Table 5.

Based on the Waymo open dataset, select the comparison of different environmental factors in terms of ODA and OASR indicators.

Method	Datasets: Waymo open dataset (Sun et al., 2020)
	Ambient condition
	Day		Night		Sunny day		Rainy day
	ODA (%)	OASR (%)	ODA (%)	OASR (%)	ODA (%)	OASR (%)	ODA (%)	OASR (%)
Xue et al. (2023)	85.16	92.45	85.16	92.45	85.16	92.45	85.16	92.45
Hao et al. (2023)	93.22	93.04	86.21	91.04	73.28	94.71	91.65	90.78
Taghavifar et al. (2023)	86.02	94.25	74.98	90.16	83.23	95.71	78.51	95.11
Lin et al. (2023)	84.81	93.65	79.53	93.69	70.37	92.86	81.81	86.05
Tan et al. (2023)	70.98	90.56	92.37	92.54	70.65	92.27	70.29	92.92
Xu L. et al. (2023)	91.84	93.36	90.96	93.71	83.02	94.98	84.11	86.91
Ours	95.62	94.96	93.89	95.16	89.49	95.86	92.03	95.78