A radar device configured to be installed at a position which is at a predetermined height from a road surface, comprising: a radar transmitting unit (Tx) configured to transmit a radio-frequency radar transmission signal from the position which is at the predetermined height to the road surface from a transmission antenna (Tx-ant) which is inclined in a direction of a predetermined depression angle; and a radar receiving unit (Rx) configured to estimate a position parameter and a speed of a vehicle which travels on a road surface, using a reflected wave signal which is the radar transmission signal reflected from the vehicle which travels on the road surface, wherein the radar receiving unit (Rx) includes: a correlation calculation unit configured to calculate a correlation value between the reflected wave signal and a transmission code of the radar transmission signal, characterized by the radar receiving unit (Rx) further includes: a template generating unit configured to generate a variation in a phase component of the reflected wave signal for each parameter set of N parameter sets of the position parameter and the speed of the vehicle to generate N templates; N template correlation calculation units (#1 to #Nrep) configured to calculate correlation values between the generated N templates and the correlation value output from the correlation calculation unit; and an output selection unit configured to determine a type of the vehicle, using the position parameter and the speed of the vehicle corresponding to any one of the generated N templates, on the basis of outputs from the N template correlation calculation units (#1 to #Nrep). a radar transmitting unit (Tx) configured to transmit a radio-frequency radar transmission signal from the position which is at the predetermined height to the road surface from a transmission antenna (Tx-ant) which is inclined in a direction of a predetermined depression angle; and a radar receiving unit (Rx) configured to estimate a position parameter and a speed of a vehicle which travels on a road surface, using a reflected wave signal which is the radar transmission signal reflected from the vehicle which travels on the road surface, wherein the radar receiving unit (Rx) includes: a correlation calculation unit configured to calculate a correlation value between the reflected wave signal and a transmission code of the radar transmission signal, characterized by the radar receiving unit (Rx) further includes: a template generating unit configured to generate a variation in a phase component of the reflected wave signal for each parameter set of N parameter sets of the position parameter and the speed of the vehicle to generate N templates; N template correlation calculation units (#1 to #Nrep) configured to calculate correlation values between the generated N templates and the correlation value output from the correlation calculation unit; and an output selection unit configured to determine a type of the vehicle, using the position parameter and the speed of the vehicle corresponding to any one of the generated N templates, on the basis of outputs from the N template correlation calculation units (#1 to #Nrep). a correlation calculation unit configured to calculate a correlation value between the reflected wave signal and a transmission code of the radar transmission signal, characterized by the radar receiving unit (Rx) further includes: a template generating unit configured to generate a variation in a phase component of the reflected wave signal for each parameter set of N parameter sets of the position parameter and the speed of the vehicle to generate N templates; N template correlation calculation units (#1 to #Nrep) configured to calculate correlation values between the generated N templates and the correlation value output from the correlation calculation unit; and an output selection unit configured to determine a type of the vehicle, using the position parameter and the speed of the vehicle corresponding to any one of the generated N templates, on the basis of outputs from the N template correlation calculation units (#1 to #Nrep). a template generating unit configured to generate a variation in a phase component of the reflected wave signal for each parameter set of N parameter sets of the position parameter and the speed of the vehicle to generate N templates; N template correlation calculation units (#1 to #Nrep) configured to calculate correlation values between the generated N templates and the correlation value output from the correlation calculation unit; and an output selection unit configured to determine a type of the vehicle, using the position parameter and the speed of the vehicle corresponding to any one of the generated N templates, on the basis of outputs from the N template correlation calculation units (#1 to #Nrep).