An FM-CW radar device that is adapted to generate a modulated high frequency signal modulated so as to increase and decrease time change of an oscillation frequency linearly, the FM-CW radar device comprising: a modulation circuit adapted to generate a frequency modulation signal, the modulation circuit comprising: a waveform memory adapted to store output values (v1,.., vn); a D/A converter adapted to convert digital values in accordance with output values of the waveform memory into analog values; and A low pass filter adapted to interpolate between analog values outputted by the D/A converter and to provide a filtered output as the frequency modulation signal; the FM-CW radar device further comprising an oscillator adapted to generate the modulated high frequency signal based on the filtered output. characterised in that the modulation circuit further comprises: a time memory adapted to store timer values corresponding to time intervals (T1, T2,... Tn); a timing controller; a timer adapted to supply a trigger signal to the timing controller at intervals according to the time intervals (T1, T2,..., Tn), wherein the timer values are chosen such that the time intervals (T1, T2,...,Tn) are variable in length and adjusted at integral multiples of a clock unit, wherein: the timing controller is adapted to output a trigger signal to the waveform memory and the D/A converter, the waveform memory is adapted to output an output value (v1,.., vn) to the D/A converter in synchronism with the trigger signal from the timing controller. a modulation circuit adapted to generate a frequency modulation signal, the modulation circuit comprising: a waveform memory adapted to store output values (v1,.., vn); a D/A converter adapted to convert digital values in accordance with output values of the waveform memory into analog values; and A low pass filter adapted to interpolate between analog values outputted by the D/A converter and to provide a filtered output as the frequency modulation signal; the FM-CW radar device further comprising an oscillator adapted to generate the modulated high frequency signal based on the filtered output. a waveform memory adapted to store output values (v1,.., vn); a D/A converter adapted to convert digital values in accordance with output values of the waveform memory into analog values; and A low pass filter adapted to interpolate between analog values outputted by the D/A converter and to provide a filtered output as the frequency modulation signal; characterised in that the modulation circuit further comprises: a time memory adapted to store timer values corresponding to time intervals (T1, T2,... Tn); a timing controller; a timer adapted to supply a trigger signal to the timing controller at intervals according to the time intervals (T1, T2,..., Tn), wherein the timer values are chosen such that the time intervals (T1, T2,...,Tn) are variable in length and adjusted at integral multiples of a clock unit, wherein: the timing controller is adapted to output a trigger signal to the waveform memory and the D/A converter, the waveform memory is adapted to output an output value (v1,.., vn) to the D/A converter in synchronism with the trigger signal from the timing controller. a time memory adapted to store timer values corresponding to time intervals (T1, T2,... Tn); a timing controller; a timer adapted to supply a trigger signal to the timing controller at intervals according to the time intervals (T1, T2,..., Tn), wherein the timer values are chosen such that the time intervals (T1, T2,...,Tn) are variable in length and adjusted at integral multiples of a clock unit, wherein: the timing controller is adapted to output a trigger signal to the waveform memory and the D/A converter, the waveform memory is adapted to output an output value (v1,.., vn) to the D/A converter in synchronism with the trigger signal from the timing controller. the timing controller is adapted to output a trigger signal to the waveform memory and the D/A converter, the waveform memory is adapted to output an output value (v1,.., vn) to the D/A converter in synchronism with the trigger signal from the timing controller.