A radar device includes a signal generating unit that generates a transmission signal; an output unit that outputs a transmission wave based on the transmission signal, at each of predetermined angles; a receiving unit that receives the reflected waves of the transmission wave from targets; and a deriving unit that derives information on the targets on the basis of reception signals related to the reflected waves. The signal generating unit generates a first transmission signal including at least one modulated signal as the transmission signal related to the transmission wave to be output at a first angle, several times, at intervals of a predetermined idle running time, and generates a second transmission signal including at least one modulated signal, as the transmission signal related to the transmission wave to be output at each of second angles different from the first angle, in each interval of the idle running time.