I. Introduction
According to a technical report by the National Highway Traffic Safety Administration (NHTSA), 94% of road accidents are caused by human faults [1]. In recent years, the rapid development of computer vision and deep learning technology has led to significant breakthroughs in computer vision, making driverless technology an increasingly popular research direction in the field of autonomous driving. In this context, the development of driverless systems holds great promise in preventing accidents, reducing emissions, providing transportation for individuals with limited mobility, and alleviating the stress associated with driving. Driverless technology has vast potential applications that can bring about substantial changes in transportation, logistics distribution, and urban planning. However, the precise real-time detection and tracking of objects are of utmost importance for ensuring efficient and accurate driverless systems.