阅读说明：本技术 雷达装置 (Radar installations ) 是由 金勇在 李在容 吴炅燮 于 2019-03-27 设计创作，主要内容包括：本文中公开了一种雷达装置。该雷达装置可以使用多个发射天线和多个接收天线实现具有高空间分辨率的虚拟天线,该虚拟天线具有接收波束的二维(2D)分布。(There is disclosed herein a kind of radar installations.Multiple transmitting antennas can be used in the radar installations and multiple receiving antennas realize that the virtual-antenna with high spatial resolution, the virtual-antenna have two dimension (2D) distribution for receiving wave beam.)

1. a kind of radar installations, comprising:

N radar signal processor, each radar signal processor include i launch channel and j reception channel, described Radar signal processor be configured to by the i launch channel emit radar signal, by the j reception channel reception from The radar signal and the received radar signal of processing of target object reflection, to calculate away from the target object Distance and the doppler data of each of channel is received for described j；

N*i physics transmitting antennas, the n*i physics transmitting antennas are connected to every in the n radar signal processor It the i launch channel of one and is configured to emit the radar signal；

N*j physical receipt antenna, the n*j physical receipt antenna are connected to every in the n radar signal processor Described j of one receives channel and is configured to receive the radar signal reflected from the target object；And

Controller, the controller are configured to control the operation of the n radar signal processor and by referring to antenna configuration Relevant information drives the n*i transmitting antenna and the n*j receiving antenna and generating, there is two-dimentional (2D) to receive wave beam point The virtual-antenna of cloth.

2. radar installations as described in claim 1, wherein the antenna configuration relevant information is limited to be sent out about described n*i Penetrate the fixed array information of antenna and the n*j receiving antenna, about the n*i transmitting antenna and the n*j reception The driving sequence information of antenna and the pass of the driving sequence according to the n*i transmitting antenna and the n*j receiving antenna Wave beam form information is received in the 2D of dynamic virtual antenna.

3. radar installations as claimed in claim 2, wherein the controller calculates the target from virtual-antenna mapping data The position of object, wherein form of beams weight is received according to the 2D of the virtual-antenna referring to the antenna configuration relevant information The distance away from the target object and be used for the reception channel that new arrangement is calculated by the n radar signal processor Each of the doppler data.

4. radar installations as claimed in claim 2, in which:

The n*i transmitting antenna and the n*j receiving antenna be arranged in it is intersected with each other in the form of straight line or curve, thus With widely distributed monitoring region；And

The layout pitch received between wave beam on wave beam distributed image is being received less than the half for receiving wavelength.

5. radar installations as claimed in claim 2, in which:

It is all arranged on straight line instead of the n*i transmitting antenna and the n*j receiving antenna, n*i transmitting day Some antenna alignments in line and the n*j receiving antenna are on the straight line and remaining antenna alignment is at alternate, make It obtains and is represented as connecing by some positions of the reception wave beam formed by the received radar signal of the n*j receiving antenna It receives the space on wave beam distributed image and obtains the monitoring region of integrated distribution；

The layout pitch of the reception wave beam on the reception wave beam distributed image is less than the half for receiving wavelength.

6. radar installations as claimed in claim 2, wherein the n*i transmitting antenna is continuous relative to adjacent transmission antenna Ground discontinuously arranges.

7. radar installations as claimed in claim 2, wherein the n*j receiving antenna is continuous relative to adjacent reception antenna Ground discontinuously arranges.

8. radar installations as claimed in claim 2, wherein whenever the n*i transmitting antenna sequentially or respectively emits When the radar signal, the controller controls the n radar signal processor, to allow the n*j receiving antenna All jointly receive the radar signal.

9. radar installations as claimed in claim 2, wherein the n*i transmitting antenna and the n*j receiving antenna are arranged Arranging into allows by the position of the reception wave beam formed by the received radar signal of the n*j receiving antenna in received wave It is not overlapped on beam distributed image.

Technical field

The present invention relates to a kind of aerial arrays for being applied to radar, and relate more specifically to a kind of with multiple transmitting antennas With the radar installations of multiple receiving antennas.

Background technique

Registration number is that the Korean Patent (on April 31st, 2017) of 10-1736713 discloses a kind of radar array antenna, In, multiple feed lines and multiple array structures are arranged, multiple array structure includes the multiple spokes for being connected to multiple feed line Beam.

The antenna array structure of trailer-mounted radar device should be configured to have the monitoring region of integrated distribution, the monitoring section Domain is focusing only on area-of-interest and the antenna array structure of safe radar installations should be configured to have it is widely distributed Monitoring region.

In order to allow radar installations to be used for safety and vehicle, the present inventor has been developed in arrangement radar installations The technology of the multiple transmitting antennas and multiple receiving antennas that provide.

Summary of the invention

Technical problem

The present invention is intended to provide a kind of radar installations, which is able to use multiple transmitting antennas and multiple reception days Line realizes that the virtual-antenna with high spatial resolution, the virtual-antenna have two dimension (2D) distribution for receiving wave beam.

