A radar apparatus for estimating direction of arrival of a signal reflected from a target, the radar apparatus comprising: a linear array antenna having a first antenna element and a second antenna element (AN A -1) located at respective outermost ends of the array antenna and one or more third antenna elements (A1,... AN A -2) located inward thereof; switch means (16, 20; 20, 44, 46) configured for selecting either the first antenna element or the second antenna element (AN A -1) for transmission by connecting it to a transmitter and for selecting each of the remaining antenna elements individually for reception of the reflected signal by connecting them to a receiver; switch control means configured for causing the switch means to select only the first antenna element for continuous transmission in the whole duration of a first period, while sequentially selecting, in time division fashion over the first period, the second antenna element (AN A -1) and the third antenna elements (A1,... AN A -2) for reception, by starting from the third antenna element (Al) which is adjacent to the first antenna element and ending at the second antenna element (AN A -1), and configured for causing the switch means to select only the second antenna element (AN A -1) for continuous transmission in the whole duration of a second period, while sequentially selecting, in time division fashion over the second period, the first antenna element and the third antenna elements (A1,... AN A -2) for reception, by starting from the first antenna element and ending at the third antenna element (AN A -2) which is adjacent to the second antenna element (AN A -1), wherein the first and second periods are two periods alternating one after the other in cyclic fashion; and direction-of-arrival estimating means configured for estimating the direction of arrival of the reflected signal from the received signals obtained at the antenna elements selected for reception. a linear array antenna having a first antenna element and a second antenna element (AN A -1) located at respective outermost ends of the array antenna and one or more third antenna elements (A1,... AN A -2) located inward thereof; switch means (16, 20; 20, 44, 46) configured for selecting either the first antenna element or the second antenna element (AN A -1) for transmission by connecting it to a transmitter and for selecting each of the remaining antenna elements individually for reception of the reflected signal by connecting them to a receiver; switch control means configured for causing the switch means to select only the first antenna element for continuous transmission in the whole duration of a first period, while sequentially selecting, in time division fashion over the first period, the second antenna element (AN A -1) and the third antenna elements (A1,... AN A -2) for reception, by starting from the third antenna element (Al) which is adjacent to the first antenna element and ending at the second antenna element (AN A -1), and configured for causing the switch means to select only the second antenna element (AN A -1) for continuous transmission in the whole duration of a second period, while sequentially selecting, in time division fashion over the second period, the first antenna element and the third antenna elements (A1,... AN A -2) for reception, by starting from the first antenna element and ending at the third antenna element (AN A -2) which is adjacent to the second antenna element (AN A -1), wherein the first and second periods are two periods alternating one after the other in cyclic fashion; and direction-of-arrival estimating means configured for estimating the direction of arrival of the reflected signal from the received signals obtained at the antenna elements selected for reception.