A vehicle radar system includes at least one radar, a detection section, an extraction section, a pair determination section, and a target position determination section. The extraction section extracts at least one observation point pair from a plurality of detected observation points. The observation point pair is a pair of the observation points located in the same direction. The target position determination section calculates a surface direction of a reflection surface from a reflection surface observation point of the observation point pair and observation points around the reflection surface observation point, and determines a position of the target from the calculated surface direction and the at least one observation point pair.