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Congested regions in videos put forward higher requirements for target detection algorithms, and the key detection of congested regions provides optimization directions for improving the accuracy of detection algorithms. In order to make the target detection algorithm pay more attention to the congested area, an automatic selection method of a traffic congestion area based on surveillance videos is proposed. Firstly, the image is segmented with superpixels, and a superpixel boundary map is extracted. Then, the mean filtering method is used to process the superpixel boundary map, and a fixed threshold is used to filter pixels with high texture complexity. Finally, a maximin method is used to extract the traffic congestion area. Monitoring data of night and rainy days were collected to expand the UA-DETRAC data set, and experiments were carried out on the extended data set. The results show that the proposed method can realize automatic setting of the congestion area under various weather conditions, such as full light, night and rainy days.

Pedestrian tracking is an important aspect of autonomous vehicles environment perception in a vehicle running environment. The performance of the existing pedestrian tracking algorithms is limited by the complex traffic environment, the changeable appearance characteristics of pedestrians and the frequent occlusion interaction, which leads to the insufficient accuracy and stability of tracking. Therefore, this paper proposes a detector–tracker integration framework for autonomous vehicle pedestrian tracking. Firstly, a pedestrian objects detector based on the improved YOLOv7 network was established. Space-to-Depth convolution layer was adopted to improve the backbone network of YOLOv7. Then, a novel appearance feature extraction network is proposed, which integrates the convolutional structural re-parameterization idea to construct a full-scale feature extraction block, which is the optimized DeepSORT tracker. Finally, experiments were carried out on MOT17 and MOT20 public datasets and driving video sequences, and the tracking performance of the proposed framework was evaluated by comparing it with the most advanced multi-object tracking algorithms. Quantitative analysis results show that the framework has high tracking accuracy. Compared with DeepSORT, MOTA improves by 2.3% in the MOT17 dataset and MOTA improves by 4.2% in the MOT20 dataset. Through qualitative evaluation on real driving video sequences, the framework proposed in this paper is robust in a variety of climate environments, and can be effectively applied to the pedestrian tracking of autonomous vehicles.

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