A radar target object detection apparatus, comprising: a transmitter adapted to repeatedly transmit a transmission pulse at a transmission timing; a receiver adapted to receive a reception signal at a reception timing set based on the transmission timing; a threshold determiner adapted to determine whether an amplitude value of the reception signal exceeds a predetermined threshold at every sampling point, and to count the number of sampling points at which the amplitude value of the reception signal exceeds the threshold; a parameter setter adapted to set a plurality of different parameters for controlling the transmission timing; a parameter selector adapted to select a parameter from the plurality of different parameters, said one parameter being associated with a minimum counted number of sampling points; and a timing controller for controlling the transmission timing, based on the parameter selected by the parameter selector characterized in that the apparatus is further adapted to change a width of the repeatedly transmitted transmission pulse, wherein a transmission order of transmission pulses having different widths is determined based on the parameters, and in that the threshold determiner is adapted to select a first parameter () and a second parameter () from the plurality of parameters, and includes a first threshold determining module adapted to determine the threshold based on the first parameter (), and a second threshold determining module adapted to determine the threshold based on the second parameter (), wherein the apparatus further comprises a switch adapted to output the reception signal at a predetermined cycle while switching the threshold determiner between the first threshold determining module and the second threshold determining module, wherein the threshold determination is performed alternately by the first threshold determining module and the second threshold determining module at the predetermined cycle, and wherein the parameter selector is adapted to compare the counted number of sampling points obtained with the first parameter (), with the counted number of sampling points obtained with the second parameter (), and to select the parameter with the smaller counted number. a transmitter adapted to repeatedly transmit a transmission pulse at a transmission timing; a receiver adapted to receive a reception signal at a reception timing set based on the transmission timing; a threshold determiner adapted to determine whether an amplitude value of the reception signal exceeds a predetermined threshold at every sampling point, and to count the number of sampling points at which the amplitude value of the reception signal exceeds the threshold; a parameter setter adapted to set a plurality of different parameters for controlling the transmission timing; a parameter selector adapted to select a parameter from the plurality of different parameters, said one parameter being associated with a minimum counted number of sampling points; and a timing controller for controlling the transmission timing, based on the parameter selected by the parameter selector characterized in that the apparatus is further adapted to change a width of the repeatedly transmitted transmission pulse, wherein a transmission order of transmission pulses having different widths is determined based on the parameters, and in that the threshold determiner is adapted to select a first parameter () and a second parameter () from the plurality of parameters, and includes a first threshold determining module adapted to determine the threshold based on the first parameter (), and a second threshold determining module adapted to determine the threshold based on the second parameter (), wherein the apparatus further comprises a switch adapted to output the reception signal at a predetermined cycle while switching the threshold determiner between the first threshold determining module and the second threshold determining module, wherein the threshold determination is performed alternately by the first threshold determining module and the second threshold determining module at the predetermined cycle, and wherein the parameter selector is adapted to compare the counted number of sampling points obtained with the first parameter (), with the counted number of sampling points obtained with the second parameter (), and to select the parameter with the smaller counted number.