Antenna array, radar, electronic device and vehicle

Abstract

The embodiment of the invention provides an antenna array, a radar, electronic equipment and a vehicle, and belongs to the technical field of antennas. Wherein the antenna array comprises a transmitting antenna array and a receiving antenna array. The transmitting antenna array and the receiving antenna array are used for forming a virtual array. The transmitting antenna array comprises at least two transmitting sub-arrays which are arranged at intervals in the first direction, and the distance between every two adjacent transmitting sub-arrays in the first direction is smaller than or equal to the aperture length of the receiving antenna array in the second direction. The receiving antenna array comprises at least two receiving sub-arrays arranged along the second direction, and each receiving sub-array comprises at least two receiving antennas arranged at intervals along the second direction. And the receiving antenna array satisfies the relational expression: 0 < dn-dn-1 < = 0.5 lambda. The antenna array provided by the embodiment of the invention has the characteristics of large array aperture, high resolution, no grating lobe and low side lobe.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of antenna technology, and in particular to an antenna array, a radar, an electronic device and a vehicle. Background Art

[0002] At present, with the evolution and expansion of application scenarios (such as high-speed scenarios, urban scenarios, etc.), traffic radar continues to develop in the direction of high resolution, long distance and large array. The traffic radar includes an antenna and a processing module. The antenna includes multiple units arranged in an array. The radio frequency signal emitted by the processing module is radiated through the antenna. The antenna can also be used to receive the echo signal formed by the radio frequency signal encountering an obstacle, and the antenna transmits the echo signal to the processing module. The processing module obtains position information such as distance, speed and angle based on the transmitted signal. However, while the antenna achieves a large array aperture and high resolution, grating lobes often appear, resulting in a decrease in antenna performance. Therefore, how to achieve grating-free lobes while achieving a large array space and high angular resolution has become a problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide an antenna array, a radar, an electronic device and a vehicle, which can enable the antenna array to have the characteristics of a large array aperture, high resolution, no grating lobes and low side lobes, and can improve the performance of the antenna array.

[0004] In a first aspect, the present application provides an antenna array, comprising a transmitting antenna array and a receiving antenna array. The transmitting antenna array and the receiving antenna array are used to form a virtual array. The transmitting antenna array comprises at least two transmitting sub-arrays arranged at intervals along a first direction, and the spacing between two adjacent transmitting sub-arrays in the first direction is less than or equal to the aperture length of the receiving antenna array in the second direction. The receiving antenna array comprises at least two receiving sub-arrays arranged along a second direction, and each receiving sub-array comprises at least two receiving antennas arranged at intervals along the second direction. The receiving antenna array satisfies the relationship: 0<|d n -d n-1 |≤0.5λ,d n Refers to the distance between two adjacent receiving antennas in the nth receiving subarray in the second direction, d n-1 It refers to the distance between two adjacent receiving antennas in the n-1th receiving subarray in the second direction, λ is the working wavelength of the antenna array, and n is a positive integer.

[0005] When the receiving antenna array 300 satisfies the relationship: 0<|d n -d n-1|≤0.5λ, and the second receiving spacings of at least two receiving subarrays in the receiving antenna array are different, and the spacing between two adjacent transmitting subarrays in the first direction is less than or equal to the aperture length of the receiving antenna array in the second direction, so that the virtual array can be composed of multiple regular arrays with unequal spacings, so that the antenna array can have the characteristics of large array aperture, high resolution, no grating lobe and low side lobe. In addition, the angle information of the side lobe of the antenna array can be combined to select a suitable transmitting antenna and receiving antenna to further reduce the side lobe energy of the antenna array.

[0006] Among them, in the process of forming a virtual array by the transmitting antenna array and the receiving antenna array, there is an overlap between two adjacent receiving sub-arrays, and there is a half-wavelength small array with an array element spacing less than or equal to 0.5λ at the overlap. The array has the characteristics of no grating lobe and low sidelobe energy, which can provide a new solution for dealing with the false alarm problem caused by multiple targets and large reflective targets. In addition, since the virtual array is composed of multiple regular arrays with unequal spacing, a large half-wavelength array without grating lobe can be obtained by array interpolation during back-end algorithm processing, which can further reduce the sidelobe energy and help to further improve the antenna performance.

[0007] In a possible implementation, the spacing between two adjacent transmitting sub-arrays in the first direction is greater than or equal to zero, which can ensure that the transmitting antenna array and the receiving antenna array can form a virtual array, so that the antenna array has the characteristics of large array aperture, high resolution, no grating lobe and low side lobe.

[0008] In a possible implementation, the transmitting antenna array includes at least two first transmitting spacings, at least two first transmitting spacings in the transmitting antenna array are the same or all first transmitting spacings in the transmitting antenna array are different; wherein the spacing between two adjacent transmitting subarrays in the first direction is defined as the first transmitting spacing. With such an arrangement, the design difficulty of the transmitting antenna array can be reduced under the premise that the antenna array has the characteristics of large array aperture, high resolution, no grating lobe and low side lobe.

[0009] In a possible implementation, each transmitting subarray includes at least one transmitting antenna, wherein: at least two transmitting subarrays in the transmitting antenna array have the same number of transmitting antennas; or, each transmitting subarray in the transmitting antenna array has a different number of transmitting antennas. The aperture, sidelobe position, and number of the virtual array can be flexibly adjusted by adjusting the number of transmitting antennas in the transmitting subarray.

[0010] In a possible implementation manner, the receiving antenna array also satisfies the relationship: 0≤d m ≤(d n +d n-1 ), d mIt refers to the distance between the nth receiving sub-array and the (n-1)th receiving sub-array in the second direction, and m is a positive integer.

[0011] Through the relationship: 0≤d m ≤(d n +d n-1 ), the aperture, sidelobe position and number of the virtual array can be flexibly adjusted to improve the application range of the antenna array.

[0012] In a possible implementation, the receiving antenna array includes at least two first receiving spacings, at least two first receiving spacings in the receiving antenna array are the same or all first receiving spacings in the receiving antenna array are different; wherein the spacing between two adjacent receiving subarrays in the first direction is defined as the first receiving spacing. With such an arrangement, the design difficulty of the receiving antenna array can be reduced under the premise that the antenna array has the characteristics of large array aperture, high resolution, no grating lobe and low side lobe.

