Abstract
In order to improve the speed of road vehicle and lane line detection, a road vehicle and lane line detection method with improved YOLOv4-tiny algorithm is proposed by using K-means++ clustering algorithm instead of the original K-means algorithm. Using the Mosaic data enhancement method, four images are randomly deflated and then stitched into one image to enrich the detection target background. The optimal weight values are derived by multi-scale training using the GPU through image feature extraction of the BDD10K dataset to achieve the detection of vehicle and lane line targets in the images. The results show that the improved YOLOv4-tiny algorithm achieves a detection speed of 134 FPS and an average accuracy of 77.84% mAP in highway lane line detection. After comparison, the detection speed of the improved algorithm is significantly improved, effectively improving the efficiency of highway vehicle and lane line detection.
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