Radar apparatus

A radar apparatus mounted on a mobile body comprising:

• a spectrum generation unit configured to use one or more modulation systems, and analyze a signal acquired by transmitting and
• receiving modulation waves of respective modulation systems as radar waves so as to generate at least one of a one-dimensional spectrum and a two-dimensional spectrum;
• a peak extracting unit configured to extract a peak from at least one of the one-dimensional spectrum and the two-dimensional spectrum generated for the respective modulation systems;
• a feature quantity calculation unit configured to calculate one or more predetermined types of feature quantities using information correlated to respective peaks extracted by the peak extracting unit;
• a distribution storing unit that stores a positive distribution and a negative distribution generated in advance for respective feature quantities, the positive distribution expressing, for the feature quantities given, a probability of an environment when acquiring the feature quantity being a specific environment set in advance, the negative distribution expressing, for the feature quantities given, a probability of an environment when acquiring the feature quantity being a non-specific environment other than the specific environment set in advance;
• and
• an environment determination unit configured to calculate a specific environment probability from a calculation result of the feature quantity calculation unit using the positive distribution and a non-specific environment probability from a calculation result of the feature quantity calculation unit using the negative distribution, and determine whether the mobile body is in the specific environment or the non-specific environment in accordance with a result of integration of the specific environment probability and the non-specific environment probability which are calculated for respective feature quantities,
• wherein
• the feature quantities show distribution shapes which are different between a case when calculated corresponding to the specific environment and a case when calculated corresponding to the non-specific environment.