A vehicle-mounted millimeter-wave radar, a control method thereof, and an electronic device

Abstract

Embodiments of the present invention relate to the technical field of vehicle-mounted radar, and particularly to a millimeter-wave vehicle-mounted radar antenna transmitting device. The vehicle-mounted millimeter-wave radar transmitting device includes a plurality of transmitting antennas, a plurality of phase shifters, a controller, and a signal transmitting device. By simultaneously controlling the initial phases of the transmitted signals corresponding to multiple transmitting antennas and strictly controlling the spacing distances between multiple transmitting antennas, spatial synthesis of multiple transmitted signals is achieved. Embodiments of the present invention can achieve an increase in the detection range of vehicle-mounted radar antennas under the conditions of small antenna size and low power consumption.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted radars, and particularly to a vehicle-mounted millimeter-wave radar, a control method and an electronic device thereof. Background Art

[0002] Vehicle-mounted millimeter-wave radars generally adopt a radar chip implementation solution with multiple transmitters and multiple receivers. The maximum output power of each transmit channel of the radar chip is limited. When using such a millimeter-wave radar chip with multiple transmitters and multiple receivers to design a radar system, to increase the target detection range of the radar, methods such as increasing the gain of the transmit antenna and the receive antenna and adding power amplifier chips in the transmit channels are often adopted.

[0003] Due to the limited area of the circuit board design of vehicle-mounted millimeter-wave radars, the design area of their transceiver antennas is usually determined. Thus, it is extremely limited to increase the design gain of the receive antenna and the transmit antenna of vehicle-mounted millimeter-wave radars. Moreover, the operating signal frequency of vehicle-mounted millimeter-wave radars is high, and the simulation design technology of large-size transceiver antennas is extremely difficult. In addition, power amplifier chips in the high-frequency band have extremely low implementation efficiency, and the chip volume is small, with extremely high thermal density during use. Good heat dissipation measures need to be taken for the chips to ensure normal operation. Also, the harsh operating environment of vehicles poses requirements for low-power design of vehicle-mounted millimeter-wave radars. Therefore, in actual vehicle applications, vehicle-mounted millimeter-wave radars generally do not adopt the technical solution of using power amplifier chips to increase their detection range.

[0004] Therefore, for the vehicle application environment, it is impossible to use conventional technical means for vehicle-mounted millimeter-wave radars to meet the conditions of small size and low power consumption while increasing the target detection range of vehicle-mounted millimeter-wave radars. It is necessary to seek new methods to improve the operating range of vehicle-mounted millimeter-wave radars. Summary of the Invention

[0005] The main technical problem to be solved by the embodiments of the present invention is that the vehicle-mounted millimeter-wave radar achieves a farther operating range under the condition that the aperture of the radar receive antenna is determined, so that the detection range of the millimeter-wave radar is increased to 1.3 times the original detection range, and the target detection performance of the vehicle-mounted millimeter-wave radar is improved.

[0006] To solve the above technical problem, the present invention provides a vehicle-mounted millimeter-wave radar, specifically including: a plurality of transmit antennas; the spacing between adjacent transmit antennas is within a preset distance range; a plurality of phase shifters; one phase shifter is correspondingly arranged with one transmit antenna, and outputs a corresponding phase-shifted signal to the transmit antenna; a signal generator connected to the phase shifters, the signal generator is used to provide a transmit signal to each phase shifter; a controller connected to the phase shifters, the controller is used to control the phase-shifted signals output by each phase shifter to have equal phases.

[0007] Optionally, the spacing between adjacent transmit antennas satisfies the following formula:

[0008] d ≤ λf(2sinθ)

[0009] Wherein, d is the spacing between two adjacent transmitting antennas, λ is the wavelength of the signal transmitted by the antenna, and θ is the maximum pointing angle of the detection target.

