The target detection accuracy of a radar apparatus is improved. The radar apparatus includes signal generation circuitry, which, in operation, generates a first transmission signal and a second transmission signal, and transmission circuitry, which, in operation, transmits a multiplexed signal resulting from code-multiplexing the first transmission signal and the second transmission signal, wherein a modulation frequency of the first transmission signal at a first timing is identical to a modulation frequency of the second transmission signal at a second timing that is later than the first timing.