[0013] In a possible implementation, the receiving antenna array includes at least one first receiving spacing, and at least one first receiving spacing in the receiving antenna array is equal to zero; wherein the spacing between two adjacent receiving sub-arrays in the first direction is defined as the first receiving spacing. By making the first receiving spacing equal to zero, the size of the receiving antenna array in the second direction can be reduced, which helps to reduce the difficulty of arranging the receiving antenna array.

[0014] In a possible implementation, at least two adjacent receiving subarrays corresponding to the first receiving spacing equal to zero share the same receiving antenna. Under the condition that the first receiving spacing is equal to zero, allowing two adjacent receiving subarrays corresponding to the first receiving spacing equal to zero to share the same receiving antenna can reduce the number of receiving antennas under the premise that the antenna array has the characteristics of large array aperture, high resolution, no grating lobe and low side lobe, which helps to reduce the size of the receiving antenna array in the second direction.

[0015] In a possible implementation, at least two receiving subarrays in the receiving antenna array have the same number of receiving antennas; or, each receiving subarray in the receiving antenna array has a different number of receiving antennas. The aperture, sidelobe position, and number of the virtual array can be flexibly adjusted by adjusting the number of receiving antennas in the receiving subarray.

[0016] In a possible implementation, at least one receiving subarray includes at least two second receiving spacings, and at least two second receiving spacings in at least one receiving subarray are the same; wherein the spacing between two adjacent receiving antennas in the same receiving subarray in the second direction is defined as the second receiving spacing. The aperture, sidelobe position, and number of the virtual array can be flexibly adjusted by controlling the spacing between multiple receiving antennas in the receiving subarray.

[0017] A second aspect of the present application provides a radar, comprising an antenna array as described in any one of the first aspects.

[0018] A third aspect of the present application provides an electronic device, comprising an antenna array as in any one of the first aspect or a radar as in the second aspect.

[0019] A fourth aspect of the present application provides a vehicle, comprising an antenna array as in any one of the first aspect or a radar as in the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the structure of a radar provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of a first antenna array provided in an embodiment of the present application;

[0022] Figure 3 The embodiment of the present application provides a different Figure 2 A schematic structural diagram of a receiving antenna array of the receiving antenna array in;

[0023] Figure 4 A schematic diagram of the structure of a second antenna array provided in an embodiment of the present application;

[0024] Figure 5 for Figure 4 Schematic diagram of the process of forming a virtual array by using the antenna array in FIG.

[0025] Figure 6 for Figure 4 A schematic diagram of position information of a virtual array formed by an antenna array in FIG.

[0026] Figure 7 for Figure 6 The array factor pattern when the virtual array is scanned at 0° is shown;

[0027] Figure 8 for Figure 6 The array factor pattern when the virtual array is scanned 60° is shown;

[0028] Fig. 9 for Figure 6 Schematic diagram of the position information of the virtual array after being processed by the algorithm backend;

[0029] Fig.10 for Fig. 9 The array factor pattern when the virtual array scans 60°;

[0030] Fig.11 A schematic diagram of the structure of a third antenna array provided in an embodiment of the present application;

[0031] Fig.12 for Fig.11 Schematic diagram of the process of forming a virtual array by using the antenna array in FIG.

[0032] Fig.13 for Fig.11 A schematic diagram of position information of a virtual array formed by an antenna array in FIG.

[0033] Fig.14 for Fig.13 The array factor pattern when the virtual array is scanned at 0° is shown;

[0034] Fig.15 for Fig.13 The array factor pattern when the virtual array is scanned 60° is shown;

[0035] Fig.16 for Fig.13 Schematic diagram of the position information of the virtual array after being processed by the algorithm backend;

[0036] Fig.17 for Fig.16 Array factor pattern when the virtual array scans 60°.

[0037] Description of reference numerals:

[0038] 100. Radar;

[0039] 110, antenna array; 120, radio frequency module; 130, processing module;

[0040] 200, transmitting antenna array; 210, transmitting sub-array; 211, transmitting antenna;

[0041] 300, receiving antenna array; 310, receiving sub-array; 311, receiving antenna. DETAILED DESCRIPTION

[0042] At present, traffic radar includes a multiple input multiple output (MIMO) antenna, a processing unit and a radio frequency unit. Among them, the MIMO antenna includes multiple receiving antennas and multiple transmitting antennas, that is, the MIMO antenna includes multiple receiving channels and multiple transmitting channels, so the MIMO antenna can form a virtual array antenna. The transmitting channel of the radio frequency unit is connected to the transmitting antenna, and the receiving channel of the radio frequency unit is connected to the receiving channel. The radio frequency signal emitted by the transmitting channel of the radio frequency unit is radiated through the transmitting antenna. After the radio frequency signal encounters the target object and reflects, an echo signal will be formed. The echo signal is received by the receiving antenna. The radio frequency unit can also perform mixing and analog-to-digital conversion on the echo signal received by the receiving antenna and transmit it to the processing unit. The processing unit is used to perform Fourier transform, constant false-alarm rate (CFAR) and other operations on the echo signal, so as to determine the distance, speed, azimuth and other information of the target according to the received echo signal.

[0043] However, although MIMO antennas can achieve large array aperture and high resolution, they are also accompanied by the appearance of grating lobes, which leads to a decrease in antenna performance. In addition, there are a large number of side lobes and high side lobe energy, which leads to false alarm problems.

[0044] In view of this, the embodiment of the present application provides an antenna array 110, a radar 100, an electronic device and a vehicle, wherein the antenna array 110 can have the characteristics of large array aperture, high resolution, no grating lobe and low side lobe. In addition, the virtual array formed by the antenna array 110 has a small array without grating lobe and an array element spacing less than or equal to 0.5λ, which can reduce the side lobe energy, thereby solving the false alarm problem.

[0045] The radar 100 provided in the embodiment of the present application can be applied to various fields. For example, the radar 100 provided in the embodiment of the present application can include but is not limited to vehicle-mounted radar, traffic radar, drone radar, etc. In the embodiment of the present application, the traffic radar is taken as the above radar 100 as an example for description. The specific type of the traffic radar is not limited here. For example, the traffic radar can be a traffic millimeter wave radar.

