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Both ultra-reliable low latency and high-data-rate communications are required by connective vehicles. Millimeter wave (mmWave) with large bandwidth is a key tech-nology to support high-data-rate communica-tions. In this paper, the 28 GHz wideband ve-hicle-to-infrastructure channel is characterized for the urban environment in a major street in Manhattan. The deployment of the transmitter and the receiver, as well as the traffic models, are selected by considering the recommenda-tion by 3GPP TR 37.885. Ray tracing simula-tor with calibrated electromagnetic parameters is employed in this work to practically conduct intensive simulations. The 3D environment model is reconstructed from OpenStreetMap. The power delay profile, path loss, root-mean-square delay spread, K-factor and so on, are extracted from the calibrated simulation re-sults. The evolution of the parameters, as well as their statistical properties, are analyzed and modeled. The work of this paper helps the re-searchers understand the propagation channel for designing mmWave technologies and com-munication system in a similar scenario.