A FMCW radar device which is provided with an antenna which sends out radio waves, a plurality of antennas (A1-An) which receive waves (RW1-RWn) reflected from at least one target and a signal processing unit which processes the receive signals received by said plurality of antennas (A1-An) using a predetermined angle estimation method, estimates directions of arrival of the reflected waves (RW1-RWn), and calculates receive powers of the reflected waves (RW1-RWn) to detect targets, wherein said signal processing unit is comprising: a Fourier transform unit which executes frequency analysis using the fast Fourier transform (FFT processing) for the digital receive signals (X1-Xn) which are received by said plurality of antennas (A1-An) and converted into digital signals at A/D converters; a peak extraction unit which extracts the peaks of a predetermined power or more at the frequency spectrum obtained by the FFT processing for each of the receive antennas (A1-An) and extracts the frequency, power and phase information of the extracted peaks as peak frequency information; a memory which stores theoretical values or measured values of mode vectors for predetermined angles in front of said radar device; an angle detecting unit which detects angles of directions of arrival of said reflected waves based on the receive signals of the antennas (A1-An), a mode vector calculating unit which finds mode vectors for said detected angles by reading out the same from said memory, a receive signal decomposing unit which uses the mode vectors as the basis to decompose a vector combining receive signals into vectors of directions of the mode vectors, and characterized by a power value calculating unit which calculates the magnitudes of vectors of the mode vector directions of the decomposed receive signal as power values of the detected angles, wherein the peaks having a power value of a threshold or more are judged as targets. a Fourier transform unit which executes frequency analysis using the fast Fourier transform (FFT processing) for the digital receive signals (X1-Xn) which are received by said plurality of antennas (A1-An) and converted into digital signals at A/D converters; a peak extraction unit which extracts the peaks of a predetermined power or more at the frequency spectrum obtained by the FFT processing for each of the receive antennas (A1-An) and extracts the frequency, power and phase information of the extracted peaks as peak frequency information; a memory which stores theoretical values or measured values of mode vectors for predetermined angles in front of said radar device; an angle detecting unit which detects angles of directions of arrival of said reflected waves based on the receive signals of the antennas (A1-An), a mode vector calculating unit which finds mode vectors for said detected angles by reading out the same from said memory, a receive signal decomposing unit which uses the mode vectors as the basis to decompose a vector combining receive signals into vectors of directions of the mode vectors, and characterized by a power value calculating unit which calculates the magnitudes of vectors of the mode vector directions of the decomposed receive signal as power values of the detected angles, wherein the peaks having a power value of a threshold or more are judged as targets.