Radar apparatus, vehicle control system, and signal processing method

A radar apparatus configured to radiate a transmission wave relating to a frequency-modulated transmission signal, receive a reflected wave of the transmission wave from a target as a reception signal, and derive at least position information of the target from the reception signal, the radar apparatus comprising:

• a setting unit configured to set a first range including at least a reference target which is derived according to a value of a longitudinal distance relative to a vehicle mounted with the radar apparatus;
• a deriving unit configured to derive a representative position of targets included in the first range on the basis of position information of the targets included in the first range;
• and
• an acquiring unit configured to acquire at least one of first vehicle information indicating that the vehicle is running in a curve-shaped lane and second vehicle information indicating that a road shape in front of the vehicle is a curve shape,
• wherein when the acquiring unit acquires the at least one of the first vehicle information and the second vehicle information, the setting unit sets a second range wider than the first range and the deriving unit derives a representative position of targets included in the second range on the basis of position information of the targets included in the second range.