High performance radar system with a wide field of view and a high angular resolution in azimuth and elevation was developed. By cascading four RFICs, the number of antenna in the system was increased to 12Tx 16Rx, and MIMO (Multi-input multi-output) configuration. Location and relative velocity of detected objects were measured and classified them to stationary objects and moving objects. Developed system was loaded on the vehicle and implemented grid map radar image through the road driving in real time. Test results shows that advanced radar system is expected to play more important role in automated driving system.