Patent ID: 8102308

Claim:
A radar apparatus provided in an own vehicle, the radar apparatus measuring an object, based on a radiated electromagnetic wave and a received reflected wave, the radar apparatus comprising: a measurement section for generating measured information indicating a position of the object which has been measured and a relative velocity of the object; a contact time calculation section for calculating a contact time that it takes for the own vehicle and the object to come in contact with each other, based on the position and the relative velocity indicated by the measured information; a changing section for, based on the contact time, changing a filter coefficient to be used when filter processing is performed on the position indicated by the measured information; a filter processing section for calculating a corrected position, based on the position indicated by the measured information, by performing the filter processing, wherein the filter processing is performed, by using the filter coefficient changed by the changing section, on the position indicated by the measured information and a previous corrected position which has been previously calculated by the filter processing being performed on the position; and a prediction section for predicting a direction of progression of the object, based on the corrected position, wherein the filter processing section calculates the corrected position, based on the position indicated by the measured information, by multiplying both of the position indicated by the measured information, and the corrected position, by a mixing ratio changed as the filter coefficient by the changing section, and summing the resultant values.