Elevation Data Features Analysis of Vehicle Targets Detected by 4D Millimeter-Wave Radar Based on Statistical Methods

Traditional traffic millimeter-wave radar can obtain the distance, speed, and azimuth angle of the vehicles driving on road plane, while lacking the elevation information of the targets which is an important feature in spatial dimension for vehicle type classification. In this paper, the statistical methods are used to analyze the elevation features of different vehicle types acquired by 4D millimeter-wave radar in actual road scenario. The statistical parameters of the overall elevation data and cross-section elevation data at different horizontal distances are calculated. Besides, the probability distributions and the skewness characteristics are further presented. The data analysis results show that there are significant differences in elevation probability distribution and skewness features between small and large vehicles, providing evidence for classification of different vehicle types using 4D millimeter-wave radar.