[0046] The radar 100 provided in the embodiment of the present application can be applied to electronic equipment or vehicles. The electronic equipment may include but is not limited to traffic lights, drones, sales terminals, vehicle-mounted computers, etc. The vehicles may be cars, trains, airplanes, ships, bicycles, or tricycles. The cars may be fuel vehicles, electric vehicles, or hybrid vehicles.

[0047] Figure 1 A schematic diagram of the structure of a radar provided in an embodiment of the present application. Figure 1As shown, the radar 100 provided in the embodiment of the present application includes an antenna array 110, a radio frequency module 120 and a processing module 130. Among them, the antenna array 110 includes a transmitting antenna array 200 and a receiving antenna array 300. The transmitting antenna array 200 and the receiving antenna array 300 make the antenna array 110 present a multiple-input multiple-output architecture, which can form a virtual array. The radio frequency signal emitted by the transmitting channel of the radio frequency module 120 is radiated through the transmitting antenna array 200. After the radio frequency signal encounters an obstacle, an echo signal is formed. The receiving channel of the radio frequency module 120 can receive the echo signal through the receiving antenna 311, and the radio frequency module 120 also transmits the received echo signal to the processing module 130. The processing module 130 performs Fourier transform, constant false alarm detection and other operations on the echo signal, so as to determine the distance, speed, azimuth and other information of the target according to the received echo signal.

[0048] The antenna array 110 provided in the embodiment of the present application adopts a multiple-input multiple-output (MIMO) antenna system to form a virtual antenna array 110, which can increase the array aperture while reducing the number of transmit channels and receive channels, so that the antenna array 110 has the characteristics of large array aperture and high resolution. In addition, the antenna array 110 is designed based on the idea of ​​irregular array, so that the antenna array 110 has the characteristics of large array, high resolution, no grating lobe and low side lobe. In addition, the virtual array formed by the antenna array 110 has a small array without grating lobe with an array element spacing less than or equal to 0.5λ, which can reduce the sidelobe energy, thereby solving the false alarm problem.

[0049] It should be noted that, in addition to being applied to the radar 100, the antenna array 110 provided in the embodiment of the present application can also be applied to electronic devices or vehicles.

[0050] The implementation method of the antenna array 110 provided in the embodiment of the present application is described below.

[0051] Figure 2 This is a schematic diagram of the structure of the first antenna array provided in the embodiment of the present application. Figure 2 As shown, the antenna array 110 may include a transmitting antenna array 200 and a receiving antenna array 300. The transmitting antenna array 200 and the receiving antenna array 300 are used to form a virtual array, so that the antenna array 110 can be a MIMO antenna system, a larger array can be virtualized, and the aperture of the antenna array 110 is increased to obtain a higher angular resolution. The transmitting antenna array 200 is used to transmit a radio frequency signal, and the radio frequency signal is reflected by a target object to form an echo signal, and the receiving antenna array 300 is used to receive the echo signal.

[0052] The relative position relationship between the transmitting antenna array 200 and the receiving antenna array 300 is not limited here. Figure 2 As shown, along the vertical direction (such as Figure 2 In the Y direction), the projection of the transmitting antenna array 200 partially overlaps with the projection of the receiving antenna array 300. Of course, the projection of the transmitting antenna array 200 and the projection of the receiving antenna array 300 may not overlap. Figure 2 As shown, along the horizontal direction (such as Figure 2 In the X direction), the projection of the transmitting antenna array 200 does not overlap with the projection of the receiving antenna array 300. Of course, the projection of the transmitting antenna array 200 and the projection of the receiving antenna array 300 may also at least partially overlap.

[0053] The transmit antenna array 200 may include at least two transmit sub-arrays 210 arranged along a first direction, for example Figure 2 As shown, the transmitting antenna array 200 may include three transmitting sub-arrays 210 arranged at intervals along a first direction. Of course, the number of transmitting sub-arrays 210 may be more or less than three. The first direction may be parallel to the horizontal direction (eg Figure 2 Of course, the first direction can also be parallel to the vertical direction (such as Figure 2 The first direction may also intersect with one of the horizontal direction and the vertical direction and be not perpendicular to it.

[0054] The distance between two adjacent transmitting sub-arrays 210 in the first direction (eg Figure 2 N) may be less than or equal to the aperture length of the receiving antenna array 300 in the second direction (as shown in Figure 2 L), for example Figure 2 As shown, the distance between two connected transmitting sub-arrays 210 in the first direction may be smaller than the aperture length of the receiving antenna array 300 in the second direction (eg, Figure 2 Of course, the distance between two adjacent transmitting sub-arrays 210 in the first direction may also be equal to the aperture length of the receiving antenna array 300 in the second direction. Figure 2 As shown, the second direction may be parallel to the horizontal direction (eg Figure 2 Of course, the second direction can also be parallel to the vertical direction (such as Figure 2 The first direction is parallel to the horizontal direction, and thus the first direction is parallel to the second direction. However, the first direction and the second direction may be perpendicular to each other, or the first direction and the second direction may intersect each other and may not be perpendicular to each other.

[0055] When the spacing between two adjacent transmitting sub-arrays 210 in the first direction is less than or equal to the aperture length of the receiving antenna array 300 in the second direction, it can be used to adjust the aperture length of the virtual array to meet the use requirements. In addition, it can also ensure that there is an overlap in the virtual array formed by the transmitting antenna array 200 and the receiving antenna array 300, thereby generating a half-wavelength small array with an array element spacing less than or equal to 0.5λ.

[0056] The distance between two adjacent transmitting sub-arrays 210 in the first direction may also be greater than or equal to zero, for example Figure 2 As shown, the distance between two adjacent transmitting sub-arrays 210 in the first direction is greater than zero. Of course, the distance between two adjacent transmitting sub-arrays 210 in the first direction may also be equal to zero.

[0057] In the embodiment of the present application, the spacing between two adjacent transmitting sub-arrays 210 in the first direction is defined as the first transmitting spacing (eg Figure 2 (as shown in N), the number of the first transmission spacing is at least one, each first transmission spacing is greater than or equal to zero, and each first transmission spacing is less than or equal to the aperture length of the receiving antenna array 300 in the second direction.

