{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T16:22:17Z","timestamp":1779294137574,"version":"3.51.4"},"reference-count":41,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2021,5,1]],"date-time":"2021-05-01T00:00:00Z","timestamp":1619827200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012335","name":"national defense basic scientific research program of china","doi-asserted-by":"publisher","award":["6142006190201"],"award-info":[{"award-number":["6142006190201"]}],"id":[{"id":"10.13039\/501100012335","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Beijing Millions of Talents Project","award":["2020A07"],"award-info":[{"award-number":["2020A07"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61533008, 61603181, 61673208,61873125"],"award-info":[{"award-number":["61533008, 61603181, 61673208,61873125"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Distributed Sensor Networks"],"published-print":{"date-parts":[[2021,5]]},"abstract":"<jats:p> Image recognition is susceptible to interference from the external environment. It is challenging to accurately and reliably recognize traffic lights in all-time and all-weather conditions. This article proposed an improved vision-based traffic lights recognition algorithm for autonomous driving, integrating deep learning and multi-sensor data fusion assist (MSDA). We introduce a method to obtain the best size of the region of interest (ROI) dynamically, including four aspects. First, based on multi-sensor data (RTK BDS\/GPS, IMU, camera, and LiDAR) acquired in a normal environment, we generated a prior map that contained sufficient traffic lights information. And then, by analyzing the relationship between the error of the sensors and the optimal size of ROI, the adaptively dynamic adjustment (ADA) model was built. Furthermore, according to the multi-sensor data fusion positioning and ADA model, the optimal ROI can be obtained to predict the location of traffic lights. Finally, YOLOv4 is employed to extract and identify the image features. We evaluated our algorithm using a public data set and actual city road test at night. The experimental results demonstrate that the proposed algorithm has a relatively high accuracy rate in complex scenarios and can promote the engineering application of autonomous driving technology. <\/jats:p>","DOI":"10.1177\/15501477211018374","type":"journal-article","created":{"date-parts":[[2021,5,24]],"date-time":"2021-05-24T12:27:10Z","timestamp":1621859230000},"page":"155014772110183","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":30,"title":["An improved traffic lights recognition algorithm for autonomous driving in complex scenarios"],"prefix":"10.1177","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9901-432X","authenticated-orcid":false,"given":"Ziyue","family":"Li","sequence":"first","affiliation":[{"name":"Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"},{"name":"National Engineering Laboratory for Integrated Command and Dispatch Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qinghua","family":"Zeng","sequence":"additional","affiliation":[{"name":"Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuchao","family":"Liu","sequence":"additional","affiliation":[{"name":"National Engineering Laboratory for Integrated Command and Dispatch Technology, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianye","family":"Liu","sequence":"additional","affiliation":[{"name":"Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lin","family":"Li","sequence":"additional","affiliation":[{"name":"China Astronaut Research and Training Center, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2021,5,24]]},"reference":[{"issue":"4","key":"bibr1-15501477211018374","first-page":"53","volume":"36","author":"Liu Y","year":"2020","journal-title":"Telecomm. Sci"},{"key":"bibr2-15501477211018374","doi-asserted-by":"publisher","DOI":"10.3390\/s20041110"},{"key":"bibr4-15501477211018374","doi-asserted-by":"publisher","DOI":"10.3390\/e23020219"},{"key":"bibr5-15501477211018374","first-page":"618","volume-title":"2017 IEEE intelligent vehicles symposium (IV)","author":"Kim H"},{"key":"bibr6-15501477211018374","first-page":"1","volume-title":"2018 international conference on artificial intelligence and data processing (IDAP)","author":"Ar\u0131kan A"},{"key":"bibr7-15501477211018374","first-page":"201","volume-title":"International conference on image analysis and processing","author":"Diaz M"},{"key":"bibr9-15501477211018374","first-page":"2286","volume-title":"Proceedings of the IEEE Conference on Intelligent Transport Systems (ITSC)","author":"John V"},{"key":"bibr10-15501477211018374","first-page":"5784","volume-title":"2011 IEEE international conference on robotics and automation (ICRA)","author":"Levinson J"},{"key":"bibr11-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2209421"},{"key":"bibr12-15501477211018374","first-page":"409","volume-title":"2009 