Abstract: In the field of autonomous driving, autonomous driving systems need to use sensors to detect the road environment, and then build high-precision maps to describe the environmental characteristics. All-weather adaptability, accurate range, and Doppler velocity measurement capabilities make millimeter wave radar a candidate for sensors in advanced driver assistance system applications, but there is currently little research on the elimination of moving targets in environmental mapping based on millimeter wave radar. Therefore, millimeter wave radar is used to dig deep into the Doppler information in the environmental point cloud data, and a radar grid mapping method based on four-dimensional point cloud is proposed. This method has the characteristic of directly eliminating moving targets in the mapping process, which can get rid of the dependence on sensors such as odometer and accelerometer, and has the advantage of not being affected by light and dust. It is suitable for environmental perception under complex weather conditions in the field of autonomous driving. Simulation results verify the practicability of the proposed method.