[0010] Optionally, the transmitting antenna includes a first transmitting antenna, a second transmitting antenna, and a third transmitting antenna; the phase shifter includes a first phase shifter connected to the first transmitting antenna, a second phase shifter connected to the second transmitting antenna, and a third phase shifter connected to the third transmitting antenna.

[0011] To solve the above problems, the present invention also provides a control method for a vehicle-mounted millimeter-wave radar, including: forming multiple phase-shifted signals based on the same transmitted signal through a phase shifter; the phases of the phase-shifted signals are equal; respectively transmitting the multiple phase-shifted signals outward through multiple transmitting antennas; the spacing between the transmitting antennas is within a preset distance range; obtaining echo signals of the phase-shifted signals transmitted outward by the transmitting antennas.

[0012] Optionally, the control method further includes: the multiple phase-shifted signals generate an effective coherent gain in space, synthesize into a signal wave with the same phase in space, and reflect back corresponding echo signals after touching an object; the first millimeter-wave signal radiated by the first transmitting antenna, the second millimeter-wave signal radiated by the second transmitting antenna, and the third millimeter-wave signal radiated by the third transmitting antenna synthesize into a stronger coherent gain signal in the air and reflect the echo signal after touching the object surface.

[0013] Optionally, the control method includes: the spacing between adjacent transmitting antennas satisfies the following formula:

[0014] d ≤ λf(2sinθ)

[0015] Wherein, d is the spacing between two adjacent transmitting antennas, λ is the wavelength of the signal transmitted by the antenna, and θ is the maximum pointing angle of the detection target.

[0016] To solve the above problems, the present invention also provides a millimeter-wave radar transmitting device, including: transmitting antennas: several transmitting antennas are used to radiate electromagnetic wave signals into the space medium; the spacing between adjacent transmitting antennas is within a preset distance range; phase shifters: used to output phase-shifted signals according to the obtained transmitted signals, and one of the phase shifters is correspondingly arranged with one of the transmitting antennas and outputs the corresponding phase-shifted signal to the transmitting antenna; signal generating device: connected to the phase shifter and used to provide transmitted signals to each phase shifter; signal control device: connected to the phase shifter and used to control that the phase-shifted signals output by each phase shifter have equal phases.

[0017] To address the above-mentioned issues, the present invention provides a millimeter-wave radar chip, specifically comprising: at least one signal generating device, and a plurality of phase shifters connected to the at least one signal generating device; wherein the phase shifters are used to adjust the initial phase of the transmitted signal so that the phase-shifted signals output by the plurality of phase shifters have equal phases, and the transmitted signal is generated by the at least one signal generating device.

[0018] To solve the above problems, the present invention provides an electronic device, specifically comprising: at least one processor and a memory, wherein the processor is communicatively connected to the memory; the memory stores computer instructions so that when the processor calls the computer instructions, it executes the control method of a vehicle-mounted millimeter-wave radar as described above.

[0019] To solve the above problems, the present invention provides a non-volatile computer-readable and writable storage medium, which stores computer program instructions. When the computer program instructions are called by a processor, the processor executes the vehicle-mounted millimeter-wave radar control method and the vehicle-mounted millimeter-wave radar control method as described above.

[0020] The above-mentioned solution is applied to the vehicle application environment, meeting the requirements of small size and low power consumption of vehicle-mounted millimeter-wave radar. By increasing the number of transmitting antennas, controlling the initial phase of the signal and strictly controlling the spacing between the transmitting antennas, the target detection range of the vehicle-mounted millimeter-wave radar is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0022] Figure 1 This is an application scenario diagram provided by an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of a millimeter-wave radar transmitter provided by an embodiment of the present invention;

[0024] Figure 3 This is a flow chart of millimeter wave radar transmission provided by an embodiment of the present invention;

[0025] Figure 4 is a structural diagram of a millimeter-wave radar provided by another embodiment of the present invention;

[0026] Figure 5 This is a diagram of the internal modules of a radar chip provided by another embodiment of the present invention;

