Table 1. Ablation experiment on Udacity self driving car dataset.

Methods	P	R	mAP@.5 (%)	Parameters (MB)	GFLOPS	FPS
Baseline	91.2	74.5	86.1	6.76	16.6	55.6
+SIoULoss	90.2	75.6	86.8	6.76	16.6	62.5
+DH	80.1	87.1	87.4	13.73	57.1	34.5
+DHs	73.1	88.2	86.8	10.35	37.2	41.7
+GAM	94	76.2	87.9	28.65	74.3	21.3
+GAMGC	89.8	76.2	87.1	12.57	31.9	41.7
+GAMDW	92.3	75.5	87.2	7.76	19.3	47.6
SIoU+DHs+GAMGC	76	88.6	88.3	16.16	52.6	30.3