Radar device and method for determining targets to be followed

A radar device comprising:

• radar circuitry which, in operation, transmits a plurality of radar signals, receives the plurality of radar signals, each of the plurality of received radar signals being reflected from a reflection point of a plurality of reflection points on an object of a plurality of objects, and detects, based on the plurality of received radar signals, a plurality of information elements;
• a first group detector which, in operation, groups first one or more information elements of the plurality of information elements into one or more first groups in each frame, the one or more first groups including information on one or more first objects of which Doppler speeds fall within a determined range, the one or more first objects being included in the plurality of objects;
• a second group detector which, in operation, groups second one or more information elements of the plurality of information elements into one or more second groups in each frame, the one or more second groups including information on one or more second objects of which Doppler speeds fall outside the determined range, the one or more second objects being included in the plurality of objects;
• a position calculator which, in operation, calculates first positions in an m-th frame, based on positions of tracked groups in an n-th frame of the first groups and the second groups in the n-th frame, n being an integer of 1 or more, m being an integer satisfying m>n;
• and
• a processor which, in operation, extracts tracked groups in the m-th frame from the first groups and the second groups in the m-th frame using the first positions, wherein
• the tracked groups in the m-th frame include the second one or more information elements in the one or more second groups in the m-th frame and the first one or more information elements in the one or more first groups in the m-th frame, the one or more second groups in the n-th frame being designated as the first one or more information elements in the one or more first groups in the m-th frame.