A method of attenuating the effect of spillover (495; 1095) in a radar system (400 i; 800 i; 1000 i) having at least one transmitter (410 i; 810 i; 1010 i) and at least one receiver (450 j; 850 j; 1050 j), the method comprises the steps of: for each receiver, deriving a respective cancellation path (500 j; 600 j; 910 j; 1100 j) including a cancellation filter (520 i; 620 i; 925 i; 1120 i); receiving in said cancellation path for each receiver a signal to be transmitted by each transmitter of the radar system and output data from the receiver of a transmitter-receiver pair; determining, for each transmitter-receiver pair, a primary impulse response characteristic corresponding to a spillover channel between the transmitter and the receiver of the transmitter-receiver pair; deriving, for said cancellation path for each receiver, the cancellation filter based on the primary impulse response characteristic, the cancellation filter being configured for generation of cancellation signals (550a, 550b; 650a, 650b; 950; 1150a, 1150b) and using, in the cancellation path for each receiver, the primary impulse response characteristic for each transmitter in the radar system with that particular receiver, the signal (415 i;S(k); 1015 i) to be transmitted by each transmitter, and the output data (490 i; 905; 1090 i) from the receiver; for each receiver, applying the cancellation signals from the cancellation filter to attenuate the effect of spillover from each transmitter in the output data from the receiver, wherein the cancellation signals (550a, 550b) are summed, by means of adders (560a, 560b), with output signals from a mixer of the receiver, and wherein outputs from the adders (560a, 560b) form inputs to a baseband module of the receiver having cancelled or attenuated the spillover. for each receiver, deriving a respective cancellation path (500 j; 600 j; 910 j; 1100 j) including a cancellation filter (520 i; 620 i; 925 i; 1120 i); receiving in said cancellation path for each receiver a signal to be transmitted by each transmitter of the radar system and output data from the receiver of a transmitter-receiver pair; determining, for each transmitter-receiver pair, a primary impulse response characteristic corresponding to a spillover channel between the transmitter and the receiver of the transmitter-receiver pair; deriving, for said cancellation path for each receiver, the cancellation filter based on the primary impulse response characteristic, the cancellation filter being configured for generation of cancellation signals (550a, 550b; 650a, 650b; 950; 1150a, 1150b) and using, in the cancellation path for each receiver, the primary impulse response characteristic for each transmitter in the radar system with that particular receiver, the signal (415 i;S(k); 1015 i) to be transmitted by each transmitter, and the output data (490 i; 905; 1090 i) from the receiver; for each receiver, applying the cancellation signals from the cancellation filter to attenuate the effect of spillover from each transmitter in the output data from the receiver, wherein the cancellation signals (550a, 550b) are summed, by means of adders (560a, 560b), with output signals from a mixer of the receiver, and wherein outputs from the adders (560a, 560b) form inputs to a baseband module of the receiver having cancelled or attenuated the spillover.