Patent ID: 8054216

Claim:
A radar device, comprising: a plurality of receiving antennas which receive, as a reception wave, a radar wave sent in a predetermined reference direction and reflected by a target; a phase difference detection unit which detects a first phase difference of the reception wave received by a first receiving antenna pair that is spaced by a first gap, and a second phase difference of the reception wave received by a second receiving antenna pair that is spaced by a second gap smaller than the first gap; and an angle detection unit which determines, as a detection angle, an angle of the target relative to the predetermined reference direction, wherein in a first process when a difference in the detection angles for a predetermined number of times in the past lies beyond a predetermined range, the angle detection unit determines, as the detection angle, an angle corresponding to mutually coincident angles from among a plurality of first angles corresponding to the first phase difference and a plurality of second angles corresponding to the second phase difference, or in a second process when a difference in the detection angles for a predetermined number of times in the past lies within the predetermined range, the angle detection unit determines, as the detection angle, an average of a first angle that is closest to a previous detection angle from among the plurality of first angles corresponding to the first phase difference, and a second angle that is closest to a previous detection angle from among the plurality of second angles corresponding to the second phase difference.