Radar device

A radar device for use in a mobile object, comprising:

• a detection unit configured to detect, at predefined time intervals, object information on an object present in a detection region around the mobile object based on transmitted and received radar waves, the object information including a distance, a relative speed, and an azimuth angle of the object;
• a speed acquisition unit configured to acquire a speed of the mobile object;
• a tracking unit configured to
• (i) determine whether a first object corresponding to the object information detected by the detection unit at a current time is same as any object corresponding to object information detected by the detection unit at a previous time, and
• (ii) acquire a time series of object information, the time series of object information including the object information detected by the detection unit at the current time and object information detected by the detection unit at previous times and corresponding to at least one object determined to be same as the first object;
• a stationary object determination unit configured to determine whether the first object is a stationary object based on the relative speed and the azimuth angle included in the object information detected by the detection unit and the speed of the mobile object acquired by the speed acquisition unit;
• a distance acquisition unit configured to acquire, when the stationary object determination unit determines that the first object is a stationary object, a first distance corresponding to the distance included in the object information acquired when the mobile object passes directly beside the first object among the time series of object information acquired by the tracking unit;
• an expected angle calculation unit configured to calculate an expected angle based on the first distance acquired by the distance acquisition unit and a second distance included in the object information detected by the detection unit at the current time;
• and
• an error calculation unit configured to calculate an azimuth error for each azimuth angle, the error calculation unit being configured to calculate, as the azimuth error at a first azimuth angle included in the object information detected by the detection unit at the current time, a difference between the expected angle calculated by the expected angle calculation unit and the first azimuth angle.