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

Table 4

Incident detection results in crossroad scenario.

Category	Incident	Radar	Camera	Radar-camera fusion	Ground truth	RAR of radar	RAR of camera	RAR of fusion
Trajectory-based	Speeding	370	340	370	378	97.88	89.95	97.88
	Retrograde vehicle	399	399	399	399	100	100	100
	Occupation of emergency lanes	351	369	369	370	94.86	99.73	99.73
	Illegal lane changes	343	350	352	370	92.70	94.59	95.13
Inference-based	Lane queuing	237	380	380	385	61.56	98.70	98.70
	Abnormal stop	210	375	375	380	55.26	98.68	98.68
Target classification-based	Intrusion in forbidden area	531	374	374	380	60.26	98.42	98.42