Table 2: The experiment data for comparison.

MethodsC. T. Chen and Y. S. Chen [17]Çayir and Acarman [18]Proposed
Processing time10  (ms)16  (ms)17 (ms)
TimeDaytimeNighttimeDaytimeDaytimeNighttime

RoadHUHUHUHUHU
Test minutes30603028306030603028
DR (%)10010010010082.3577.2710095.4510096.15
FAR (%)20.935641.5454.7322.2222.730007.41