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The improvement in obstacle detection in autonomous vehicles using YOLO non-maximum suppression fuzzy algorithm

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Abstract

Numerous changes in algorithms have been observed by object detection to enhance both speed and accuracy. In this research, we present a method to improve the behavioral clone of self-driving cars. Thus, we first create a collection of videos and information required for safe driving on different routes and conditions. The detection of obstacles is done with the proposed algorithm called “YOLO non-maximum suppression fuzzy algorithm, which performs the driver reaction to obstacles with greater accuracy and more speed than the obstacles detection algorithms using the designed framework. The network is trained by the driver's performance, and hence, the output used to control the vehicle is obtained. The non-maximum suppression algorithm plays an essential role in object detection and tracking. An effective hybrid method of fuzzy and NMS algorithms is provided in this paper to improve the problem mentioned. The proposed method improves the average accuracy of the detection network. The performance of the designed algorithm was examined using two different types of KITTI data and the data collected using the personal vehicle and the data we gathered. The proposed algorithm was assessed with evaluation accuracy criteria, which revealed that the method has a higher speed (above 64.41%), a lower FPR (below 6.89%), and a lower FNR (below 3.95%) compared with the baseline YOLOv3 model. According to the loss function, the accuracy rate of the network performance is 95%, implying that we have achieved good results.

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Authors and Affiliations

  1. Department of Computer Engineering, Shahr-e-Qods Branch, Islamic Azad University, Tehran, Iran

    Nayereh Zaghari & Seyed Mahdi Jameii

  2. School of Computer Science, Institute for Research in Fundamental Sciences, Tehran, Iran

    Mahmood Fathy

  3. Department of Computer Engineering, IRAN University of Science and Technology (IUST), Tehran, Iran

    Mohammad Shahverdy

Authors
  1. Nayereh Zaghari
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  2. Mahmood Fathy
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  3. Seyed Mahdi Jameii
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  4. Mohammad Shahverdy
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Correspondence to Seyed Mahdi Jameii.

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Zaghari, N., Fathy, M., Jameii, S.M. et al. The improvement in obstacle detection in autonomous vehicles using YOLO non-maximum suppression fuzzy algorithm. J Supercomput 77, 13421–13446 (2021). https://doi.org/10.1007/s11227-021-03813-5

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  • DOI: https://doi.org/10.1007/s11227-021-03813-5

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