YOLO-TKD: lightweight temporal interactive signal detection model for autonomous driving

Hu Zhenxiao; Yao Xiaoting; Xi Zhiyuan; Wang Xiao

doi:10.11959/j.issn.2096-6652.ZNKX26020

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YOLO-TKD: lightweight temporal interactive signal detection model for autonomous driving

Papers and Reports | 更新时间：2026-07-29

- YOLO-TKD: lightweight temporal interactive signal detection model for autonomous driving
- Chinese Journal of Intelligent Science and Technology Vol. 8, Issue 2, Pages: 196-206(2026)
- 作者机构：
  
  1.安徽大学人工智能学院，安徽合肥 230601
  2.安徽大学具身智能研究院，安徽合肥 230031
- 作者简介：
- 基金信息：
  
  The National Natural Science Foundation of China(62522601)
- DOI：10.11959/j.issn.2096-6652.ZNKX26020
  CLC： TP391
- Received：10 February 2026，
  
  Revised：2026-06-03，
  
  Accepted：05 June 2026，
  
  Online First：27 July 2026，
  
  Published：15 June 2026
- 稿件说明：
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胡振虓,姚肖婷,席治远等.YOLO-TKD：用于自动驾驶的轻量化时序交互信号检测模型[J].智能科学与技术学报,2026,08(02):196-206.

Hu Zhenxiao,Yao Xiaoting,Xi Zhiyuan,et al.YOLO-TKD: lightweight temporal interactive signal detection model for autonomous driving[J].Chinese Journal of Intelligent Science and Technology,2026,08(02):196-206.
胡振虓,姚肖婷,席治远等.YOLO-TKD：用于自动驾驶的轻量化时序交互信号检测模型[J].智能科学与技术学报,2026,08(02):196-206. DOI： 10.11959/j.issn.2096-6652.ZNKX26020.

Hu Zhenxiao,Yao Xiaoting,Xi Zhiyuan,et al.YOLO-TKD: lightweight temporal interactive signal detection model for autonomous driving[J].Chinese Journal of Intelligent Science and Technology,2026,08(02):196-206. DOI： 10.11959/j.issn.2096-6652.ZNKX26020.

摘要

在自动驾驶的感知任务中，准确理解交通参与者发出的交互信号是实现安全拟人化决策的关键。当前高精度模型难以实现实时交互信号检测，且普遍缺乏对转向灯闪烁、行人手势等动态时序信号的有效建模，导致复杂场景下漏检误判频繁发生，构成安全隐患。为此，提出一种面向自动驾驶边缘设备的轻量-时序-蒸馏协同优化框架模型，即轻量化时序知识蒸馏YOLO（YOLO-TKD），旨在解决交互信号检测中时序建模需求与计算资源受限的矛盾。该模型以YOLOv8n为基线，首先采用MobileNetV2作为主干网络以压缩模型规模；继而引入时序卷积网络模块（TCN），捕捉连续帧之间的动态依赖关系；最后，结合知识蒸馏策略（KD），保持其识别性能。实验结果表明，本方法的精确率、召回率和平均精度均值分别达到87.5%、86.4%和84.3%，相较于基线YOLOv8n分别提升了3.2%、2.6%和1.1%。同时，模型参数量减少26.3%。所提YOLO-TKD在显著降低资源消耗的同时，有效提升了交互信号检测的精度与时序鲁棒性，为自动驾驶边缘设备提供了可行的技术路径。

Abstract

In autonomous driving perception

accurate understanding of interaction signals is the key to safe

human-like decisions. Real-time detection of these signals is found difficult to achieve with current high-precision models. Effective modeling of dynamic temporal signals was generally lacking. However

effective modeling of dynamic temporal signals

such as turn signal flashes and pedestrian gestures. As a result

missed detections and false alarms occur frequently in complex scenarios

creating safety risks. To address this

a lightweight-temporal-knowledge distillation collaborative optimization model for autonomous driving edge devices was proposed

named lightweight temporal knowledge-distilled YOLO (YOLO-TKD). The model was designed to resolve the conflict between the need for temporal modeling in interactive signal detection and the constraints of computational resources. Firstly

the YOLOv8n baseline was adopted

with MobileNetV2 utilized as the backbone network to compress the model size. Subsequently

a temporal convolutional network (TCN) module was introduced to capture dynamic dependencies between consecutive frames. Finally

a knowledge distillation (KD) strategy was incorporated to maintain recognition performance. Experimental results on the dataset show that the proposed method achieves precision

recall

and mean average precision of 87.5%

86.4%

and 84.3%

respectively

which represent improvements of 3.2%

2.6%

and 1.1% over the baseline YOLOv8n. At the same time

the model parameter count is reduced by 26.3%. The proposed YOLO-TKD not only significantly reduces resource consumption but also effectively improves the accuracy and temporal robustness of interaction signal detection

providing a viable technical solution for autonomous driving edge devices.

关键词

Keywords

references

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