Class

Precision

Recall

F1 score

Support

Speed limit (20 km/h)

1

1

1

19

Speed limit (30 km/h)

1

0.99

0.99

232

Speed limit (50 km/h)

1

0.95

0.97

146

Speed limit (60 km/h)

0.99

0.99

0.99

149

Speed limit (70 km/h)

0.98

0.99

0.99

189

Speed limit (80 km/h)

0.97

0.98

0.98

181

End of speed limit (80 km/h)

0.97

1

0.99

38

Speed limit (100 km/h)

0.99

0.98

0.98

129

Speed limit (120 km/h)

0.98

0.98

0.98

126

No passing

0.99

0.99

0.99

147

No passing for vehicles over 3.5 metric tons

0.98

0.99

0.99

188

Right-of-way at the next intersection

0.99

1

1

139

Priority road

0.99

0.99

0.99

196

Yield

1

1

1

203

Stop

1

0.99

0.99

84

No vehicles

0.97

1

0.98

60

Vehicles over 3.5 metric tons prohibited

1

1

1

50

No entry

0.98

1

0.99

100

General caution

0.97

1

0.98

98

Dangerous curve to the left

1

1

1

15

Dangerous curve to the right

1

0.97

0.99

37

Double curve

1

1

1

22

Bumpy road

1

1

1

40

Slippery road

1

0.95

0.98

44

Road narrows on the right

1

0.94

0.97

18

Road work

1

1

1

142

Traffic signals

0.98

0.98

0.98

60

Pedestrians

1

0.94

0.97

17

Children crossing

1

1

1

55

Bicycles crossing

1

1

1

35

Beware of ice/snow

0.98

1

0.99

46

Wild animals crossing

0.99

1

0.99

66

End of all speed and passing limits

0.86

1

0.93

19

Turn right ahead

1

1

1

63

Turn left ahead

1

1

1

41

Ahead only

1

1

1

94

Go straight or right

1

1

1

40

Go straight or left

1

1

1

16

Keep right

1

0.98

0.99

205

Keep left

0.93

1

0.96

40

Roundabout mandatory

0.96

0.96

0.96

28

End of no passing

0.89

1

0.94

17

End of no passing by vehicles over 3.5 metric tons

0.95

0.91

0.93

23

Accuracy

0.99

Macro avg.

0.98

0.99

0.99

3657

Weighted avg.

0.99

0.99

0.99

3657