Identifying objects with radar is in great demand to avoid road accidents. Recent research tried to identify moving objects on a road by inputting radar information to a machine learning classifier. In the conventional method, the features used in the machine learning are extracted from the observed radar information with a short time interval. Since the movement of the objects is different depending on the objects, time series information is effective for classification, which has not been exploited before. In this paper, we propose an on-road object identification considering time series of radar information. We measured objects with 79.5 GHz millimeter-wave radar and extract features from a series of time windows by calculating the mean and variance of object information, i.e., velocity, distance, and signal power. The classification performance was evaluated with a dataset obtained by on-road experiments. It is shown that our method outperforms the conventional one and the proposed features significantly contribute to the accurate identification.