Abstract: In order to solve the problems of false target information and high computational complexity of multi-target pairing in frequency Modulated Continuous Wave (FMCW) radar, an improved trapezoidal wave multi-target detection algorithm is proposed. The algorithm adopts the different cycle trapezoidal wave modulation waveform, and adds the sawtooth wave inspection period after that. False targets are removed by setting a threshold for the tolerance frequency. Through two steps: first using constant frequency band and then using sawtooth wave inspection band, the range and velocity information of targets is identified. The real vehicle test results show that the improved algorithm can effectively eliminate false targets and reduce the computational complexity.