A target detection method according to the present disclosure includes generating a range-velocity map from a radar signal of an MPSK-MIMO FMCW radar, detecting a plurality of target signals including a real target signal and a ghost target signal for a target with respect to a velocity axis, estimating an angle of arrival of the target by applying a Capon beamforming algorithm to a target detection result, configuring a phase sequence by extracting phase values for the plurality of target signals from the range-velocity map and arranging the phase values in descending order of velocity value, and arranging differently a plurality of prediction phase values derived using the angle of arrival according to a preset rule to obtain a plurality of candidate phase sequences, and calculating a correlation coefficient between the phase sequence and the plurality of candidate phase sequences and identifying a real target signal in the range-velocity map.