Radar device and control method of radar device

A control method of a radar device, the method being performed by a control device of the radar device, and the method comprising:

• deriving a plurality of parameters according to a target and detection distances of the target based on received signals that are acquired by receiving reflected waves, each of the reflected waves being a radar transmission wave transmitted toward a vicinity of an own vehicle and then reflected from the target existing in the vicinity;
• computing a first indicator from likelihood models in which first and second already-known correlations are modeled for each of the detection distances, the first indicator being based on ratios of:
• (i) likelihoods of a target existing in a traveling direction of the own vehicle and being to collide with the own vehicle when the own vehicle proceeds in the traveling direction;
• and (ii) likelihoods of a target existing in the traveling direction of the own vehicle and not being to collide with the own vehicle when the own vehicle proceeds in the traveling direction, the ratios corresponding to the parameters and the detection distances derived in the deriving, the first already-known correlations correlating parameters and the likelihoods of the target that is to collide with the own vehicle with each other, and the second already-known correlations correlating the parameters and the likelihoods of the target that is not to collide with the own vehicle with each other;
• and
• determining whether the target is the target that is to collide with the own vehicle or the target that is not to collide with the own vehicle based on the first indicator computed in the computing.