The present invention also aims to provide a kind of radar installations, which passes through multiple by what is provided in the radar installations Transmitting antenna and multiple receiving antennas are arranged in intersected with each other in the form of straight line or curve and have widely distributed monitoring section Domain.

The present invention also aims to provide a kind of radar installations, which passes through multiple by what is provided in the radar installations Some antennas among transmitting antenna and multiple receiving antennas are arranged in the form of straight line and by remaining antenna alignment at alternate And the monitoring region with integrated distribution, without multiple transmitting antennas and multiple receiving antennas are all arranged on straight line.

The present invention also aims to provide a kind of radar installations, which can receive wave beam distributed image by realizing On reception wave beam between layout pitch be less than or equal to receive wavelength half and remove grating lobe, which is Undesirable radiation lobe.

The present invention also aims to provide a kind of radar installations, which can receive wave beam by allowing to receive wave beam Distribution on distributed image more concentrates on the center for receiving wave beam distributed image and reduces minor lobe.

Technical solution

One aspect of the present invention provides a kind of radar installations, and the radar installations includes: n radar signal processor, Each radar signal processor includes i launch channel and j reception channel, is configured to through the i launch channel Transmitting radar signal receives the radar signal and processing reception that channel reception is reflected from target object by described j The radar signal, to calculate distance away from the target object and for each of described j reception channel Doppler data；N*i physics transmitting antennas, the n*i physics transmitting antennas are connected to the n radar signal processor Each of the i launch channel and be configured to emit the radar signal；N*j physical receipt antenna, the n*j A physical receipt antenna is connected to the j reception channel of each of described n radar signal processor and is configured to Receive the radar signal reflected from the target object；And controller, the controller are configured to control the n thunder Up to signal processor operation and drive the n*i transmitting antenna and the n*j a by referring to antenna configuration relevant information Receiving antenna and generate the virtual-antenna that wave beam distribution is received with two-dimentional (2D).

Additional aspect according to the present invention, the antenna configuration relevant information can be limited about n*i transmitting day The fixed array information of line and the n*j receiving antenna, about the n*i transmitting antenna and the n*j receiving antenna Driving sequence information and dynamic void according to the driving sequence of the n*i transmitting antenna and the n*j receiving antenna The 2D of quasi- antenna receives wave beam form information.

Additional aspect according to the present invention, the controller can map data from virtual-antenna and calculate the target object Position, wherein according to the 2D of the virtual-antenna referring to the antenna configuration relevant information receive form of beams arrange again The distance away from the target object that column are calculated by the n radar signal processor and in the reception channel The doppler data of each.

Additional aspect according to the present invention, the n*i transmitting antenna and the n*j receiving antenna can be arranged in The form of straight line or curve is intersected with each other, to have widely distributed monitoring region, and on receiving wave beam distributed image Reception wave beam between layout pitch may be implemented as be less than receive wavelength half.

Additional aspect according to the present invention is all arranged instead of the n*i transmitting antenna and the n*j receiving antenna On straight line, some antennas among the n*i transmitting antenna and the n*j receiving antenna can be arranged in the straight line Upper and remaining antenna can be arranged in alternately, so that by passing through the received radar signal shape of the n*j receiving antenna At some positions of reception wave beam can be represented as receiving the space on wave beam distributed image and realize integrated distribution Region is monitored, and the layout pitch of the reception wave beam on the reception wave beam distributed image may be implemented as being less than Receive the half of wavelength.

Additional aspect according to the present invention, the n*i transmitting antenna can be relative to adjacent transmitting antennas continuously Or it discontinuously arranges.

Additional aspect according to the present invention, the n*j receiving antenna can be relative to adjacent receiving antennas continuously Or it discontinuously arranges.

Additional aspect according to the present invention, whenever the n*i transmitting antenna sequentially or respectively emits the radar When signal, the controller can control the n radar signal processor, to allow the n*j receiving antenna whole Jointly receive the radar signal.

Additional aspect according to the present invention, the n*i transmitting antenna and the n*j receiving antenna are aligned to allow Position by the reception wave beam formed by the received radar signal of the n*j receiving antenna is receiving wave beam distribution map It is not overlapped as upper.

Beneficial effect

According to the invention, it is possible to use multiple transmitting antennas and multiple receiving antennas will be with the virtual of high spatial resolution Antenna is embodied as that there is two dimension to receive wave beam distribution.Therefore, the physics transmitting day of more smallest number effect specific as follows: can be used Radar installations is provided as with high spatial resolution by line and receiving antenna.

In addition, according to the present invention, the multiple transmitting antennas and multiple receiving antennas provided in radar installations be arranged in The form of straight line or curve is intersected with each other, to have widely distributed monitoring region.Therefore, the radar is had the effect that Device can monitor extensive region.

In addition, according to the present invention, instead of the multiple transmitting antennas provided in radar installations and multiple receiving antennas are complete Portion arranges on straight line, and some antennas among multiple transmitting antennas and multiple receiving antennas are arranged and incited somebody to action in the form of straight line Remaining antenna alignment is at alternate, thus the monitoring region with integrated distribution.Therefore, the radar installations is had the effect that Area-of-interest can intensively be monitored.

