Abstract: Millimeter wave radar has become one of the mainstream sensors in the Internet of Vehicles, which can be used for multi-target tracking in traffic scenes. In this paper, millimeter-wave radar is installed above the road to track traffic targets. aiming at the problem that multipath noise is difficult to remove and vertical traffic target point clouds are difficult to distinguish in multi-target tracking based on intra-frame DBSCAN (density-based spatial clustering of applications with noise) clustering, a multi-target tracking method of millimeter-wave radar traffic based on inter-frame dbscan clustering is proposed. The algorithm uses multi-frame merging processing, uses frame order features to solve the multipath noise problem, and uses spatial vertical segmentation method to improve the shortcomings of the original algorithm in the vertical target discrimination. In this paper, six groups of experiments in different actual scenes prove that this method improves the tracking results in different degrees compared with the original method in different scenes.