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

Table 2

Introduction to traffic incidents, application scenarios, and sensor detection capabilities.

Category	Incident	Radar	Camera	Applicable roadway
Trajectory-based	Speeding	Excellent	Fair	City crossroads, highway
	Retrograde vehicle	Excellent	Excellent	City crossroads, highway
	Occupation of emergency lanes	Excellent	Excellent	Highway
	Illegal lane changes	Excellent	Excellent	City crossroads, highway
Inference-based	Lane queuing	Fair	Excellent	City crossroads
	Abnormal stop	Fair	Excellent	City crossroads, highway
Target classification-based	Intrusion in forbidden area	Fair	Excellent	City crossroads, highway