Radar apparatus

A signal processing method performed by a signal processor of a radar apparatus that is installed on a vehicle and that receives a reflection wave reflected by a target and derives a position of the target, the signal processing method comprising the steps of:

• (a) deriving a prediction peak signal in each of an up period in which a frequency of a transmission signal increases and in a down period in which the frequency of the transmission signal decreases, the frequency of the transmission signal changing in a predetermined cycle;
• (b) setting a prediction region having a predetermined range defined based on a prediction position of an angle peak signal, in each of the up period and the down period based on the prediction peak signal;
• (c) determining whether or not a plurality of the angle peak signals exist in the prediction region in at least one of the up period and the down period;
• and
• (d) (i) in a case where a first angle peak signal closest to the prediction position in the up period and a second angle peak signal closest to the prediction position in the down period satisfy a pairing condition, finalizing a combination of the first angle peak signal and the second angle peak signal as a pair data set, and (ii) in a case where the combination of the first angle peak signal and the second angle peak signal does not satisfy the pairing condition, where the plurality of angle peak signals exist in the prediction region in at least one of the up period and the down period and where a different combination from the combination of the first angle peak signal and the second angle peak signal satisfies a re-pairing condition, finalizing the different combination as the pair data set.