In addition, according to the present invention, being implemented as in the layout pitch received between the reception wave beam on wave beam distributed image Less than or equal to the half of wavelength is received, to remove grating lobe, which is unexpected radiation lobe.Therefore, Have the effect that the performance that can improve radar installations.

In addition, according to the present invention, receiving wave beam and being implemented as more concentrating in the distribution received on wave beam distributed image The center for receiving wave beam distributed image, to reduce lobe.Therefore, the performance that can improve radar installations is had the effect that.

Detailed description of the invention

Fig. 1 is the block diagram for showing the configuration of radar installations of embodiment according to the present invention.

Fig. 2 is the transmitted wave for showing CW with frequency modulation (Frequency Modulated Continuous Wave, FMCW) Shape and the figure for receiving waveform.

Fig. 3 is the block diagram for showing the configuration of the radar signal processor of radar installations of embodiment according to the present invention.

Fig. 4 is the figure for showing the antenna array structure of radar installations according to the first embodiment of the present invention.

Fig. 5 is the reception wave beam point for showing the antenna array structure as shown in Fig. 1 according to first embodiment and obtaining The figure of cloth image.

Fig. 6, which is shown, shows the reception wave beam that the antenna array structure as shown in Fig. 4 according to first embodiment is formed Shape curve graph.

Fig. 7 is the figure for showing the antenna array structure of radar installations according to the second embodiment of the present invention.

Fig. 8 is to show by the reception wave beam obtained according to the antenna array structure of second embodiment point shown in fig. 7 The figure of cloth image.

Fig. 9 shows the reception wave beam for showing and being formed by the antenna array structure shown in fig. 7 according to second embodiment Shape curve graph.

Figure 10 is the figure for showing the antenna array structure of radar installations according to the third embodiment of the present invention.

Figure 11 is to show the reception wave beam obtained as shown in Figure 10 according to the antenna array structure of third embodiment The figure of distributed image.

Figure 12 shows the received wave for showing and being formed as shown in Figure 10 according to the antenna array structure of third embodiment The curve graph of the shape of beam.

Figure 13 is the figure for showing the antenna array structure of radar installations according to the fourth embodiment of the present invention.

Figure 14 is to show the reception wave beam obtained as shown in Figure 13 according to the antenna array structure of the 4th embodiment The figure of distributed image.

Figure 15 shows the received wave for showing and being formed as shown in Figure 13 according to the antenna array structure of the 4th embodiment The curve graph of the shape of beam.

Figure 16 is the figure for showing the antenna array structure of radar installations according to the fifth embodiment of the present invention.

Figure 17 is to show the reception wave beam obtained as shown in Figure 16 according to the antenna array structure of the 5th embodiment The figure of distributed image.

Figure 18 shows the received wave for showing and being formed as shown in Figure 16 according to the antenna array structure of the 5th embodiment The curve graph of the shape of beam.

Figure 19 is the figure for showing the antenna array structure of radar installations according to the sixth embodiment of the present invention.

Figure 20 is to show the reception wave beam obtained as shown in Figure 19 according to the antenna array structure of sixth embodiment The figure of distributed image.

Figure 21, which is shown, shows the received wave that the antenna array structure as shown in Figure 19 according to sixth embodiment is formed The curve graph of the shape of beam.

Specific embodiment

It will be described in detail below, to describe exemplary embodiments of the present invention with reference to the accompanying drawings, to permit Perhaps those skilled in the art is readily appreciated that and practices the present invention.Although being shown in the attached drawings and being described in disclosure Specific embodiment, but these specific embodiments are not intended to various embodiments of the invention being restricted to specific shape Formula.

In addition, it is of the invention it is described below in, if the detailed description of relevant known configurations or function is confirmed as Unnecessarily make the purport of embodiments of the present invention smudgy, then its detailed description will be omitted.

When a component referred to as " connects " or when " coupled " to another component, which can be directly connected or couple To another component, but it is to be understood that may exist another component between.

On the contrary, should be managed when a component referred to as " is directly connected " or " directly coupling " arrives another component Solution, can be not present another component between.

Fig. 1 is the block diagram for showing the configuration of radar installations of embodiment according to the present invention.As shown in Figure 1, according to this The radar installations 100 of invention include n radar signal processor 110, n*i transmitting antenna 120, n*j receiving antenna 130, With controller 140.

Each of n radar signal processor includes i launch channel and j reception channel, is believed by i transmitting Road transmitting radar signal, the radar signal reflected by j reception channel reception from target object (not shown) and processing connect The radar signal of receipts, to calculate the distance away from target object and receive the doppler data of each of channel for j.

Here, the distance away from target object refers to the distance (radial distance) on direction of visual lines away from target object, with And doppler data refers to the value about the speed (radial velocity) on direction of visual lines.

N*i transmitting antenna 120 is connected to the i launch channel of each of n radar signal processor 110 to send out Penetrate radar signal.In this case, each of n*i transmitting antenna 120 may include feed line and along the feed line The multiple patches placed.