[0058] In some possible implementations, the transmit antenna array 200 may include at least two first transmit intervals, and at least two first transmit intervals in the transmit antenna array 200 may be the same or all first transmit intervals in the transmit antenna array 200 may be different, for example Figure 2 As shown, the two first transmission intervals in the transmitting antenna array 200 are the same. Of course, Figure 2 The two first emission intervals in the transmission pattern may also be different. When the number of the first emission intervals is at least three, the at least three first emission intervals may be all the same or all different, or may be partially the same and another part different. Therefore, the multiple first emission intervals may be the same or partially the same, or may be different.

[0059] It is understandable that when the first transmission interval is multiple, the number of the transmission sub-arrays 210 can be at least three, and the at least three transmission sub-arrays 210 can be arranged at equal intervals along the first direction, or can be arranged at non-equal intervals along the first direction, or some of the transmission sub-arrays 210 can be arranged at equal intervals along the first direction.

[0060] Each transmit subarray 210 may include at least one transmit antenna 211, for example Figure 2As shown, each transmitting subarray 210 may include a transmitting antenna 211. Of course, the number of transmitting subarrays 210 including a transmitting antenna 211 may be more than or less than three, or even zero. When at least one transmitting subarray 210 includes a plurality of transmitting antennas 211, the plurality of transmitting antennas 211 in the at least one transmitting subarray 210 may be arranged at intervals along the first direction.

[0061] The number of transmitting antennas 211 of each transmitting subarray 210 may be different. For example, the transmitting antenna array 200 may include three transmitting subarrays 210. The first transmitting subarray 210 of the three transmitting subarrays 210 may include one transmitting antenna 211, the second transmitting subarray 210 may include three transmitting antennas 211, and the third transmitting subarray 210 may include six transmitting antennas 211.

[0062] Alternatively, the number of transmit antennas 211 of at least two transmit subarrays 210 in the transmit antenna array 200 may also be the same. The number of transmit antennas 211 of each transmit subarray 210 in the transmit antenna array 200 may be the same, or the number of transmit antennas 211 of a part of the transmit subarrays 210 in the transmit antenna array 200 may be the same, and the number of transmit antennas 211 of another part of the transmit subarrays 210 may be different. Exemplarily, the transmit antenna array 200 may include three transmit subarrays 210, two of which may include three transmit antennas 211, and the other may include one transmit antenna 211, or each of the three transmit subarrays 210 may also include one transmit antenna 211 (e.g., Figure 2 shown).

[0063] In the embodiment of the present application, the interval between two adjacent transmitting antennas 211 in the same transmitting subarray 210 in the first direction is defined as a second transmitting interval, and at least one transmitting subarray 210 may include at least one second transmitting interval. Accordingly, at least one transmitting subarray 210 may include at least two transmitting antennas 211. When at least one transmitting subarray 210 includes multiple second transmitting intervals, the multiple second transmitting intervals in the same transmitting subarray 210 may be the same, or may be partially the same, or may be different. In addition, when there are multiple transmitting subarrays 210 with the second transmitting interval, the second transmitting intervals of the multiple transmitting subarrays 210 may be the same, or may be partially the same, or may be different.

[0064] When the transmitting subarray 210 includes multiple transmitting antennas 211, the structures of the multiple transmitting antennas 211 in the same transmitting subarray 210 may be the same or different, or may be partially the same and partially the same. In addition, the structures of the transmitting antennas 211 in at least two transmitting subarrays 210 may be the same or different, or may be partially the same and partially the same.

[0065] There is no limitation on the specific structure of the transmitting antenna 211. The transmitting antenna 211 may include but is not limited to a dipole antenna, a half-wave dipole antenna, a monopole antenna, a loop antenna, an inverted fantenna (also known as IFA), a planar inverted F antenna (also known as PIFA), a waveguide antenna, a horn antenna, a slot antenna, a paraboloid antenna, a lens antenna, or a patch antenna.

[0066] The receiving antenna array 300 may include at least two receiving sub-arrays 310 arranged along the second direction, for example Figure 2 As shown, the receiving antenna array 300 may include three receiving sub-arrays 310 arranged along the second direction. Of course, the number of receiving sub-arrays 310 may be more or less than three. Each receiving sub-array 310 may include at least two receiving antennas 311 arranged along the second direction, for example Figure 2 As shown, each receiving subarray 310 may include two receiving antennas 311. Of course, the number of receiving subarrays 310 including two receiving antennas 311 may be more than or less than three, or even zero. The spacing between two adjacent receiving antennas 311 in at least two receiving subarrays 310 in the second direction (e.g. Figure 2 d1 and d2 are different) so that the receiving antenna array 300 can have the characteristics of an irregular array.

[0067] The receiving antenna array 300 can satisfy the relationship: 0<|d n -d n-1 |≤0.5λ. Among them, d n It refers to the distance between two adjacent receiving antennas 311 in the nth receiving subarray 310 in the second direction (for example Figure 2 As shown in d2), d n-1 It refers to the distance between two adjacent receiving antennas 311 in the n-1th receiving subarray 310 in the second direction (for example Figure 2 In d1), λ is the operating wavelength of the antenna array 110, and n is a positive integer, for example, n can be 1, 2, 3, etc.

[0068] Accordingly, by making the receiving antenna array 300 satisfy the relationship 0<|d n -d n-1 |≤0.5λ, so that the spacing between two adjacent receiving antennas 311 in at least two receiving sub-arrays 310 in the second direction is different, so that the receiving antenna array 300 can have the characteristics of an irregular array, and further provide conditions for the antenna array 110 to construct a virtual array without grating lobes, so that the antenna array 110 has the characteristics of no grating lobes and low side lobes.

[0069] There is no limitation on the specific value of the spacing between two adjacent receiving sub-arrays 310 in the second direction. m ≤(d n +d n-1 ), d m It refers to the distance between the nth receiving sub-array 310 and the n-1th receiving sub-array 310 in the second direction (for example Figure 2 ), m is a positive integer, for example, m can be 1, 2, 3, etc. Since the first receiving spacing is the spacing between two adjacent receiving sub-arrays 310 in the second direction, the first receiving spacing can be greater than or equal to 0 and less than or equal to (d n +d n-1 ).

