A radar device comprising: a transmitter that transmits, as a radar wave, a transmission signal whose frequency is increased and decreased linearly and periodically by a fixed modulation width; a signal processor that receives a reflected wave generated by reflection of the radar wave transmitted by said transmitter from a target and generates a received signal, and that specifies a beat frequency for each chirp on a basis of said received signal and said transmission signal; an up-chirp tracking filter (19, 19b, 19c) that carries out a tracking process on a basis of the beat frequency associated with an up-chirp specified by said signal processor to acquire a beat frequency of the target, and that calculates distance and speed estimated values of the target on a basis of said beat frequency; a down-chirp tracking filter (20, 20b, 20c) that carries out a tracking process on a basis of the beat frequency associated with a down-chirp specified by said signal processor to acquire a beat frequency of the target, and that calculates distance and speed estimated values of the target on a basis of said beat frequency; characterized by an up-chirp angle tracking filter that carries out a tracking process on a basis of an angle measurement value added to the beat frequency associated with an up-chirp specified by said signal processor, and calculates angle and angular speed estimated values of the target; a down-chirp angle tracking filter that carries out a tracking process on a basis of an angle measurement value added to the beat frequency associated with a down-chirp specified by said signal processor, and calculates angle and angular speed estimated values of the target; an identical target determinator that determines whether or not the target detected for each of the chirps is an identical target on a basis of said distance and speed estimated values of the target and said angle and angular speed estimated values of the target; and a distance and speed calculator that calculates a distance and a speed of the target on a basis of the beat frequency, for each of the chirps, of the target which is determined to be an identical target by said identical target determinator. a transmitter that transmits, as a radar wave, a transmission signal whose frequency is increased and decreased linearly and periodically by a fixed modulation width; a signal processor that receives a reflected wave generated by reflection of the radar wave transmitted by said transmitter from a target and generates a received signal, and that specifies a beat frequency for each chirp on a basis of said received signal and said transmission signal; an up-chirp tracking filter (19, 19b, 19c) that carries out a tracking process on a basis of the beat frequency associated with an up-chirp specified by said signal processor to acquire a beat frequency of the target, and that calculates distance and speed estimated values of the target on a basis of said beat frequency; a down-chirp tracking filter (20, 20b, 20c) that carries out a tracking process on a basis of the beat frequency associated with a down-chirp specified by said signal processor to acquire a beat frequency of the target, and that calculates distance and speed estimated values of the target on a basis of said beat frequency; characterized by an up-chirp angle tracking filter that carries out a tracking process on a basis of an angle measurement value added to the beat frequency associated with an up-chirp specified by said signal processor, and calculates angle and angular speed estimated values of the target; a down-chirp angle tracking filter that carries out a tracking process on a basis of an angle measurement value added to the beat frequency associated with a down-chirp specified by said signal processor, and calculates angle and angular speed estimated values of the target; an identical target determinator that determines whether or not the target detected for each of the chirps is an identical target on a basis of said distance and speed estimated values of the target and said angle and angular speed estimated values of the target; and a distance and speed calculator that calculates a distance and a speed of the target on a basis of the beat frequency, for each of the chirps, of the target which is determined to be an identical target by said identical target determinator.