基于深度学习的高速公路小目标检测算法

doi:10.13229/j.cnki.jdxbgxb.20230939

Abstract

Abstract:

To address the challenging issue of real-time detection of small distant pedestrians and vehicles in images captured by roadside cameras on expressways， an improved object detection algorithm YOLOv5s-3S-4PDH was proposed. Firstly， the Shufflenetv2-Stem-SPPF network structure was used to improve the running speed of the algorithm. Secondly， the accelerated normalized weighted fusion feature map and the 160×160 small object detection layer were introduced to optimize the performance of small object detection； Then， the improved decoupling head mechanism was introduced to improve the localization and classification accuracy of small object detection. Finally， Focal EIoU was used as the localization loss function of the algorithm to accelerate the training convergence speed of the algorithm. The results show that： compared with the YOLOv5s on the self-built pedestrian and vehicle dataset， the computation and parameter amount of the proposed algorithm are reduced by 10.1% and 24.6%， respectively， and the detection speed and accuracy are increased by 15.4% and 2.1%， respectively； Transfer learning experiment on the VisDrone2019 dataset shows that the proposed algorithm has better average precision for all categories. The proposed algorithm not only meets the real-time and accuracy requirements of small object detection， but also has generalization ability.

Key words: transportation planning and management, expressway, object detection, deep learning

CLC Number:

U495

Hui-zhi XU,Dong-sheng HAO,Xiao-ting XU,Shi-sen JIANG. Expressway small object detection algorithm based on deep learning[J].Journal of Jilin University(Engineering and Technology Edition), 2025, 55(6): 2003-2014.

Figures/Tables 18

Fig.1

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Fig.5

Fig.6

Fig.7

Fig.8

Table 1

Table 2

Experimental hyperparameters"

超参数	系数值
初始学习率	0.01
循环学习率	0.01
动量	0.937
权重衰减系数	0.000 5
预热学习轮数	3.0
预热学习动量	0.8
预热初始偏置学习率	0.1
边界框回归损失系数	0.05
分类损失系数	0.5
置信损失系统	1.0
有无物体BCE Loss中正样本权重	1.0
分类BCE Loss中正样本权重	1.0
$I o U$ 训练阈值	0.2
Anchor的宽高比	4.0

Table 2

Table 3

Comparative experimental results of different backbone networks"

模型	主干网络	$A P @ 0.5 / %$		$m A P @ 0.5 / %$	$F P S$	$P a r a m s /$ 10⁶	$F L O P s /$ 10⁹
模型	主干网络	行人	车辆	$m A P @ 0.5 / %$	$F P S$	$P a r a m s /$ 10⁶	$F L O P s /$ 10⁹
YOLOv5s	C3Net	89.3	95.3	92.3	26.6	7.02	15.8
YOLOv5s-1S	Shufflenetv2	83.0	93.9	88.5	50.2	3.34	7.3
YOLOv5s-2S	Shufflenetv2-Stem	86.7	92.3	90.4	48.7	3.36	9.0
YOLOv5s-3S	Shufflenetv2-Stem-SPPF	88.1	94.9	91.5	46.5	4.02	9.5

Table 3

Table 4

Ablation experiment results"

序号	Focal EIoU	BiFPN	解耦头	增加160×160 检测层	$A P @ 0.5 / %$		$m A P @ 0.5 / %$	$F P S$	$P a r a m s /$ 10⁶	$F L O P s /$ 10⁹
序号	Focal EIoU	BiFPN	解耦头	增加160×160 检测层	行人	车辆	$m A P @ 0.5 / %$	$F P S$	$P a r a m s /$ 10⁶	$F L O P s /$ 10⁹
YOLOv8s					91.8	95.9	93.8	29.6	11.1	28.4
1					88.1	94.9	91.5	46.5	4.02	9.5
2	??				88.3（+0.2）	95.2（+0.3）	91.8（+0.3）	45.4	4.02	9.5
3	??	??			88.6（+0.3）	95.3（+0.1）	91.9（+0.1）	40.1	4.17	10.2
4	??	??	??		90.1（+0.5）	95.4（+0.1）	92.7（+0.8）	38.6	4.40	10.9
5	??	??	??	??	93.1（+3.0）	95.5（+0.1）	94.4（+1.7）	30.7	5.31	14.2

Table 4

Table 5

Algorithm performance comparison"

算法	$m A P @ 0.5$	$F P S$	$P a r a m s$	$F L O P s$
YOLOv5s	+2.1	+15.4	-24.6	-10.1
YOLOv8s	+0.6	+3.7	-52.2	-50.0

Table 5

Fig.9

Fig.10

Fig.11

Table 6

Results of the transfer learning experiment"

种类	YOLOv5s			YOLOv5s-3S-4DPH
种类	$P / %$	$R / %$	$A P @ 0.5 / %$	$P / %$	$R / %$	$A P @ 0.5 / %$
pedestrian	48.5	39.7	40.7	56.4	41.7	45.6
people	45.2	35.6	33.5	49.8	35.2	36.4
bicycle	29.1	16.9	13.8	29.0	16.7	14.5
car	64.0	73.5	74.4	67.2	80.9	81.1
van	47.5	36.9	36.8	50.7	41.8	42.2
truck	55.3	30.9	32.2	47.0	31.6	32.3
tricycle	40.7	23.1	19.9	44.2	25.1	24.6
awning-tricycle	24.0	11.6	10.4	26.7	15.4	13.3
bus	61.1	43.8	46.8	62.5	50.2	53.3
motor	48.0	43.2	39.1	53.7	45.3	44.6
$m A P @ 0.5 / %$	34.8			38.8
$m A P @ 0.5 : 0.95 / %$	19.2			22.1

Table 6

Fig.12

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环境项	环境规格
CPU	Inter（R） Core（TM） i9-12900
内存	64 GB
显卡	NVIDA RTX A4000
操作系统	Windows 11
编程语言	Python 3.9.10
深度学习框架	Pytorch 1.12.1
集成开发环境	Pycharm社区版2022.3.2
CUDA	12.0
CUDNN	8.3.2

Expressway small object detection algorithm based on deep learning

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