DESCRIZIONE
A radar device (1) is provided, which includes an extractor (41) configured to extract a representative point of a target from a radar echo, a representative point memory (42) configured to store the representative points extracted by the extractor (41), for a plurality of scans, an estimator (43) configured to estimate movement information on the target indicated by the representative points based on the information stored in the representative point memory (42), a determinator (44) configured to determine a possibility of a collision based on the movement information on the target estimated by the estimator (43), and an acquisition-and-tracking module (45) configured to acquire and track the target determined to have the possibility of a collision by the determinator (44). [Image Omitted]