Radar system and vehicle

Abstract

A radar system (400) and a vehicle are used to reduce the number of transmitting antennas and receiving antennas while obtaining a high angular resolution, thereby reducing the difficulty of design and processing. The radar system (400) includes: a transmitter (401) for transmitting a radar signal; a receiver (402) for receiving an echo signal after the radar signal is reflected by a target; wherein the transmitting antenna array in the transmitter (401) and the receiving antenna array in the receiver (402) are used to form a virtual linear array and a virtual planar array, wherein the virtual linear array includes a uniform linear array in a first direction, and the virtual planar array includes a uniform planar array; and wherein the first spacing between two adjacent array elements in the uniform linear array is smaller than the second spacing between two adjacent array elements in the uniform planar array in the first direction.

Claims

1. An antenna, characterized in that: include: a transmitting antenna array for transmitting radar signals; A receiving antenna array, configured to receive an echo signal of the radar signal after being reflected by a target; The transmitting antenna array includes a first transmitting antenna array and a third transmitting antenna array, the first transmitting antenna array is located on a first side of the receiving antenna array, and the third transmitting antenna array is adjacent to the first transmitting antenna array; The first transmitting antenna array includes a plurality of array elements arranged along a second direction, the third transmitting antenna array includes a plurality of array elements arranged along a first direction, and the number of array elements of the third transmitting antenna array in the first direction is greater than the number of array elements of the first transmitting antenna array in the first direction, wherein the second direction is perpendicular to the first direction; The transmitting antenna array further includes a second transmitting antenna array and a fourth transmitting antenna array. The second transmitting antenna array is located on a second side of the receiving antenna array. The second transmitting antenna array includes a plurality of array elements arranged along the second direction. The fourth transmitting antenna array is adjacent to the second transmitting antenna array. The fourth transmitting antenna array includes a plurality of array elements arranged along the first direction.

2. The antenna according to claim 1, wherein The plurality of array elements arranged along the second direction included in the first transmitting antenna array include array elements arranged in a single row.

3. The antenna according to claim 1 or 2, characterized in that The plurality of array elements included in the third transmitting antenna array and arranged along the first direction include array elements arranged in a single row.

4. The antenna according to claim 1, wherein The number of array elements of the fourth transmitting antenna array in the first direction is greater than the number of array elements of the second transmitting antenna array along the first direction.

5. The antenna according to any one of claims 1, 2, and 4, wherein: The plurality of array elements arranged along the second direction included in the second transmitting antenna array include array elements arranged in a single row.

6. The antenna according to claim 3, wherein The plurality of array elements arranged along the second direction included in the second transmitting antenna array include array elements arranged in a single row.

7. The antenna according to any one of claims 1, 2, 4, and 6, wherein: The plurality of array elements arranged along the first direction included in the fourth transmitting antenna array include array elements arranged in a single row.

8. The antenna according to claim 5, wherein The plurality of array elements arranged along the first direction included in the fourth transmitting antenna array include array elements arranged in a single row.

9. The antenna according to any one of claims 1, 2, 4, 6, and 8, wherein: The first side of the receiving antenna array and / or the second side of the receiving antenna array are outer sides of the receiving antenna array.

10. The antenna according to claim 7, wherein The first side of the receiving antenna array and / or the second side of the receiving antenna array are outer sides of the receiving antenna array.

11. The antenna according to any one of claims 1, 2, 4, 6, 8, and 10, wherein: The first transmitting antenna array, the second transmitting antenna array and the receiving antenna array form a virtual planar array; and / or The third transmitting antenna array, the fourth transmitting antenna array, and the receiving antenna array form a virtual linear array.

12. The antenna according to claim 9, wherein The first transmitting antenna array, the second transmitting antenna array and the receiving antenna array form a virtual planar array; and / or The third transmitting antenna array, the fourth transmitting antenna array, and the receiving antenna array form a virtual linear array.

13. The antenna according to claim 11, wherein The virtual linear array and the virtual planar array have the same aperture size in the first direction.

14. The antenna according to any one of claims 1, 2, 4, 6, 8, 10, 12, and 13, wherein: The first direction is a horizontal direction or a vertical direction.

15. The antenna according to claim 11, wherein The first direction is a horizontal direction or a vertical direction.

16. The antenna according to any one of claims 1, 2, 4, 6, 8, 10, 12, 13, and 15, wherein: The receiving antenna array includes a plurality of array elements arranged along the first direction.

17. The antenna according to claim 14, wherein The receiving antenna array includes a plurality of array elements arranged along the first direction.

18. A radar system, characterized in that: include: The antenna according to any one of claims 1 to 17, and a processing unit, wherein the processing unit is configured to determine the horizontal azimuth and vertical azimuth of the target based on the echo signal.

19. The system of claim 18, wherein: The processing unit is specifically configured to: Determining, according to the echo signals, observation results of the virtual linear array on the radar signal and observation results of the virtual planar array on the radar signal; The horizontal azimuth and vertical azimuth of the target are determined according to the observation results of the virtual linear array on the radar signal and the observation results of the virtual planar array on the radar signal.

20. The system of claim 19, wherein: The processing unit is specifically configured to: determining a first candidate horizontal azimuth angle of the target according to an observation result of the radar signal by the virtual linear array; determining a second candidate horizontal azimuth angle and a candidate vertical azimuth angle of the target according to an observation result of the radar signal by the virtual plane array; The horizontal azimuth angle and the vertical azimuth angle of the target are determined according to the first candidate horizontal azimuth angle, the second candidate horizontal azimuth angle, and the candidate vertical azimuth angle.

21. The system of claim 20, wherein: When determining the first candidate horizontal azimuth angle of the target according to the observation result of the radar signal by the virtual linear array, the processing unit is specifically configured to: The first candidate horizontal azimuth angle is determined by digital beamforming (DBF) or fast Fourier transform (FFT) according to the observation result of the virtual linear array on the radar signal.

22. The system according to claim 20 or 21, characterized in that When determining the second candidate horizontal azimuth angle and the candidate vertical azimuth angle of the target according to the observation result of the virtual plane array on the radar signal, the processing unit is specifically configured to: According to the observation result of the virtual plane array on the radar signal, the second candidate horizontal azimuth angle and the candidate vertical azimuth angle are determined by DBF or FFT.

23. The system of claim 19, wherein: The horizontal azimuth angle of the target includes a first horizontal azimuth angle and a second horizontal azimuth angle, and the vertical azimuth angle of the target includes a first vertical azimuth angle and a second vertical azimuth angle; the processing unit is further configured to: Determining that a radar cross section (RCS) corresponding to the first horizontal azimuth angle is greater than an RCS corresponding to the second horizontal azimuth angle; Determine that an RCS corresponding to the first vertical azimuth angle is greater than an RCS corresponding to the second vertical azimuth angle; The first horizontal azimuth angle and the first vertical azimuth angle are determined as the position of a first sub-target in the target, and the second horizontal azimuth angle and the second vertical azimuth angle are determined as the position of a second sub-target in the target.

24. The system according to any one of claims 18, 19, 20, 21 and 23, wherein: The radar signal is any one of frequency modulated continuous wave (FMCW), multi-frequency shift keying (MFSK), and phase modulated continuous wave (PMCW).

25. The system of claim 22, wherein: The radar signal is any one of frequency modulated continuous wave (FMCW), multi-frequency shift keying (MFSK), and phase modulated continuous wave (PMCW).

26. A vehicle, characterized in that: Comprising the antenna according to any one of claims 1 to 17, and / or the radar system according to any one of claims 18 to 25.

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