N*j receiving antenna 130 is connected to the j reception channel of each of n radar signal processor 110 to connect Receive the radar signal reflected from target object.In this case, each of n*j receiving antenna 130 may include feed Line and the multiple patches placed along the feed line.

In such a case it is possible to unevenly in n*i transmitting antenna of linear deployment 120 or n*j receiving antenna 130 At least one.For example, can unevenly n*i transmitting antenna of linear deployment 120, and can equably linear deployment n*j Receiving antenna 130.

Alternatively, can equably n*i transmitting antenna of linear deployment 120, and can unevenly linear deployment n*j A receiving antenna 130.It also alternatively, can unevenly n*i transmitting antenna of linear deployment 120 and n*j receiving antenna 130。

In " uneven linear array ", term " linear " means along straight line or curve deployment mutiple antennas.In addition, art Language " uneven " means that the interval between mutiple antennas is not constant.That is, term " uneven linear array " is defined as anticipating In the form of finger arranges mutiple antennas by non-uniform spaced linear along straight line or curve.

Meanwhile transmitting antenna array and receiving antenna array (therein at least one by unevenly linear deployment) can be with It is arranged in intersected with each other or does not intersect each other.

Meanwhile transmitting antenna array and receiving antenna array (therein at least one by unevenly linear deployment) can be with Not only including one-dimensional (1D) array but also including two-dimentional (2D) array.When unevenly linear deployment physics transmitting antennas battle array When at least one of column or physical receipt aerial array, due to logically combining these transmitting antenna arrays and receiving antenna array It arranges and there is higher resolution ratio with the 2D virtual-antenna for receiving wave beam distribution.

Controller 140 controls the operation of n radar signal processor 110.In this case, controller 140 can be by reality Now to control n radar signal processor 110 when n*i transmitting antenna 120 sequentially or respectively emits radar signal, To allow n*j receiving antenna 130 all jointly to receive radar signal.

Meanwhile controller 140 may be implemented as analyzing it is each in n radar signal processor 110 by being connected to The frequency signal that the transmitting antenna 120 of person exports, and by the frequency displacement of the received each frequency signal of receiving antenna 130, from And the distance of detected target object and calculating away from the target object.

For example, controller may be implemented as detected target object and be calculated using CW with frequency modulation (FMCW) away from the target The distance of object.

Fig. 2 is the transmitted waveform for showing FMCW and the figure for receiving waveform.Emit signal f_TXIn bandwidth frequency f₀Lower correspondence In f₀The bandwidth B sweep time section T of+B_m。

In Fig. 2, after time delay τ=2R/C, in time t₁The signal f of transmitting₁It is observed in time t₂Have Frequency displacement f_d, and in time t₂The signal of transmitting has frequency f₂。

As transmitting signal f_TXWith reception signal f_RXBetween difference bit frequency f_bIt is detected as following equation 1.

[equation 1]

f_b=| f_TX-f_RX|

[equation 2]

Controller 140 can come using only equation 2 using bit frequency f_bCalculate the distance away from fixed target object.Due to Make the carrier deviation for receiving signal when mobile target object because of Doppler effect, therefore can be according to transmitting signal pre- Fix time with the presence or absence of in triangular wave acclivity or decline slop and by frequency mixer 320 generate two bit frequencies, as In equation 3 and equation 4 like that.

[equation 3]

f_b1=f_R-f_d

[equation 4]

f_b2=f_R+f_d

It can be calculated by equation 5 and equation 6, using the bit frequency calculated by equation 3 and equation 4 away from mobile target pair The distance of elephant and relative velocity relative to the movement target object.

[equation 5]

[equation 6]

Here, variable f₀Mean the frequency of transmitting signal.Bit frequency f_bIntermediate frequency (Intermediate Frequency, IF) signal is with period T_m/ 2 square wave.When IF signal is carried out Fourier transformation and expressed in a frequency domain, which is believed It number is expressed as with centre frequency f_bSIN function.

In this case, initial zero crossing appears in period 2/T_mIn, and initially the reciprocal value of zero crossing becomes minimum It modulating frequency and can be expressed by equation 7.In addition, when calculating the detection resolution of relative velocity using equation 7, the detection Resolution ratio can be expressed by equation 8.

[equation 7]

[equation 8]

[equation 9]

From equation 8 as can be seen that with T_mValue increase or lowest modulation frequency Δ f value reduce, can use higher Resolution ratio detects relative velocity.It in addition, equation 9 indicates resolution of ranging, and can be seen that as bandwidth B increases, can use Higher resolution detecting distance.

Meanwhile controller 140 may be implemented as driving by referring to antenna configuration relevant information n*i transmitting antenna with N*j receiving antenna realizes the virtual-antenna that there is 2D to receive wave beam distribution.

Here, the virtual-antenna is referred to by adding in the position for making physics transmitting antennas be displaced to physical receipt antenna When occur it is whole receive beam patterns and be formed by 2D receive wave beam distribution.

