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The rapid development of autonomous driving technology has driven continuous innovation in perception systems, with 4D millimeter-wave (mmWave) radar being one of the key sensing devices. Leveraging its all-weather operational characteristics and robust perception capabilities in challenging environments, 4D mmWave radar plays a crucial role in achieving highly automated driving. This review systematically summarizes the latest advancements and key applications of 4D mmWave radar in the field of autonomous driving. To begin with, we introduce the fundamental principles and technical features of 4D mmWave radar, delving into its comprehensive perception capabilities across distance, speed, angle, and time dimensions. Subsequently, we provide a detailed analysis of the performance advantages of 4D mmWave radar compared to other sensors in complex environments. We then discuss the latest …