The present invention provides a radar apparatus including: a transmission pulse group generator configured to generate: a first transmission pulse group from a first transmission pulse train formed of N first transmission pulses (N>2, where N is an integer number) having constant first time intervals t1, by thinning a first transmission pulse out of the first transmission pulse train so that all the intervals ranging from t1 to (N−1)*t1 are held by pairs of first transmission pulses selected from the first transmission pulse group; and a second transmission pulse group from a second transmission pulse train formed of M second transmission pulses (M>2, where M is an integer number) having second time intervals t2 different from the first time intervals t1, by thinning a second transmission pulse out of the second transmission pulse train so that all time intervals ranging from t2 to (M−1)*t2 are held by pairs of second transmission pulses selected from the second transmission pulse group. The radar apparatus also includes a transmitter configured to transmit the first transmission pulse group and the second transmission pulse group in a way that the first and second transmission pulse groups partially or entirely overlap each other in terms of time.