Multipath false target judgment method of millimeter wave radar

The invention belongs to the technical field of intelligent driving, and particularly relates to a multipath false target judgment method of a millimeter wave radar. Comprising the steps that a point cloud picture output by a millimeter wave radar is acquired, and all moving point clouds in the point cloud picture are determined according to the projection speed of the point clouds in the point cloud picture in the forward direction of an automobile and the automobile speed; all the moving point clouds are clustered, and a plurality of moving targets are determined; the target orientation of each moving target is extracted through N target orientation extraction algorithms, each moving target obtains N pieces of target orientation data, and N is a natural number larger than or equal to 2; and according to the N target orientation data of each moving target, judging whether each moving target is a multipath false target. According to the method, the orientation of the moving target is calculated through multip