A Vehicle Detection Model Based on 5G-V2X for Smart City Security Perception

Table 1

Comparison of multiple detection algorithms.

Model	/%	/%	mAP/%	Time/s
Faster-RCNN [16]	93.2%	90.3%	91.5%	0.548
SSD [14]	85.6%	79.1%	82.3%	0.173
CenterNet [27]	87.8%	86.4%	87.2%	0.195
YOLOv3 [13]	86.3%	83.1%	84.8%	0.192
YOLOv4 [28]	89.2%	86.6%	87.4%	0.188
Ours	95.3%	92.7%	94.9%	0.185