Table 3.

Vehicle detection evaluation metrics of different algorithms using different datasets.

Algorithm	KITTI Dataset				MATLAB/Simulink Simulation Dataset
	Precision	Recall	F1-Score	FPS	Precision	Recall	F1-Score	FPS
PointNet++	87.29%	86.59%	86.94%	2.1	92.88%	92.00%	92.44%	2.8
VoxelNet	91.91%	89.98%	90.94%	5.0	95.67%	92.76%	94.20%	6.7
Our Method	95.75%	98.22%	96.97%	35.9	98.11%	99.05%	98.58%	38.9