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

Table 5

Incident detection results in night long road scenario.

Category	Incident	Radar	Camera	Radar-camera fusion	Ground truth	RAR of radar	RAR of camera	RAR of fusion
Trajectory-based	Speeding	310	172	310	330	93.94	52.12	93.94
	Retrograde vehicle	317	270	317	317	100	100	100
	Occupation of emergency lanes	324	281	326	357	90.76	78.71	91.32
	Illegal lane changes	321	263	322	355	90.42	74.08	90.70