Provided are a filter estimation method and device for a vehicle-mounted millimeter wave radar for use in target tracking, and a storage medium. The method comprises: acquiring, by means of a vehicle-mounted millimeter wave radar, current motion state measurement data of a target object in a polar coordinate system; converting the acquired current motion state measurement data in the polar coordinate system to current motion state data in a cartesian coordinate system; and performing, on the basis of the current motion state data in the cartesian coordinate system and an optimal estimated value for a motion state parameter of the target object at a previous moment, calculation to obtain an optimal estimated value for the motion state parameter of the target object at a current moment. The method and device of the present invention occupy less resources and have high processing efficiency.
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