[0027] Figure 6It is a diagram of an arithmetic unit module provided by another embodiment of the present invention;

[0028] Figure 7 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0029] To facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for facilitating the description of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0030] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in this specification in the description of the present invention are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0031] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0032] As Figure 1 shown is a specific usage scenario of a vehicle-mounted millimeter-wave radar according to an embodiment of the present invention: including a first vehicle 11, a second vehicle 12, a first millimeter-wave signal 13, a second millimeter-wave signal 14, a third millimeter-wave signal 15, and a millimeter-wave signal 16 accumulated and synthesized in space by the first millimeter-wave signal 13, the second millimeter-wave signal 14, and the third millimeter-wave signal 15 after touching the vehicle to be detected.

[0033] A set of millimeter-wave radar equipment is integrated in the first vehicle 11. The millimeter-wave radar equipment includes: a millimeter-wave signal transmitter, a phase shifter, a controller, a transmitting antenna, a receiving antenna, an analog-to-digital converter, and an operation module. Among them, the millimeter-wave signal generator generates a millimeter-wave signal with a working frequency of 77 GHz and a signal wavelength of 3.9 mm. The phase shifter adjusts the received millimeter-wave signal into a phase-shifted signal with consistent phases. The controller controls the phase shifter to transmit the phase-shifted signal into the transmitting antenna at a certain time point, and the transmitting antenna radiates it into the spatial medium where it is located. In the embodiment of the present invention, the number of transmitting antennas is three. After contacting the surface of an object, a signal wave with a smaller gain will be reflected back. After the signal wave is received by the receiving antenna, it is converted into a digital signal via the analog-to-digital converter, and then relevant calculations are performed by the operation module.

[0034] The second vehicle 12 only detects targets for the signal-emitting vehicle, and no redundant explanations are given here.

[0035] The first millimeter-wave signal 13 is the millimeter-wave signal emitted by the first transmitting antenna;

[0036] The second millimeter-wave signal 14 is the millimeter-wave signal emitted by the second transmitting antenna;

[0037] The third millimeter-wave signal 15 is the millimeter-wave signal emitted by the third transmitting antenna;

[0038] Among the first millimeter-wave signal 13, the second millimeter-wave signal 14, and the third millimeter-wave signal 15, at the same moment, they are millimeter-wave signals with the same initial phase emitted by the corresponding transmitting antennas.

[0039] The signal wave 16 is a beam of signal wave with a higher gain generated by coherent gain synthesis in space according to the first millimeter-wave signal 13, the second millimeter-wave signal 14, and the third millimeter-wave signal 15. It is the millimeter-wave signal reflected after the signal wave contacts the detected object.

[0040] At a certain moment, the first vehicle 11 emits the corresponding first millimeter-wave signal 13, the second millimeter-wave signal 14, and the third millimeter-wave signal 15 from the transmitting antenna. The millimeter-wave signals generate effective coherent gain in the air and synthesize a beam of millimeter-wave signals. After contacting the second vehicle 12, the corresponding millimeter-wave signal 16 is reflected back. After the millimeter-wave signal 16 is received by the receiving antenna, it is converted into a digital signal via the analog-to-digital converter, and then corresponding calculations are performed by the relevant operation module.

[0041] Figure 2Schematic diagram of the signal transmitting end provided by an embodiment of the present invention. The schematic diagram includes: a signal generator 21, a controller 22, a phase shifter 23, and a transmitting antenna 24. In this embodiment, the phase shifter 23 includes a first phase shifter 231, a second phase shifter 232, and a third phase shifter 233; the transmitting antenna 24 includes a first transmitting antenna 241, a second transmitting antenna 242, and a third transmitting antenna 243.

