ON-VEHICLE RADAR DEVICE, AZIMUTH DETECTION METHOD, AND AZIMUTH DETECTION PROGRAM

PROBLEM TO BE SOLVED: To provide an on-vehicle radar device, an azimuth detection method and an azimuth detection program capable of effectively reducing erroneous detection of the azimuth of an object.SOLUTION: An on-vehicle radar device, transmitting a transmission wave that includes a frequency rise period and a frequency fall period and detecting an object based on a beat signal obtained from the transmission wave and a reception wave that consists of a reflection wave produced by the transmission wave being reflected by the object, includes: a digital beam forming unit (31) that applies a digital beam forming processing to the beat signal; a spectrum estimation processing unit (32) that applies processing based on a spectrum estimation to the beat signal; and an azimuth determination unit (33) that determines the azimuth of the object on the basis of a combination of the processing result of the digital beam forming unit and the processing result of the spectrum estimation processing unit.