Therefore, it is possible to use multiple physics transmitting antennas and multiple physical receipt antennas are by patrolling with high spatial resolution Virtual-antenna is collected to be embodied as receiving wave beam distribution with 2D.Therefore, it is possible to use the physics transmitting antennas and reception of more smallest number Radar installations is provided as with high spatial resolution by antenna.

Meanwhile antenna configuration relevant information can be the fixation limited about n*i transmitting antenna and n*j receiving antenna Array information, about the driving sequence information of n*i transmitting antenna and n*j receiving antenna and according to n*i transmitting antenna Wave beam form information is received with the 2D about dynamic virtual antenna of the driving sequence of n*j receiving antenna.

Controller 14 is according to the 2D reception form of beams of the virtual-antenna referring to antenna configuration relevant information and in virtual day The distance away from target object calculated by n radar signal processor 110 is rearranged in line mapping data and for each connecing The doppler data in collection of letters road.Controller 140 calculates the position of target object from virtual-antenna mapping data.

Here, virtual-antenna mapping data refer to the computable number evidence rearranged according to general purpose radar signal processing Arrangement, to allow to calculate the position of target object.According to aspects of the present invention, virtual-antenna mapping data can be reflection How general the data of virtual antenna array, i.e., wherein, the distance-that target object is rearranged and being mapped to virtual antenna array are Data are strangled, to allow to calculate the position of target object.

Fig. 3 is the block diagram for showing the configuration of the radar signal processor of radar installations of embodiment according to the present invention. As shown in figure 3, each of n radar signal processor 110 includes transmitting module 200 and receiving module 300.

Transmitting module 200 is configured to believe by i transmitting for being connected to each of n radar signal processor 110 The transmitting antenna 120 in road sequentially emits radar signal, and including switch 210, power amplifier (Power Amplifier, PA) 220 and frequency multiplier 230.

Switch 210 sequentially switches the transmitting antenna 120 to select transmitting radar signal, thus according to transmitting clock signal Transmitting antenna 120 by being connected to the i launch channel of each of n radar signal processor 110 emits radar letter Number.In such a case it is possible to be used for the transmitting clock signal of radar signal from the transmitting of controller 140.

PA 220 amplifies the frequency signal for being output to transmitting antenna 210.

Frequency multiplier 230 is by the power output of output frequency (it is the n (integer) times for inputting frequency) to PA 220.

Receiving module 300 is configured to believe by j reception for being connected to each of n radar signal processor 110 The receiving antenna 130 in road is jointly received to be believed by i transmitting for being connected to each of n radar signal processor 110 The radar signal of 120 sequential transmission of transmitting antenna in road, and including low-noise amplifier (Low Noise Amplifier, LNA) 310 and frequency mixer 320.

Reception of the LNA 310 to the j reception channel by being connected to each of n radar signal processor 110 The weak frequency signal that antenna 130 inputs executes low noise amplification.

Frequency mixer 320 is by the frequency signal that will export from transmitting antenna 120 multiplied by by the received frequency of receiving antenna 130 Signal executes frequency displacement.140 detected target object of controller and using above-mentioned equation from by n radar signal processor 110 The frequency displacement result that obtains of frequency mixer 320 of each calculate the position of the target object.

Additional aspect according to the present invention mentions in radar installations 100 to allow radar installations 100 being used for safety The multiple transmitting antennas 120 and multiple receiving antennas 130 supplied can be arranged in widely distributed monitoring region.

In this case, n*i transmitting antenna 120 and n*j receiving antenna 130 can be arranged in straight line or curve Form is intersected with each other, thus have widely distributed monitoring region, and receive wave beam distributed image on reception wave beam it Between layout pitch be implemented as be less than receive wavelength half.In this case, with the shape being arranged in straight line or curve The quantity of formula transmitting antenna 120 intersected with each other and the quantity of receiving antenna 130 increase, and realize more widely distributed monitoring section Domain.

It is received when the layout pitch between the reception wave beam on reception wave beam distributed image is implemented as being less than or equal to When the half of wavelength, grating lobe can reduce, which is undesirable radiation lobe, so as to improve radar dress The performance set.When the half for being greater than or equal to reception wavelength in the layout pitch for receiving the reception wave beam on wave beam distributed image When, there is grating lobe.

Meanwhile when n*i transmitting antenna 120 and n*j receiving antenna 130 are arranged in the form of straight line or curve each other When intersection, the center that distribution of the wave beam on reception wave beam distributed image more concentrates on the reception wave beam distributed image is received, To reduce minor lobe, so as to improve the performance of radar installations.Due to receiving wave beam on receiving wave beam distributed image Distribution concentrates on the center for receiving wave beam distributed image, therefore increases minor lobe.

Meanwhile n*i transmitting antenna 120 can located continuously or discontinuously be arranged relative to adjacent transmission antenna, and N*j receiving antenna 130 can also located continuously or discontinuously be arranged relative to adjacent reception antenna.

As described above, controller 140 is controlled when n*i transmitting antenna 120 sequentially or respectively emits radar signal N radar signal processor 110 processed, so that n*j receiving antenna 130 be allowed all jointly to receive radar signal.

