US Patent 7312745 Radar

A radar wherein, in accordance with a peak frequency f1[t−nT] of a first projecting portion at a predetermined timing t−nT, a center frequency fr[t] of peak frequencies of first and second projecting portions at a current measurement timing t is predicted, and f1[t] and f2[t] in which (f1[t]+f2[t])/2 approximates the predicted fr[t] is extracted as a pair candidate. In addition, f1[t] and f2[t] in which Doppler shift frequency is substantially equal to a Doppler shift frequency calculated from the peak frequency f1[t−nT] of the first projecting portion and the peak frequency f2[t−nT] of the second projecting portion are selected.