years, deep learning models have seen extensive use in various domains, with the YOLO algorithm family emerging as a prominent player.YOLOv5, known for its real-time object detection capabilities and high accuracy, has been widely embraced in transportationrelated research.However, the introduction of YOLOv8 in early 2023 signifies a significant leap forward in object detection technology.Despite its potential, the literature on YOLOv8 remains relatively scarce, leaving room for exploration and adoption in research.This study pioneers real-time vehicle detection using the YOLOv8 algorithm.An in-depth analysis of YOLOv8n, the smallest scale model within the YOLOv8 series, was conducted to assess its suitability for real-time scenarios, particularly in Intelligent Transportation Systems (ITS).To reinforce its real-time capabilities, a parametric analysis covering image processing time, detection sensitivity, and input image characteristics was performed.To optimize model performance, a training dataset was created through flight tests using a custom autonomous drone, encompassing various vehicle variations.This ensures that the model excels in recognizing diverse motor vehicle configurations.The results reveal that even this compact sub-model achieves an impressive detection accuracy rate exceeding 80%.The study establishes that YOLOv8n, evaluated for the first time in ITS applications, effectively serves as an object detector for real-time smart traffic management.

We propose a method of real-time moving vehicle detection using infrared thermal images. It can detect moving vehicles robustly even for bad environments compared with conventional vehicle detection methods using visible light cameras. It can also measure the size of each vehicle around the clock. The algorithm we propose for this detection is designed for a high-speed processing without complicated calculations and also designed for a real-time vehicle detection by using a general-purpose personal computer. Experimental results of our method by use of infrared thermal traffic images both at daytime with vehicular shadows and at nighttime in darkness show that the vehicle detection accuracy is 100%.

The precise vehicle detection, following, and speed estimation are the essential elements of intelligent transportation system and traffic analytics. Conventional systems tend to be based on manual calibration or multi-sensors, which restrict scalability and flexibility. The paper introduces a vision-based, fully automated real-time vehicle monitoring system that combines the YOLO v11 object detector, an Enhanced SORT tracker to provide very robust multi-object tracking and an automatic camera calibration system to self-estimate the pixel-to-meter conversion ratio. The suggested system does not require manual calibration and takes advantage of such dimensions as typical vehicles, confidence-weighted fusion, and statistical filtering to stabilize scale estimation. Enhanced SORT tracker uses a Kalman filter-based motion model, and IOU + LAP association to get the same object ID and extract the velocity. Experimental results of testing on several traffic video streams show a mean processing rate of 25-30 frames/s, error of speed estimation of +-2 km/h and convergent calibration within 45 seconds. Structured CSV and JSON analytics are also produced by the system to analysis additional traffic flow and anomalies. The findings are that the suggested solution is a cost-efficient, scalable, and precise solution to real-time traffic monitoring and vehicle behavior analytics.

Automated traffic surveillance systems are widely used in intelligent transportation systems (ITS). However, the accuracy of video-based Vehicle Detection is heavily affected by complex environmental factors such as shadows, rain, illumination and glare. This paper introduces an approach to motion vehicle detection in complex condition over highway surveillance video. The framework is composed of two parts: background estimation and multi-feature extraction. A fast constrained Delaunay triangulation (CDT) algorithm based on constrained-edge priority is presented instead of complicated segmentation algorithms. We present a background block update modeling theory based on triangulation to estimate background self-adaptively. Consequently, we can get the difference between the current frame and the background model. After extracting features in triangular candidates, multi-feature eigenvector is created for each vehicle with Principal Component Analysis (PCA). We design a classifier to classify triangular candidate as a part of a real vehicle or not by Support Vector Machine (SVM). And then, a parallelogram is used to represent the vehicle's shape robustly. Finally, experiments using real video sequence are performed to verify the method proposed for complex environmental factors.

Rapid and precise vehicle recognition and classification are essential for intelligent transportation systems, and road target detection is one of the most difficult tasks in the field of computer vision. The challenge in real-time road target detection is the ability to properly pinpoint relatively small vehicles in complicated environments. However, because road targets are prone to complicated backgrounds and sparse features, it is challenging to detect and identify vehicle kinds fast and reliably. We suggest a new vehicle detection model called MEB-YOLO, which combines Mosaic and MixUp data augmentation, Efficient Channel Attention (ECA) attention mechanism, Bidirectional Feature Pyramid Network (BiFPN) with You Only Look Once (YOLO) model, to overcome this problem. Four sections make up this model: Input, Backbone, Neck, and Prediction. First, to improve the detection dataset and strengthen the network, MixUp and Mosaic data improvement are used during the picture processing step. Second, an attention mechanism is introduced to the backbone network, which is Cross Stage Partial Darknet (CSPDarknet), to reduce the influence of irrelevant features in images. Third, to achieve more sophisticated feature fusion without increasing computing cost, the BiFPN structure is utilized to build the Neck network of the model. The final prediction results are then obtained using Decoupled Head. Experiments demonstrate that the proposed model outperforms several already available detection methods and delivers good detection results on the University at Albany DEtection and TRACking (UA-DETRAC) public dataset. It also enables effective vehicle detection on real traffic monitoring data. As a result, this technique is efficient for detecting road targets.