In this case, n*i transmitting antenna 120 and n*j receiving antenna 130 can be aligned to allow by passing through n* The position for the reception wave beam that the j received radar signal of receiving antenna 130 is formed is not overlapped on receiving wave beam distributed image.

Fig. 4 is the figure for showing the antenna array structure of radar installations according to the first embodiment of the present invention.Fig. 4 is shown First embodiment, the first embodiment are implemented such that 4*3 transmitting antenna 120 and 4*4 receiving antenna 130 arrange At in the form of straight line, it is intersected with each other with right angle, make these antenna from ground inclination -45 degree /+45 degree.

Fig. 5 is the reception wave beam point for showing the antenna array structure as shown in Fig. 1 according to first embodiment and obtaining The figure of cloth image.As shown in Figure 5, it can be seen that the distribution of received wave beam has the inclined rectangular shape having a size of 12*16, thus With widely distributed monitoring region.

Fig. 6, which is shown, shows the reception wave beam that the antenna array structure as shown in Fig. 4 according to first embodiment is formed Shape curve graph, these graphs show by becoming to executing fast Fourier by the received radar signal of receiving antenna The shape for receiving wave beam changing (Fast Fourier Transform, FFT) and being watched from x-axis and z-axis.

Fig. 6 show shown from the left of Fig. 6 ought inclination in the direction of the x axis be zero degree and inclining in the z-axis direction Tiltedly when being zero degree, when inclination in the direction of the x axis is zero degree and inclination in the z-axis direction is 40 degree, when in the direction of the x axis Inclination be 40 degree and when inclination in the z-axis direction is zero degree and ought inclination in the direction of the x axis be 28 degree and in z-axis 2D and three-dimensional (3D) when inclination on direction is 28 degree receive the curve graph of beam pattern.

Fig. 7 is the figure for showing the antenna array structure of radar installations according to the second embodiment of the present invention.Fig. 7 is shown Second embodiment, the second embodiment are implemented such that 4*3 transmitting antenna 120 and 4*4 receiving antenna 130 arrange At intersected with each other in graph form.

Fig. 8 is to show by the reception wave beam obtained according to the antenna array structure of second embodiment point shown in fig. 7 The figure of cloth image.As shown in Figure 8, it can be seen that the distribution of received wave beam has the bending rectangular shape having a size of 12*16, thus With widely distributed monitoring region.

Fig. 9 shows the reception wave beam for showing and being formed by the antenna array structure shown in fig. 7 according to second embodiment Shape curve graph, these graphs show by FFT is executed by receiving antenna received radar signal and from x-axis and The shape of the reception wave beam of z-axis viewing.

Fig. 9 show shown from the left of Fig. 9 ought inclination in the direction of the x axis be zero degree and inclining in the z-axis direction Tiltedly when being zero degree, when inclination in the direction of the x axis is zero degree and inclination in the z-axis direction is 40 degree, when in the direction of the x axis Inclination be 40 degree and when inclination in the z-axis direction is zero degree and ought inclination in the direction of the x axis be 28 degree and in z-axis 2D and 3D when inclination on direction is 28 degree receive the curve graph of beam pattern.

Figure 10 is the figure for showing the antenna array structure of radar installations according to the third embodiment of the present invention.Figure 10 shows Third embodiment is gone out, which is implemented such that 4*3 transmitting antenna 120 and 4*4 130 row of receiving antenna It arranges into intersected with each other in the form of helical lines.

Figure 11 is to show the reception wave beam obtained as shown in Figure 10 according to the antenna array structure of third embodiment The figure of distributed image.As shown in figure 11, it can be seen that receiving wave beam distribution has the rectangular wave shape having a size of 12*16, thus With widely distributed monitoring region.

Figure 12 shows the received wave for showing and being formed as shown in Figure 10 according to the antenna array structure of third embodiment The curve graph of the shape of beam, these graphs show by FFT is executed by receiving antenna received radar signal and from x-axis With the shape of the reception wave beam of z-axis viewing.

Figure 12 show shown from the left of Figure 12 ought inclination in the direction of the x axis be zero degree and in the z-axis direction Inclination when being zero degree, when inclination in the direction of the x axis is zero degree and inclination in the z-axis direction is 40 degree, when in x-axis direction On inclination be 40 degree and when inclination in the z-axis direction is zero degree and ought inclination in the direction of the x axis be 28 degree and in z 2D and 3D when inclination in axis direction is 28 degree receive the curve graph of beam pattern.

As described above, according to the present invention, the multiple transmitting antennas provided in radar installations and the arrangement of multiple receiving antennas At intersected with each other in the form of straight line or curve, to have widely distributed monitoring region.Therefore, which can supervise Survey extensive region.Correspondingly, radar installations can be used for safely etc..

Meanwhile the layout pitch between the reception wave beam on reception wave beam distributed image is implemented as being less than or equal to and connect The half of wavelength is received, so as to reduce grating lobe, which is undesirable radiation lobe.Therefore, can improve The performance of radar installations.

It is received in wave beam distributed image in addition, receiving distribution of the wave beam on reception wave beam distributed image and more concentrating on The heart, to reduce minor lobe.Therefore, the performance of radar installations can be improved.

