In the 60GHz millimeter-wave radar communication systems, the nonlinear power amplifier is inevitable. In order to combat this problem, a promising estimation algorithm based on the particle filtering (PF) is presented here. By employing the conception of Bayesian approximation and sequential importance sampling, this appealing Monte Carlo random sampling method can address this complicated statistic estimation problem. In sharp contrast to the classical linear equalization problem, nevertheless, in the considered situation the PF-based method may become invalid due to the hardware nonlinearity and the resulting non-analytical importance function. To remedy this difficulty, based on the linearization technique a novel PF framework is suggested, and we show in particular how to linearize the involved nonlinearity transform in the formulated discrete dynamic state-space modeling (DSM). The merit of this method is that it can efficiently deal with discrete DSMs that are practically nonlinear and non-Gaussian. Experimental simulations verify the superior performance of our presented PF-based detection scheme, which may properly be applied to 60GHz millimeter-wave radar communication systems.