Radar device and signal processing method

A signal processing method comprising:

• transmitting, using a transmitting antenna, a frequency-modulated transmission wave at predetermined intervals;
• receiving, using a receiving antenna, a reflected wave of the transmission wave from a target;
• estimating, using a processor, peak signals corresponding to a target in the latest periods of each of UP beat sections and DOWN beat sections of a beat signal, as estimate peak signals, based on histories of peak signals corresponding to the target in past periods of the UP beat sections and the DOWN beat sections;
• extracting, using the processor, peak signals corresponding to the target in each of the UP beat sections and DOWN beat sections, within predetermined ranges defined with reference to the estimate peak signals based on the histories, and pairing the extracted peak signals;
• and
• in a case where a distance to the target is equal to or shorter than a predetermined value, extracting, using the processor, peak signals corresponding to the target, from both of:
• a first range which is a predetermined angular range defined with reference to the estimate peak signals;
• and a second range which is a predetermined transverse position range defined with reference to the estimate peak signals.