A radar system according to the present disclosure includes a transmit antenna, a receive antenna composed of at least three receive antenna elements, a transmitter, a receiver that generates at least three first received signals by demodulating a plurality of reflected waves received by each of the receive antenna elements, a prefilter that estimates a plurality of main arrival angles representing directions of the targets using the at least three first received signals, a direction canceler that generates at least two first extracted signals by using the at least three first received signals to form nulls in eliminating arrival angles which are all the main arrival angles except an extracting arrival angle, and an image generator that analyzes Doppler frequency components around the extracting arrival angle using the at least two first extracted signals and calculates scattering-center arrival angles which each represent the arrival angle for each Doppler frequency component analyzed.