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The accuracy of monitoring equipment carried by intelligent vehicles in identifying obstacle targets affects the vertical and horizontal obstacle avoidance ability of driving vehicles. To avoid collisions between vehicles and obstacles and improve the longitudinal and transverse obstacle avoidance ability of intelligent vehicles, a millimeter wave radar based intelligent vehicle longitudinal and transverse active obstacle avoidance control system is designed. In the bottom control unit, connect the longitudinal and transverse navigation control components and millimeter wave radar cameras as needed to complete the component structure design of the intelligent vehicle longitudinal and transverse active obstacle avoidance control system. Using the vehicle obstacle avoidance images obtained from millimeter wave radar monitoring, define the spatial coordinate system conversion conditions, and achieve intelligent vehicle obstacle avoidance path planning based on millimeter wave radar by calibrating radar camera parameters. Establish a vehicle longitudinal and transverse motion model, based on the calculation results of obstacle avoidance safety distance, improve the specific control process, and combine the hardware application structures at all levels to complete the design of an intelligent vehicle longitudinal and transverse active obstacle avoidance control system based on millimeter wave radar. The experimental results show that the designed system can ensure that the distance between the vehicle body and the obstacle is greater than 0.3m when the intelligent vehicle passes through the obstacle target, and can avoid collision behavior. For the on-board monitoring equipment, its accurate recognition ability for the obstacle target is guaranteed, and it can effectively improve the vertical and horizontal obstacle avoidance ability of the intelligent vehicle.