Radar apparatus and method of controlling transmission signal

A radar apparatus for detecting a target object around the radar apparatus by transmitting a transmission signal while changing a transmitting direction centering on a position of the radar apparatus, comprising:

• a hardware processor programmed to at least:
• determine one of a target object and an area;
• set an angular range centering on the position of the radar apparatus to include the one of the target object and the area;
• and
• change a waveform of the transmission signal to be different between a direction within the angular range and a direction outside the angular range;
• an antenna configured to transmit the transmission signal while rotating;
• and
• an angle detector configured to detect a rotational angle of the antenna,
• wherein when the rotational angle of the antenna detected by the angle detector is within the angular range, a transmission signal controller transmits the transmission signal having a waveform different from that in the direction outside the angular range.