[0070] Accordingly, by limiting the receiving antenna array 300 to satisfy the relationship: 0≤d m ≤(d n +d n-1 ), the aperture, sidelobe position and number of the virtual array can be flexibly adjusted. In addition, the number of side lobes and the side lobe energy can be further reduced, thereby further improving the performance of the antenna array 110.

[0071] In the embodiment of the present application, the spacing between two adjacent receiving sub-arrays in the second direction is defined as the first receiving spacing (eg Figure 2 As shown in FIG. 4 , the receiving antenna array 300 may include at least one first receiving spacing.

[0072] In some possible implementations, the receiving antenna array 300 may include at least two first receiving intervals, and at least two first receiving intervals in the receiving antenna array 300 may be the same or all first receiving intervals in the receiving antenna array 300 may be different, for example Figure 2 As shown, the receiving antenna array 300 may include two identical first receiving distances. Figure 2The two first receiving intervals in the at least three first receiving intervals may also be different. When the number of the first receiving intervals is at least three, in addition to being the same or different, a part of at least three first receiving intervals may also be the same, and another part may also be different.

[0073] In some possible implementations, the receiving antenna array 300 includes at least one first receiving spacing, and at least one first receiving spacing in the receiving antenna array 300 is equal to zero, for example, Figure 4 or Fig.11 As shown, the receiving antenna array 300 includes three first receiving spacings, and the three first receiving spacings are all zero. Of course, the number of first receiving spacings equal to zero may be less than three. By making the first receiving spacing equal to zero, the size of the receiving antenna array 300 in the second direction can be reduced, which helps to reduce the difficulty of arranging the receiving antenna array 300.

[0074] It can be understood that, since the first receiving spacing is the spacing between two adjacent receiving sub-arrays 310 in the second direction, when the number of the first receiving spacing is multiple, the multiple first receiving spacings may be zero, or may also be partially zero. Exemplarily, the receiving antenna array 300 may include three receiving sub-arrays 310, so the number of the first receiving spacing is two, and the two first receiving spacings may both be zero (for example Figure 4 or Fig.11 As shown), or one of the two first receiving distances may be zero and the other may not be zero.

[0075] In some possible implementations, two adjacent receiving sub-arrays 310 corresponding to at least one first receiving interval equal to zero share the same receiving antenna 311, for example, Figure 4 or Fig.11 As shown, all first receiving intervals in the receiving antenna array 300 are equal to zero, and two adjacent receiving sub-arrays 310 corresponding to each first receiving interval share the same receiving antenna 311 .

[0076] Accordingly, under the condition that the first receiving spacing is equal to zero, the two adjacent receiving sub-arrays 310 corresponding to the first receiving spacing equal to zero share the same receiving antenna 311. Under the premise that the antenna array 110 has the characteristics of large array aperture, high resolution, no grating lobe and low side lobe, the number of receiving antennas 311 can be reduced, which helps to reduce the size of the receiving antenna array 300 in the second direction.

[0077] In some possible implementations, the number of receiving antennas 311 of at least two receiving sub-arrays 310 in the receiving antenna array 300 may be the same. For example, the receiving antenna array 300 may include three receiving sub-arrays 310, wherein two receiving sub-arrays 310 may include five receiving antennas 311 arranged at intervals along the second direction, and the remaining receiving sub-array 310 may include three receiving antennas 311. Alternatively, the receiving antenna array 300 may include three receiving sub-arrays 310, and each receiving sub-array 310 may include three receiving antennas 311.

[0078] In some possible implementations, the number of receiving antennas 311 of each receiving subarray 310 in the receiving antenna array 300 may also be different. For example, the receiving antenna array 300 may include three receiving subarrays 310, and the first receiving subarray 310 of the three receiving subarrays 310 may include four receiving antennas 311, the second receiving subarray 310 may include five receiving antennas 311, and the third receiving subarray 310 may include seven receiving antennas 311.

[0079] In the embodiment of the present application, the interval between two adjacent receiving antennas 311 in the same receiving subarray 310 in the second direction is defined as the second receiving interval (for example Figure 2 d1 or d2), each receiving sub-array 310 may include at least one second receiving spacing.

[0080] In some possible implementations, at least one receiving subarray 310 may include at least two second receiving spacings, for example, the receiving antenna array 300 may include three receiving subarrays 310, each receiving subarray 310 may include four second receiving spacings, and of course, the number of receiving subarrays 310 having at least two second receiving spacings may be less than or more than three, or even zero. At least two second receiving spacings in at least one receiving subarray 310 may be the same, for example, the receiving antenna array 300 may include three receiving subarrays 310, each second receiving spacing in two receiving subarrays 310 may be the same, or some of the second receiving spacings in the two receiving subarrays 310 may be the same, and other second receiving spacings may be different.

[0081] When the multiple second receiving intervals in at least one receiving subarray 310 are the same, the multiple receiving antennas 311 in the receiving subarray 310 may be arranged at equal intervals along the second direction. In addition, when some of the multiple second receiving intervals in the receiving subarray 310 are the same, some of the receiving antennas 311 in the receiving subarray 310 may be arranged at equal intervals along the second direction.

[0082] It should be noted that, in addition to being the same, the multiple second receiving intervals in at least one receiving sub-array 310 may also be different. In other words, at least three receiving antennas 311 in at least one receiving sub-array 310 are arranged at unequal intervals along the second direction.

[0083] Figure 3 The embodiment of the present application provides a different Figure 2 Schematic diagram of the structure of the receiving antenna array of the receiving antenna array in .

[0084] There is no restriction on whether the structures of the receiving antennas 311 in each receiving sub-array 310 are the same. Figure 3 As shown, the receiving antennas 311 in each receiving subarray 310 have the same structure, and the receiving antennas 311 in any two receiving subarrays 310 have the same structure. Of course, the receiving antennas 311 in at least two receiving subarrays 310 may have different structures, and in addition, the structures of at least two receiving antennas 311 in at least one receiving subarray 310 may also be different.

