A radar device comprising:
- a spectrum generation unit configured to generate at least one of a one-dimensional spectrum and a two-dimensional spectrum by analyzing a signal that is obtained by transmitting and receiving a modulated wave as a radar wave by each modulation method of one or more types of modulation methods for every processing cycle;
- an instantaneous value generation unit configured to generate at least one instantaneous value by extracting a peak from at least one of the one-dimensional spectrum and the two-dimensional spectrum generated for each modulation method;
- a connection determination unit configured to generate and extinguish a target object and a target object candidate by determining whether or not a target object and a target object candidate generated in a previous processing cycle or before have a historical connection with the instantaneous value generated by the instantaneous value generation unit;
- a feature quantity extraction unit configured to extract one or more types of feature quantities determined in advance by using at least one of information associated with the instantaneous value generated by the instantaneous value generation unit and information associated with the target object and the target object candidate, as target object members, generated by the connection determination unit;
- a distribution storage unit storing a virtual image distribution and a real image distribution generated in advance for each feature quantity;
- and
- a virtual image determination unit configured to calculate, using an extraction result of the feature quantity extraction unit relating to the target object members, a virtual image probability from the virtual image distribution and a real image probability from the real image distribution for each target object member generated by the connection determination unit, and to determine whether or not each target object member is a virtual image according to a result of integrating the virtual image probability and the real image probability calculated, wherein
- the virtual image distribution is a distribution, when the feature quantity is given, representing a probability that an extraction source of the given feature quantity is a virtual image,
- the real image distribution is a distribution representing, when the feature quantity is given, a probability that an extraction source of the given feature quantity is a real image, and
- as the feature quantity, one having the virtual image distribution and the real image distribution being different in shape is used.