Development of AI-Based Vehicle Detection and Tracking System for C-ITS Application

Table 5

Overall performance.

No.	Evaluation item	Number of samples (frame)	Subitems	Value	Unit	Evaluation method
1	Object detection	6804	—	99	%	Detection rate
2	Object classification	6804	Car	95	%	MAP
			Truck	87	%	MAP
			Bus	81	%	MAP
3	Trajectory location	60531	—	1.138	Meter	Mean Euclidean distance
4	Traffic volume	60531	—	4.20	Number of vehicles	RMSE
				16.41	Error rate	MAPE
5	Queue length	62205	—	3.08	Meter	RMSE
				18.28	Error rate	MAPE