[0085] The specific structure of the receiving antenna 311 is not limited here. For example, see Figure 3 As shown, the receiving antenna 311 may be a patch antenna, and the receiving antenna 311 may include a feeding unit 3112 and multiple radiating units 3111 , multiple radiating units 3111 are respectively arranged on both sides of the feeding unit 3112 , and the radiating units 3111 on both sides of the feeding unit 3112 are arranged alternately.

[0086] In summary, when the receiving antenna array 300 satisfies the relationship: 0<|d n -d n-1 |≤0.5λ, and the second receiving spacing of at least two receiving sub-arrays 310 in the receiving antenna array 300 is different, and the spacing between two adjacent transmitting sub-arrays 210 in the first direction is less than or equal to the aperture length of the receiving antenna array 300 in the second direction, so that the virtual array can be composed of multiple regular arrays with unequal spacing, so that the antenna array 110 can have the characteristics of large array aperture, high resolution, no grating lobe and low side lobe. Since the antenna array 110 has the characteristics of no grating lobe and low side lobe, the difficulty and computing power requirements of the back-end algorithm processing can be reduced. In addition, the angle information of the side lobe of the antenna array 110 can be combined to select a suitable transmitting antenna 211 and a receiving antenna 311 to further reduce the side lobe energy of the antenna array 110.

[0087] Among them, in the process of forming a virtual array by the transmitting antenna array 200 and the receiving antenna array 300, there is a position overlap between two adjacent receiving sub-arrays 310, and there is a half-wavelength small array with an array element spacing less than or equal to 0.5λ at the position overlap. The array has the characteristics of no grating lobe and low side lobe energy, which can provide a new solution for dealing with the false alarm problem caused by multiple targets and large reflective targets. In addition, since the virtual array is composed of multiple regular arrays with unequal spacing, a half-wavelength large array without grating lobe can be obtained by array interpolation during back-end algorithm processing, which can further reduce the side lobe energy and help to further improve the antenna performance.

[0088] The antenna array 110 provided in the embodiment of the present application is described in detail below in conjunction with specific embodiments.

[0089] Embodiment 1:

[0090] Figure 4 A schematic diagram of the structure of a second antenna array provided in an embodiment of the present application, Figure 5 for Figure 4 Schematic diagram of the process of forming a virtual array from the antenna array in the figure. Figure 6 for Figure 4 Schematic diagram of the position information of the virtual array formed by the antenna array in .

[0091] See also Figure 4 As shown, the antenna array 110 provided in the first embodiment may include a transmitting antenna array 200 and a receiving antenna array 300. The transmitting antenna array 200 and the receiving antenna array 300 are arranged in a vertical direction (such as Figure 4 The projections of the transmitting antenna array 200 and the receiving antenna array 300 are arranged at intervals in the vertical direction.

[0092] Continue to see Figure 4 As shown, the transmitting antenna array 200 may include three transmitting sub-arrays 210, which are arranged at equal intervals along a first direction, and the interval between two adjacent transmitting sub-arrays 210 in the first direction is 12λ, and each transmitting sub-array 210 may include a transmitting antenna 211. The first direction is parallel to the horizontal direction (such as Figure 4 X direction).

[0093] Continue to see Figure 4As shown, the receiving antenna array 300 may include three receiving sub-arrays 310, and the three receiving sub-arrays 310 are arranged along the second direction, and the second direction is parallel to the horizontal direction. The spacing between two adjacent receiving sub-arrays 310 in the second direction is zero, which meets the requirements. Each receiving sub-array 310 includes six receiving antennas 311 arranged at intervals along the second direction, and two adjacent receiving sub-arrays 310 share one receiving antenna 311, so the receiving antenna array 300 is composed of 16 receiving antennas 311. In the first receiving sub-array 310 (such as Figure 4 In the second receiving subarray 310 (e.g., rx1), the six receiving antennas 311 are arranged at equal intervals along the second direction, and the interval between two adjacent receiving antennas 311 in the second direction is 1λ. Figure 4 In the third receiving subarray 310 (e.g., rx2), six receiving antennas 311 are arranged at equal intervals along the second direction, and the interval between two adjacent receiving antennas 311 in the second direction is 1.5λ. Figure 4 In rx3), the six receiving antennas 311 are arranged at equal intervals along the second direction, and the interval between two adjacent receiving antennas 311 in the second direction is 1λ.

[0094] Combination Figure 4 It can be seen that the spacing between two adjacent transmitting sub-arrays 210 in the first direction is 12λ, and the aperture length of the receiving antenna array 300 in the second direction is equal to 17.5λ. Therefore, the spacing between two adjacent transmitting sub-arrays 210 in the first direction is greater than zero and less than the aperture length of the receiving antenna array 300 in the second direction, which meets the requirements. Figure 4 As shown, the aperture length of the receiving antenna array 300 in the second direction can be understood as the distance between the leftmost receiving antenna 311 and the rightmost receiving antenna 311 in the second direction.

[0095] Combination Figure 4 It can be seen that the absolute value of the difference between the spacing between two adjacent receiving antennas 311 in the first receiving subarray 310 and the spacing between two adjacent receiving antennas 311 in the second receiving subarray 310 is equal to 0.5λ, and the absolute value of the difference between the spacing between two adjacent receiving antennas 311 in the second receiving subarray 310 and the spacing between two adjacent receiving antennas 311 in the third receiving subarray 310 is equal to 0.5λ, satisfying the relationship: 0<|d n -d n-1 |≤0.5λ.

[0096] Since the transmitting antenna array 200 includes three transmitting antennas 211 and the receiving antenna array 300 includes 16 receiving antennas 311, the transmitting antenna array 200 and the receiving antenna array 300 can virtually form a virtual array including 3×16 virtual channels, and the 3×16 virtual channels in the virtual array are arranged in the horizontal direction. In other words, the antenna array 110 can form a 1×48 virtual array, where 1 means that the virtual array is distributed in one dimension, and 48 means that the virtual array has 48 virtual channels arranged in the horizontal direction (e.g. Figure 6 shown).

