This study addresses the virtual testing of intelligent driving, examines the key problems in modeling and simulating millimeter wave radar environmental clutter, and proposes a modeling and simulation method for the environmental clutter of millimeter wave radar in intelligent driving. First, based on the attributes of intelligent vehicle millimeter wave radar, the classification characteristics of the traffic environment of an intelligent vehicle and the generation mechanism of radar environmental clutter are analyzed. Next, the statistical distribution characteristics of the clutter amplitude, the distribution characteristics of the power spectrum, and the electromagnetic dielectric characteristics are analyzed. The simulation method of radar clutter under environmental conditions such as road surface, rainfall, snowfall, and fog are deduced and designed. Finally, experimental comparison results are utilized to validate the model and simulation method.