Environment-aware millimeter wave radar (EMWR) is one of the most important sensors in autonomous driving system of car. With the rapid increase of the number of cars installed with millimeter-wave radar, the problem of mutual interference between radar is increasingly prominent, which seriously affects the road safety of cars. The interference types of millimeter wave radar can be divided into two types: Same frequency interference (SFI) and different frequency interference (DFI). Aiming at the influence of SFI and DFI of millimeter-wave radar on radar false alarm and leakage alarm, this paper proposes the anti-interference algorithm of environmental awareness millimeter-wave radar. The random initial frequency and random starting time are used to reduce the probability of signal collision to inhibit the interference. The Hilbert transformation is used to extract the envelope and gets the location of the interference signal. Furthermore, Lagrange interpolation is used to improve the accuracy of the location in DFI to reduce the effective of different frequency interference on EMWRs. The simulation results show that the above method can achieve an ideal effect.