Table 2. Proportion of challenging scenarios on the CULane test set.
| Type | Percentage (%) |
|---|---|
| Normal | 27.7 |
| Corwded | 23.4 |
| Night | 20.3 |
| No line | 11.7 |
| Shadow | 2.7 |
| Arrow | 2.6 |
| Dazzle light | 1.4 |
| Curve | 1.2 |
| Crossroad | 9.0 |
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