[0042] Millimeter-wave signal generator 21: It is used to generate corresponding millimeter-wave radar source signals. A general millimeter-wave signal source can generate millimeter-wave signals of 77 GHz. A general signal generator is also called a signal source or oscillator and has a wide range of applications in production practice and the scientific and technological fields. The signal generator 21 is connected to the phase shifter 23, and the generated millimeter-wave source signals are transmitted to the phase shifter 23. In the early days, signal generators all used analog circuits and had relatively simple structures. With the increase in various industrial demands, the structures of signal generators have also changed greatly. Nowadays, signal generators more often use digital circuits or single-chip microcomputer control. The main components of a signal generator include a frequency generation unit, a modulation unit, a buffer amplification unit, an attenuation output unit, a display unit, and a control unit. Existing signal source types include sine signal generators, low-frequency signal generators, microwave signal generators, sweep and programmed signal generators, frequency synthesis signal generators, function generators, pulse signal generators, random signal generators, noise signal generators, and pseudo-random signal generators. Users can choose signal generating devices according to their actual needs.

[0043] Among them, the microwave signal generator is a signal generator from the decimeter wave band to the millimeter wave band.

[0044] Controller 22: Nowadays, controllers are divided into combinational logic controllers and microprogram controllers, and each has its own advantages and disadvantages. The combinational logic controller is troublesome to design and has a complex structure. Once designed, it cannot be modified or expanded, but it is fast. The microprogram controller is convenient to design, has a simple structure, and is convenient for modification or expansion. To modify the function of a machine instruction, only the corresponding microprogram needs to be rewritten; to add a machine instruction, only a section of microprogram needs to be added to the control memory. However, it realizes the function of an instruction by executing a section of microprogram. The specific comparison is as follows: The combinational logic controller, also known as the hardwired controller, is composed of logic circuits and realizes the function of instructions entirely by hardware.

[0045] Phase shifter 23: A device capable of adjusting the phase of a wave. Any transmission medium introduces a phase shift to the wave propagating therein, and its working principle varies according to different compositions. For example, in a transistor circuit, a control signal can be added at the input end to control the phase shift magnitude; in some circuits, the time delay of a resistor-capacitor circuit is used to achieve phase shift; in a microcontroller system, the internal timer can be used to achieve the purpose of phase shift; in modern electronic technology, digital phase shift is achieved by using A / D and D / A conversions. This is a discontinuous phase shift technology, but it features high phase shift accuracy.

[0046] Transmitting antenna 24: Used to convert the received phase-shifted signal from an electrical signal into a radio wave and then radiate the radio wave in a fixed direction according to the azimuth and elevation angle of the antenna itself. In a radar, it is a device used to radiate or receive signal waves and determine its detection direction. The radar antenna has the function of concentrating the signal waves into a beam, transmitting or receiving signal waves directionally. In some embodiments, the antenna can also serve both to transmit and receive signal waves. There are generally three types of millimeter-wave antennas, specifically including: horn antennas, microstrip antennas, and leaky-wave antennas;

[0047] The signal generator 21 generates a corresponding millimeter-wave signal and sends the millimeter-wave radar signal to the phase shifter 13 for phase modulation to generate a phase-shifted signal. The controller 22 controls the phase shifter 23 to send the phase-shifted signal to the transmitting antenna 24 at a specific time point, and the transmitting antenna 24 radiates the phase-shifted signal into the space medium where it is located.

[0048] During the transmission process of millimeter-wave signals, it is required that there is a strict phase relationship between the signals, that is, the time phase, space phase, and initial phase between the signals meet certain conditions. After meeting the conditions, the signals can be synthesized in space, that is, effective coherent gain can be generated.

