Vehicle-mounted millimeter wave radar emits millimeter wave outward through the antenna, receives the reflected signal of the target, and quickly obtains the physical environment information around the car body after rear processing (such as the relative distance, relative speed, Angle, direction of movement, etc.), and then carries out target tracking and identification classification according to the detected object information. Then the data fusion is combined with the dynamic information of the car body, and the intelligent processing is finally carried out by the central processing unit (ECU). After a reasonable decision, inform or warn the driver in a variety of ways such as sound, light and touch, or actively intervene in the car in time, so as to ensure the safety and comfort of the driving process and reduce the probability of accidents.