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We propose a novel millimeter wave radar system and object detection algorithm for automobile use by using advanced null scanning method. Generally, null scanning method can achieve a higher resolution and a more compact sensor size compared to beam scanning method, but needs huge computing power. We introduced the theory of forgetting factor into it and developed a new null scan algorithm. It achieved a high lateral object separation ability of less than 3 degree, and a quick response under feasible computing power in simulation and test vehicle. These technologies enable compact and high performance radar for advanced safety system.