A Real-Time Complex Road AI Perception Based on 5G-V2X for Smart City Security

Table 3

Lane line detection accuracy under different scenes in TSD-MAX dataset.

Factor		MPR (%)	FPR (%)	TPR (%)
Shadow	9,925	0.5	1.7	97.8
Damaged	11,343	1.4	0.5	98.1
Underexposed	6,243	1.8	1.7	96.5
Overexposed	15,343	1.7	0.8	97.5
Fog	9,561	3.1	1.0	95.9
Rain	13,290	0.6	0.9	98.5
Snow stain	8,424	1.3	3.5	95.2
Night	7,898	1.2	0.6	98.2