24th international conference image and vision computing","author":"Ren F"},{"issue":"3","key":"bibr13-15501477211018374","first-page":"151","volume":"17","author":"Liang M","year":"2017","journal-title":"J Traffic Transport Eng"},{"key":"bibr14-15501477211018374","first-page":"1","volume-title":"International conference on electronics, information, and communication","author":"Lee S"},{"key":"bibr15-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2208909"},{"key":"bibr16-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1162\/neco.2006.18.7.1527"},{"key":"bibr17-15501477211018374","first-page":"1097","volume":"60","author":"Krizhevsky A","year":"2012","journal-title":"Adv Neural Informati Process Syst"},{"key":"bibr18-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-015-0816-y"},{"key":"bibr20-15501477211018374","first-page":"1","volume-title":"Proceeding of the IEEE conference on computer vision and pattern recognition","author":"Szegdy C"},{"key":"bibr21-15501477211018374","first-page":"770778","volume-title":"Proceedings of the IEEE conference on computer vision and pattern recognition","author":"He K"},{"key":"bibr22-15501477211018374","first-page":"28092813","volume-title":"2011 international joint conference on neural networks","author":"Sermanet P"},{"key":"bibr25-15501477211018374","first-page":"774783","volume-title":"11th symposium on visual computing","author":"Jensen MB"},{"key":"bibr26-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2496795"},{"key":"bibr27-15501477211018374","volume-title":"International conference on computer vision theory and applications (VISAPP)","author":"Siogkas G"},{"issue":"2","key":"bibr28-15501477211018374","first-page":"219225","volume":"28","author":"Li Z","year":"2020","journal-title":"J Chinese Inertial Tech"},{"key":"bibr29-15501477211018374","first-page":"427432","volume-title":"2019 IEEE 4th international conference on image, vision and computing (ICIVC)","author":"Wu Y"},{"key":"bibr30-15501477211018374","first-page":"54215426","volume-title":"2011 IEEE international conference on robotics and automation","author":"Fairfield N"},{"key":"bibr31-15501477211018374","first-page":"342348","volume-title":"2016 IEEE intelligent vehicles symposium","author":"Weber M"},{"key":"bibr32-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2019.0782"},{"key":"bibr33-15501477211018374","first-page":"280285","volume-title":"2018 21st international conference on intelligent transportation systems","author":"Kim J"},{"key":"bibr34-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/2365414"},{"key":"bibr35-15501477211018374","volume-title":"International conference on robotics and automation (ICRA)","author":"Behrendt K"},{"key":"bibr36-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2018.2849505"},{"key":"bibr37-15501477211018374","first-page":"266273","volume-title":"2018 21st international conference on intelligent transportation systems (ITSC)","author":"M\u00fcller J"},{"key":"bibr38-15501477211018374","first-page":"300313","volume":"19","author":"Ouyang Z","year":"2020","journal-title":"IEEE Trans Mobile Comp"},{"key":"bibr39-15501477211018374","first-page":"606","volume-title":"2017 IEEE Intelligent Vehicles Symposium","author":"Saini S"},{"key":"bibr40-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2017.07.003"},{"key":"bibr41-15501477211018374","first-page":"573578","volume-title":"2015 IEEE intelligent vehicles symposium (IV)","author":"Barnes D"},{"key":"bibr43-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2020.3026081"},{"key":"bibr44-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1177\/0954407020965760"},{"key":"bibr45-15501477211018374","doi-asserted-by":"publisher","DOI":"10.1007\/s10291-018-0809-8"},{"key":"bibr46-15501477211018374","doi-asserted-by":"publisher","DOI":"10.3390\/s17030641"},{"key":"bibr49-15501477211018374","first-page":"18001815","volume":"17","author":"Jensen MB","year":"2015","journal-title":"IEEE Trans Intel Transport Syst"}],"container-title":["International Journal of Distributed Sensor Networks"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/15501477211018374","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/15501477211018374","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/15501477211018374","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,5,24]],"date-time":"2021-05-24T12:27:30Z","timestamp":1621859250000},"score":1,"resource":{"primary":{"URL":"http:\/\/journals.sagepub.com\/doi\/10.1177\/15501477211018374"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5]]},"references-count":41,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2021,5]]}},"alternative-id":["10.1177\/15501477211018374"],"URL":"https:\/\/doi.org\/10.1177\/15501477211018374","relation":{},"ISSN":["1550-1477","1550-1477"],"issn-type":[{"value":"1550-1477","type":"print"},{"value":"1550-1477","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5]]}}}