Additional aspect according to the present invention mentions in radar installations 100 to allow radar installations 100 being used for vehicle The multiple transmitting antennas 120 and multiple receiving antennas 130 supplied can be arranged in the monitoring region with integrated distribution.

In this case, it is all arranged on straight line instead of n*i transmitting antenna 120 and n*j receiving antenna 130, n*i Some antenna alignments in a transmitting antenna 120 and n*j receiving antenna 130 are on straight line and remaining antenna alignment conclusion of the business is replaced 's.Therefore, it is represented as by some positions of the reception wave beam formed by the n*j received radar signal of receiving antenna 130 It receives the space on wave beam distributed image and realizes the monitoring region of integrated distribution, and on receiving wave beam distributed image The layout pitch for receiving wave beam is implemented as being less than the half for receiving wavelength.

It is received when the layout pitch between the reception wave beam on reception wave beam distributed image is implemented as being less than or equal to When the half of wavelength, grating lobe can reduce, which is undesirable radiation lobe, so as to improve radar dress The performance set.When the half for being greater than or equal to reception wavelength in the layout pitch for receiving the reception wave beam on wave beam distributed image When, there is grating lobe.

Meanwhile some antenna alignments among n*i transmitting antenna 120 and n*j receiving antenna 130 on straight line and Remaining antenna alignment is at alternate rather than arrange n*i transmitting antenna 120 and n*j 130 whole of receiving antenna on straight line When, wave beam, which is received, in the distribution received on wave beam distributed image concentrates on the center of the reception wave beam distributed image more to reduce Lobe, so as to improve the performance of radar installations.It is concentrated on due to receiving wave beam in the distribution received on wave beam distributed image The center of wave beam distributed image is received, therefore reduces minor lobe.

Meanwhile n*i transmitting antenna 120 can located continuously or discontinuously be arranged relative to adjacent transmission antenna, and N*j receiving antenna 130 can also located continuously or discontinuously be arranged relative to adjacent reception antenna.

As described above, controller 140 is controlled when n*i transmitting antenna 120 sequentially or respectively emits radar signal N radar signal processor 110 processed, so that n*j receiving antenna 130 be allowed all jointly to receive radar signal.

In this case, n*i transmitting antenna 120 and n*j receiving antenna 130 can be arranged and allow by passing through The position for the reception wave beam that the n*j received radar signal of receiving antenna 130 is formed is not overlapped on receiving wave beam distributed image.

Figure 13 is the figure for showing the antenna array structure of radar installations according to the fourth embodiment of the present invention.Figure 13 shows Gone out the 4th embodiment, the 4th embodiment be implemented such that 4*3 transmitting antenna 120 and 4*4 receiving antenna 130 it In some antenna alignments on straight line and remaining antenna alignment is at alternate.

Figure 14 is to show the reception wave beam point obtained as shown in Fig. 4 according to the antenna array structure of the 4th embodiment The figure of cloth image.As shown in figure 14, it can be seen that by the one of the reception wave beam formed by the received radar signal of receiving antenna A little positions show integrated distribution, while being represented as receiving the space on wave beam distributed image, thus with integrated distribution Monitor region.

Figure 15 shows the received wave for showing and being formed as shown in Figure 13 according to the antenna array structure of the 4th embodiment The curve graph of the shape of beam, these graphs show by FFT is executed by receiving antenna received radar signal and from x-axis With the shape of the reception wave beam of z-axis viewing.

The upper left curve of Figure 15 show ought inclination in the direction of the x axis be zero degree and in the z-axis direction Inclination be zero degree when reception beam pattern, the curve in the upper right side of Figure 15 show ought inclination in the direction of the x axis be Reception beam pattern when 40 degree and inclination in the z-axis direction are zero degree, the curve in the lower left of Figure 15, which is shown, works as Reception beam pattern when inclination in the direction of the x axis is zero degree and inclination in the z-axis direction is 15 degree, and Figure 15's The curve of lower right shows connecing when inclination in the direction of the x axis is 20 degree and inclination in the z-axis direction is 7.5 degree Receive beam pattern.

Figure 16 is the figure for showing the antenna array structure of radar installations according to the fifth embodiment of the present invention.Figure 16 shows Gone out the 5th embodiment, the 5th embodiment be implemented such that 2*3 transmitting antenna 120 and 2*4 receiving antenna 130 it In some antenna alignments on straight line and remaining antenna alignment is at alternate.

Figure 17 is to show the reception wave beam obtained as shown in Figure 16 according to the antenna array structure of the 5th embodiment The figure of distributed image.As shown in figure 17, it can be seen that receive wave beam by what is formed by receiving antenna received radar signal Some positions show the integrated distribution similar to ellipse, while being represented as receiving the space on wave beam distributed image, from And the monitoring region with integrated distribution.

Figure 18 shows the received wave for showing and being formed as shown in Figure 16 according to the antenna array structure of the 5th embodiment The curve graph of the shape of beam, these graphs show by FFT is executed by receiving antenna received radar signal and from x-axis With the shape of the reception wave beam of z-axis viewing.

