With the rapid advancement of autonomous driving technology, efficient and accurate object detection capabilities have become crucial factors in ensuring the safety and reliability of autonomous driving systems. However, in low-visibility environments such as hazy conditions, the performance of traditional object detection algorithms often degrades significantly, failing to meet the demands of autonomous driving. To address this challenge, this paper proposes two innovative deep learning models: YOLO-Vehicle and YOLO-Vehicle-Pro. YOLO-Vehicle is an object detection model tailored specifically for autonomous driving scenarios, employing multimodal fusion techniques to combine image and textual information for object detection. YOLO-Vehicle-Pro builds upon this foundation by introducing an improved image dehazing algorithm, enhancing detection performance in low-visibility environments. In addition to model innovation, this paper also designs and implements a cloud-edge collaborative object detection system, deploying models on edge devices and offloading partial computational tasks to the cloud in complex situations. Experimental results demonstrate that on the KITTI dataset, the YOLO-Vehicle-v1s model achieved 92.1% accuracy while maintaining a detection speed of 226 FPS and an inference time of 12ms, meeting the real-time requirements of autonomous driving. When processing hazy images, the YOLO-Vehicle-Pro model achieved a high accuracy of 82.3% mAP@50 on the Foggy Cityscapes dataset while maintaining a detection speed of 43 FPS.

本研究针对传统物体检测算法在低能见度环境中的性能下降问题，提出了YOLO-Vehicle和YOLO-Vehicle-Pro两种创新的深度学习模型。通过引入增强的图像去雾算法和云-边协同系统，此研究显著提升了自动驾驶在恶劣天气条件下的物体检测精度及效率。

YOLO-Vehicle-Pro: 一种云-边协同框架用于恶劣天气条件下的自动驾驶物体检测