Radar device and peak processing method

A radar device configured to:

• transmit a transmission signal in which a transmission frequency varies in a predetermined cycle;
• receive the transmission signal reflected from an object, as a reception signal;
• acquire peaks of frequency spectra of signals representing frequency differences between the transmission frequency and a reception frequency of the reception signal, in a rising section of the transmission frequency and a falling section of the transmission frequency;
• and
• output target information regarding the object on the basis of a first peak which is a peak of the rising section and a second peak which is a peak of the falling section, the radar device comprising:
• a signal processing unit configured to:
• acquire a first estimate peak which is a peak estimated as the first peak in the rising section;
• acquire a second estimate peak which is a peak estimated as the second peak in the falling section;
• extract a peak existing in a predetermined range relative to the first estimate peak in the rising section, as a first history peak;
• and
• extract a peak existing in a predetermined range relative to the second estimate peak in the falling section, as a second history peak;
• and
• a determining unit configured to determine that the signal processing unit has erroneously extracted the first peak corresponding to a still object as the first peak corresponding to a moving object, if an accuracy of pairing of the first history peak and a second object peak which is the second peak existing in a predetermined range apart from the first history peak by a predetermined distance is larger than an accuracy of pairing of the first history peak and the second history peak in a situation where a distance between the radar device and the moving object decreases.