The upper left curve of Figure 18 show ought inclination in the direction of the x axis be zero degree and in the z-axis direction Inclination be zero degree when reception beam pattern, the curve in the upper right side of Figure 18 show ought inclination in the direction of the x axis be Reception beam pattern when 40 degree and inclination in the z-axis direction are zero degree, the curve in the lower left of Figure 18, which is shown, works as Reception beam pattern when inclination in the direction of the x axis is zero degree and inclination in the z-axis direction is 15 degree, and Figure 18's The curve of lower right shows connecing when inclination in the direction of the x axis is 20 degree and inclination in the z-axis direction is 7.5 degree Receive beam pattern.

Figure 19 is the figure for showing the antenna array structure of radar installations according to the sixth embodiment of the present invention.Figure 19 shows Gone out sixth embodiment, the sixth embodiment be implemented such that 4*3 transmitting antenna 120 and 4*4 receiving antenna 130 it In some antenna alignments on straight line and remaining antenna alignment is at alternate.

Figure 20 is to show the reception wave beam obtained as shown in Figure 19 according to the antenna array structure of sixth embodiment The figure of distributed image.As shown in figure 20, it can be seen that receive wave beam by what is formed by receiving antenna received radar signal Some positions show the integrated distribution similar to oblong, while being represented as receiving the space on wave beam distributed image, To the monitoring region with integrated distribution.

Figure 21, which is shown, shows the received wave that the antenna array structure as shown in Figure 19 according to sixth embodiment is formed The curve graph of the shape of beam, these graphs show by FFT is executed by receiving antenna received radar signal and from x-axis With the shape of the reception wave beam of z-axis viewing.

The upper left curve of Figure 21 show ought inclination in the direction of the x axis be zero degree and in the z-axis direction Inclination be zero degree when reception beam pattern, the curve in the upper right side of Figure 21 show ought inclination in the direction of the x axis be Reception beam pattern when 40 degree and inclination in the z-axis direction are zero degree, the curve in the lower left of Figure 21, which is shown, works as Reception beam pattern when inclination in the direction of the x axis is zero degree and inclination in the z-axis direction is 15 degree, and Figure 21's The curve of lower right shows connecing when inclination in the direction of the x axis is 20 degree and inclination in the z-axis direction is 7.5 degree Receive beam pattern.

As described above, according to the present invention, instead of by the multiple transmitting antennas provided in radar installations and multiple reception days All on straight line, some antennas among multiple transmitting antennas and multiple receiving antennas are arranged line in the form of straight line for arrangement And by remaining antenna alignment at alternate, thus the monitoring region with integrated distribution.Therefore, which can be intensively Monitor area-of-interest.Correspondingly, radar installations can be used for vehicle etc..

Meanwhile the layout pitch between the reception wave beam on reception wave beam distributed image is implemented as being less than or equal to and connect The half of wavelength is received, so as to reduce grating lobe, which is undesirable radiation lobe.Therefore, can improve The performance of radar installations.

It is received in wave beam distributed image in addition, receiving distribution of the wave beam on reception wave beam distributed image and more concentrating on The heart, to reduce minor lobe.Therefore, the performance of radar installations can be improved.

As described above, according to the invention, it is possible to use multiple transmitting antennas and multiple receiving antennas will have high spatial point The virtual-antenna of resolution is embodied as receiving wave beam distribution with 2D.Therefore, it is possible to use the physics transmitting antennas of more smallest number and Radar installations is provided as with high spatial resolution by receiving antenna.

In addition, according to the present invention, the multiple transmitting antennas and multiple receiving antennas provided in radar installations be arranged in The form of straight line or curve is intersected with each other, to have widely distributed monitoring region.Therefore, which can monitor extensively General region.

In addition, according to the present invention, instead of the multiple transmitting antennas provided in radar installations and multiple receiving antennas are complete Portion arranges on straight line, and some antennas among multiple transmitting antennas and multiple receiving antennas are arranged and incited somebody to action in the form of straight line Remaining antenna alignment is at alternate, thus the monitoring region with integrated distribution.Therefore, which can intensively monitor Area-of-interest.

In addition, according to the present invention, being implemented as in the layout pitch received between the reception wave beam on wave beam distributed image Less than or equal to the half of wavelength is received, to remove grating lobe, which is undesirable radiation lobe.Therefore, The performance of radar installations can be improved.

In addition, according to the present invention, receiving wave beam and being implemented as more concentrating in the distribution received on wave beam distributed image The center for receiving wave beam distributed image, to reduce minor lobe.Therefore, the performance of radar installations can be improved.

Various embodiments disclosed herein and shown in the drawings are only the tool of the purpose understood for auxiliary Body example, and it is not intended to limit the range of various embodiments of the invention.

It will thus be appreciated that other than embodiment described herein, from various embodiments of the invention All substitutions and modifications derived from technical spirit are fallen in the range of various embodiments of the invention.

Industrial feasibility

The present invention has industrial feasibility in the field of Radar Antenna System and its application.