Estimation apparatus

An estimation apparatus comprising:

• a same-object point information acquiring section configured to acquire same-object information in which a horizontal azimuth of each same-object point relative to a vehicle is correlated to a relative speed of the corresponding same-object point relative to the vehicle, the same-object points being located on a same object and each having reflected a radar wave;
• a candidate estimating section configured to:
• sequentially observe the relative speeds of the respective same-object points along an arbitrary horizontal direction;
• estimate, as a candidate direction, a direction that is matched with the arbitrary horizontal direction upon determining that the relative speeds gradually decrease along the arbitrary horizontal direction;
• and
• estimate, as the candidate direction, an opposite direction of the arbitrary horizontal direction upon determining that the relative speeds gradually increases along the arbitrary horizontal direction;
• and
• a direction estimating section configured to estimate a moving direction of the same object based on the candidate direction.