Research on radar-based non-contact vital sign monitoring systems is critical during the COVID-19 epidemic. The accuracy of remote vital sign measurements has increased with the advancement of radar technology and various algorithms. Most studies require subjects to remain stationary, such as standing, sitting in a chair, or lying on a bed, and various measurement algorithms have been proposed. However, maintaining a stationary state as a prerequisite for measurement limits the development and application prospects of radar-based vital sign monitoring systems. Therefore, this paper presents a novel method for monitoring the vital signs of moving targets using a millimeter-wave frequency-modulated continuous-wave (FMCW) radar. The experimental results showed that regardless of whether the subjects walked at 1 m/s or with the left side of their body facing the radar, the accuracy of the heart rate measurement remained high. In the fixed-route experiments, the root mean squared error (RMSE) for heart rate estimation was 4.09 bpm, with an accuracy of 95.88%.INDEX TERMS FMCW radar, health care, heart rate, ICEEMDAN, radar signal processing, remote sensing, vital signs