Traffic Incident Detection Based on mmWave Radar and Improvement Using Fusion with Camera

Table 1

Radar output data format.

Data type	Description
ID	Target indication number
Velocity	Radial velocity of target
Range	Radial distance between target and radar
Azimuth	The angle between the target bearing and the radar normal
Length	Radial length of target
SNR	Signal-to-noise ratio
RCS	Measure of a target’s ability to reflect electromagnetic wave