Table 5 Comparison of detection head experiment results.

From: Object detection model of vehicle-road cooperative autonomous driving based on improved YOLO11 algorithm

Model

mAP@0.5%

P%

R%

mAP@0.5–95%

YOLO11

83.3

82.4

77

59.6

YOLO11-BiFPN30

83.7

82.2

77.4

59.7

YOLO11-PANet31

82.4

81.8

76.2

58.0

YOLO11-Dyhead32

83.0

82.3

77.1

59.4

YOLO11-AFPN33

83.5

82.4

77.6

59.5

YOLO11-LSCD

84.1

83.2

77.8

60.4

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