Proposing Lane and Obstacle Detection Algorithm Using YOLO to Control Self-Driving Cars on Advanced Networks

Table 2

The parameters of the simulation system.

No.	Parameter	Values
1	Road type	Limited access highway, mountain road, and urban road
2	Vehicle	Mixed traffic (car, pedestrian, traffic lights, etc.)
3	Weather conditions	Dry, clear, rain, and cloud
4	Camera	Camera HD-RGB, resolution 1280  720, and JPEG format
5	Roadway surface conditions	Dry, wet, and undamaged
6	Average speed	1.335 seconds
7	Processor	Intel Core i5-9300H CPU 2.4 GHz
8	The maximum length of detected lane	32 meters
9	YOLOv4	Input: 416  416; and output: 80 classes
10	Software	Windows 10 64 bits, Python 3.7 bits, and OpenCV 4.1.0
11	TuSimple dataset	3626 training and 2782 testing videos
12	Lane width	0  4 meters