[0097] Combination Figure 5 It can be seen that in the process of forming the virtual array, the first receiving sub-array 310 and the second receiving sub-array 310 have an overlapping position (such as Figure 5 The second receiving sub-array 310 and the third receiving sub-array 310 overlap at a certain position (as shown in the dashed box a). Figure 5 The dotted box b in the middle shows that the spacing between the array elements at each of the two overlapping positions differs by 0.5λ, and the aperture length at the overlapping position is 5.5λ. The half-wavelength array at the overlapping position has a grating lobe-free characteristic, which can provide a new solution for dealing with the false alarm problem caused by multiple targets and large reflective targets in traffic radar.

[0098] Combination Figure 6 It can be seen that Figure 4 The aperture length of the virtual array formed by the antenna array 110 is 41.5λ. According to the aperture length of the virtual array, the corresponding angular resolution can be calculated to be approximately 1.38°, which meets the requirements of large array aperture and high resolution.

[0099] Figure 7 for Figure 6 The array factor pattern of the virtual array when scanning 0° is shown. Figure 8 for Figure 6 The array factor pattern of the virtual array shown when scanning 60°.

[0100] Combination Figure 7 It can be seen that in the scanning 0° array factor radiation pattern, there are no grating lobes, there are 8 high-energy side lobes (6 of which are concentrated in the large angle area outside ±40°), the number of side lobes is small and the side lobe energy is low, so the antenna array 110 can have the characteristics of low side lobes. Figure 8 It can be seen that there is still no grating lobe in the array factor radiation pattern when scanning 60°, indicating that it has the characteristics of wide-angle scanning and high dynamic range.

[0101] Fig. 9 for Figure 6 Schematic diagram of the position information of the virtual array after being processed by the algorithm backend, Fig.10 for Fig. 9Array factor pattern when the virtual array scans 60°.

[0102] Figure 6 After the array position information of the virtual array in is processed by the algorithm backend (such as array interpolation), Fig. 9 As shown in Figure 1, a large array with no grating lobes ≤ 0.5λ can be obtained, and its array factor pattern scans 60° (such as Fig.10 It has the characteristics of no grating lobe and low sidelobe energy, and can be used to solve the false alarm problem caused by multiple targets and large reflective targets in traffic radar.

[0103] Embodiment 2:

[0104] Fig.11 A schematic diagram of the structure of a third antenna array provided in an embodiment of the present application, Fig.12 for Fig.11 Schematic diagram of the process of forming a virtual array from the antenna array in the figure. Fig.13 for Fig.11 Schematic diagram of the position information of the virtual array formed by the antenna array in .

[0105] See also Fig.11 As shown, the antenna array 110 provided in the second embodiment may include a transmitting antenna array 200 and a receiving antenna array 300, and the transmitting antenna array 200 and the receiving antenna array 300 are arranged in a vertical direction (such as Fig.11 The projections of the transmitting antenna array 200 and the receiving antenna array 300 are arranged at intervals in the vertical direction.

[0106] Continue to see Fig.11 As shown, the transmitting antenna array 200 may include three transmitting sub-arrays 210, which are arranged at equal intervals along a first direction, and the interval between two adjacent transmitting sub-arrays 210 in the first direction is 7.6λ, and each transmitting sub-array 210 may include a transmitting antenna 211. The first direction is parallel to the horizontal direction.

[0107] Continue to see Fig.11 As shown, the receiving antenna array 300 may include three receiving sub-arrays 310, and the three receiving sub-arrays 310 are arranged along the second direction, and the second direction is parallel to the horizontal direction. The spacing between two adjacent receiving sub-arrays 310 in the second direction is zero, which meets the requirements. Each receiving sub-array 310 includes six receiving antennas 311 arranged at intervals along the second direction, and two adjacent receiving sub-arrays 310 share one receiving antenna 311, so the receiving antenna array 300 is composed of 16 receiving antennas 311. In the first receiving sub-array 310 (such as Fig.11The six receiving antennas 311 are arranged at equal intervals along the second direction, and the interval between two adjacent receiving antennas 311 in the second direction is 0.8λ. Fig.11 In the third receiving subarray 310 (shown as rx2), six receiving antennas 311 are arranged at equal intervals along the second direction, and the interval between two adjacent receiving antennas 311 in the second direction is 1λ. Fig.11 As shown in rx3 in FIG. 1 , the six receiving antennas 311 are arranged at equal intervals along the second direction, and the interval between two adjacent receiving antennas 311 in the second direction is 0.8λ.

[0108] Combination Fig.11 It can be seen that the spacing between two adjacent transmitting sub-arrays 210 in the first direction is 7.6λ, and the aperture length of the receiving antenna array 300 in the second direction is equal to 13λ. Therefore, the spacing between two adjacent transmitting sub-arrays 210 in the first direction is greater than zero and less than the aperture length of the receiving antenna array 300 in the second direction, which meets the requirements. Fig.11 As shown, the aperture length of the receiving antenna array 300 in the second direction can be understood as the distance between the center of the leftmost receiving antenna 311 in the second direction and the center of the rightmost receiving antenna 311 in the second direction.

[0109] Combination Fig.11 It can be seen that the absolute value of the difference between the spacing between two adjacent receiving antennas 311 in the first receiving subarray 310 and the spacing between two adjacent receiving antennas 311 in the second receiving subarray 310 is equal to 0.2λ, and the absolute value of the difference between the spacing between two adjacent receiving antennas 311 in the second receiving subarray 310 and the spacing between two adjacent receiving antennas 311 in the third receiving subarray 310 is equal to 0.2λ, satisfying the relationship: 0<|dn-dn-1|≤0.5λ.

[0110] Since the transmitting antenna array 200 includes three transmitting antennas 211 and the receiving antenna array 300 includes 16 receiving antennas 311, the transmitting antenna array 200 and the receiving antenna array 300 can virtually form a virtual array including 3×16 virtual channels (eg, Fig.13 As shown in FIG. 1 , 3×16 virtual channels in the virtual array are arranged in the horizontal direction. In other words, the antenna array 110 can form a 1×48 virtual array, where 1 means that the virtual array is distributed in one dimension, and 48 means that the virtual array has 48 virtual channels.

