Radar apparatus, imaging method, and non-transitory storage medium

An imaging method comprising, by a computer:

• acquiring a radar signal acquired by measurement using a transmission antenna and a reception antenna, and a measurement time of the radar signal;
• holding a setting of a velocity candidate set of a target object;
• generating a radar image applied with movement compensation by using each velocity candidate;
• perform ranking on each velocity candidate for each of one or more cells by using the radar image applied with movement compensation;
• compute a value acquired by totaling a score based on the rank for all cells for each velocity candidate;
• selecting an estimated velocity from the velocity candidate set, based on comparison of each generated radar image and based on the totaled value;
• and
• generating a final output image applied with movement compensation using the estimated velocity.

A non-transitory storage medium storing an imaging program causing a computer to:

• acquire a radar signal acquired by measurement using a transmission antenna and a reception antenna, and a measurement time of the radar signal;
• hold a setting of a velocity candidate set of a target object;
• generate a radar image applied with movement compensation by using each velocity candidate;
• perform ranking on each velocity candidate for each of one or more cells by using the radar image applied with movement compensation;
• compute a value acquired by totaling a score based on the rank for all cells for each velocity candidate;
• select an estimated velocity from the velocity candidate set, based on comparison of each generated radar image and based on the totaled value;
• and
• generate a final output image applied with movement compensation using the estimated velocity.