[0111] Combination Fig.12 It can be seen that in the process of forming the virtual array, the first receiving sub-array 310 and the second receiving sub-array 310 have an overlapping position (such as Fig.12The second receiving sub-array 310 and the third receiving sub-array 310 overlap at a certain position (as shown in the dashed box a). Fig.12 The dotted box b in the middle shows that the spacing between the array elements at each of the two overlapping positions differs by 0.4λ, and the aperture length at the overlapping position is 1.2λ. The half-wavelength array at the overlapping position has a grating lobe-free characteristic, which can provide a new solution for dealing with the false alarm problem caused by multiple targets and large reflective targets in traffic radar.

[0112] Combination Fig.13 It can be seen that Fig.11 The aperture length of the virtual array formed by the transmitting antenna array 200 and the receiving antenna array 300 is 28.2λ. According to the aperture length of the virtual array, the corresponding angular resolution can be calculated to be approximately 2.03°, which meets the requirements of large array aperture and high resolution.

[0113] Fig.14 for Fig.13 The array factor pattern of the virtual array when scanning 0° is shown. Fig.15 for Fig.13 The array factor pattern of the virtual array shown when scanning 60°.

[0114] Combination Fig.14 It can be seen that there is no grating lobe in the array factor radiation pattern, there are two side lobes with higher energy (two of which are concentrated in the large angle area outside ±60°), the number of side lobes is small and the side lobe energy is low, so the antenna array 110 can have the characteristic of low side lobe. Fig.15 It can be seen that there is still no grating lobe in the array factor radiation pattern when scanning 60°, indicating that it has the characteristics of wide-angle scanning and high dynamic range.

[0115] Fig.16 for Fig.13 Schematic diagram of the position information of the virtual array after being processed by the algorithm backend, Fig.17 for Fig.16 Array factor pattern when the virtual array scans 60°.

[0116] Fig.13 After the array position information of the virtual array in is processed by the algorithm backend (such as array interpolation), Fig.16 As shown in Figure 1, a large array with no grating lobes ≤ 0.5λ can be obtained, and its array factor pattern scans 60° (such as Fig.17 It has the characteristics of no grating lobe and low sidelobe energy, and can be used to solve the false alarm problem caused by multiple targets and large reflective targets in traffic radar.

[0117] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0118] In the embodiments of the present application, the devices or elements referred to or implied must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise precisely and specifically specified.

[0119] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0120] The term "plurality" in this article refers to two or more than two. The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship; in a formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship.

[0121] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0122] It can be understood that in the embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. An antenna array, It is characterized in that including a transmitting antenna array and a receiving antenna array; The transmitting antenna array and the receiving antenna array are used to form a virtual array; The transmitting antenna array comprises at least two transmitting sub-arrays arranged along a first direction, and a distance between two adjacent transmitting sub-arrays in the first direction is less than or equal to an aperture length of the receiving antenna array in a second direction; The receiving antenna array includes at least two receiving sub-arrays arranged along the second direction, and each of the receiving sub-arrays includes at least two receiving antennas arranged along the second direction; The receiving antenna array satisfies the relationship: 0<|d n -d n-1 |≤0.5λ, the d n refers to the distance between two adjacent receiving antennas in the nth receiving subarray in the second direction, wherein d n-1 It refers to the distance between two adjacent receiving antennas in the n-1th receiving subarray in the second direction, λ is the working wavelength of the antenna array, and n is a positive integer.

2. The antenna array according to claim 1, It is characterized in that The distance between two adjacent transmitting sub-arrays in the first direction is greater than or equal to zero.

3. The antenna array according to claim 1 or 2, It is characterized in that The transmitting antenna array includes at least two first transmitting spacings, at least two of the first transmitting spacings in the transmitting antenna array are the same or all the first transmitting spacings in the transmitting antenna array are different; wherein the spacing between two adjacent transmitting sub-arrays in the first direction is defined as the first transmitting spacing.

4. The antenna array according to any one of claims 1 to 3, It is characterized in that Each of the transmitting sub-arrays comprises at least one transmitting antenna, wherein: At least two of the transmit sub-arrays in the transmit antenna array have the same number of transmit antennas; or, The number of the transmitting antennas in each transmitting sub-array in the transmitting antenna array is different.

5. The antenna array according to any one of claims 1 to 4, It is characterized in that The receiving antenna array also satisfies the relationship: 0≤d m ≤(d n +d n-1 ), said d m It refers to the distance between the nth receiving sub-array and the (n-1)th receiving sub-array in the second direction, and m is a positive integer.

6. The antenna array according to any one of claims 1 to 5, It is characterized in that The receiving antenna array includes at least two first receiving spacings, at least two of the first receiving spacings in the receiving antenna array are the same or all of the first receiving spacings in the receiving antenna array are different; wherein the spacing between two adjacent receiving sub-arrays in the first direction is defined as the first receiving spacing.

7. The antenna array according to any one of claims 1 to 5, It is characterized in that The receiving antenna array includes at least one first receiving spacing, and at least one of the first receiving spacings in the receiving antenna array is equal to zero; wherein the spacing between two adjacent receiving sub-arrays in the first direction is defined as the first receiving spacing.

8. The antenna array according to claim 7, It is characterized in that Two adjacent receiving sub-arrays corresponding to at least one first receiving interval equal to zero share the same receiving antenna.

9. The antenna array according to any one of claims 1 to 8, It is characterized in that At least two of the receiving sub-arrays in the receiving antenna array have the same number of receiving antennas; or, The number of the receiving antennas of each receiving sub-array in the receiving antenna array is different.

10. The antenna array according to any one of claims 1 to 9, It is characterized in that At least one of the receiving subarrays includes at least two second receiving spacings, and at least two of the second receiving spacings in at least one of the receiving subarrays are the same; wherein the spacing between two adjacent receiving antennas in the same receiving subarray in the second direction is defined as the second receiving spacing.

11. A radar, It is characterized in that Comprising the antenna array according to any one of claims 1 to 10.

12. An electronic device, It is characterized in that Comprising the antenna array according to any one of claims 1 to 10 or comprising the radar according to claim 11.

13. A means of transportation, It is characterized in that Comprising the antenna array according to any one of claims 1 to 10 or comprising the radar according to claim 11.

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