[0049] For example, coherent integration of M equi-amplitude signals can increase the signal-to-noise ratio (S / N) by a factor of M (M is the number of integrated pulses). The phase composition of the signal wave includes three parts: time phase, spatial phase, and initial phase. Regarding the initial phase, when the transmitting antenna and operating frequency are determined, its initial phase is determined. At the moment when several signal waves meet, the time phase is also determined. Only the spatial phase may change because the positions of the individual antennas that make up the antenna array are different, and the spatial paths that the signal waves emitted by each of them take to reach the same receiving area are different, which will result in different numerical values of the spatial phase. It is precisely because of the difference in the spatial phase caused by the signal waves emitted by the transmitting antennas at different positions reaching the same receiving area that it is inevitable that several signal waves will form in-phase superposition in the meeting area, enhancing the total field strength, and anti-phase superposition, weakening the total field strength. If the enhanced and weakened areas of the total field strength remain relatively fixed in space, it is equivalent to changing the radiation field structure of a single antenna with an antenna array for ideal coherent integration.

[0050] According to the radar formula

[0051]

[0052] wherein, the radar transmitting power is Pt, the receiving power is Pr, the distance between the radar and the target is R1, the distance between the receiving antenna and the target is R2, the radar cross-section is σ, the effective area of the receiving antenna is Ae, and the antenna gain is G;

[0053] According to the environment of the vehicle-mounted radar in another embodiment of the present invention, assuming that the vehicle is moving in a straight line and the vehicle speeds are the same, then the distance R1 between the radar and the target and the distance R2 between the receiving antenna and the target are the same. Therefore, this formula can be deformed to obtain

[0054]

[0055] The obtained distance R is the detection distance of a single antenna, and effective coherent gain can be generated between signals.

[0056] In the ideal case where the signal waves are the same in time phase, spatial phase, and initial phase, N transmitting antennas can increase the detection distance to times that of the original single antenna. However, in the actual use process, the time phase and initial phase of the signal waves can be fixed. Due to the different sizes and placement positions of the antennas, the spatial phase will inevitably be inconsistent. Therefore, if you want to obtain the maximum detection distance, you must control the distance between the antennas.

[0057] As Figure 2 shown in the embodiments provided by the present invention, the distance between adjacent transmitting antennas of the transmitting antenna must be within a preset distance range;

[0058] The preset distance range satisfies:

[0059] d ≤ λf(2sinθ)

[0060] Wherein, d is the spacing between two adjacent transmitting antennas, λ is the wavelength of the signal transmitted by the antenna, and θ is the maximum pointing angle of the detection target.

[0061] According to the above conditions, Figure 4 in the shown embodiment, the radar detection distance can reach 1.3 times the detection distance of a single radar.

[0062] For example: If the operating frequency of the vehicle-mounted millimeter-wave radar is 77 GHz and the maximum pointing angle θ of the detection target is in the range of 5 degrees, then d can be designed to be 21 mm, and the detection distance can be increased by 1.3 times.

[0063] In summary, the method for enhancing the target detection distance of the vehicle-mounted millimeter-wave radar proposed by the present invention can be applied to the harsh working environment of the vehicle-mounted millimeter-wave radar. While ensuring the small size and low power consumption of the vehicle-mounted millimeter-wave radar, it can effectively increase the target detection distance of the vehicle-mounted millimeter-wave radar.

[0064] Such as Figure 3 shown in the flowchart of the millimeter-wave signal control method of the present invention. As shown,

[0065] Signal generator 11: The signal generator is connected to the phase shifter, and the signal generator is used to provide a transmission signal to each phase shifter; and

[0066] Phase shifter 13: The phase shifter corresponds to the transmitting antenna one by one, and is used to output a corresponding phase-shifted signal to the transmitting antenna, and is used to output a phase-shifted signal according to the obtained transmission signal. One of the phase shifters is correspondingly arranged with one of the transmitting antennas, and outputs a corresponding phase-shifted signal to the transmitting antenna according to the transmission time point given by the controller 12;

[0067] Signal control device 12: A controller connected to the phase shifter, and the controller is used to control the same time phase between the phase-shifted signals output by each phase shifter.

[0068] Transmitting antenna 14: Used to transmit a predetermined phase-shifted signal, and the spacing between adjacent transmitting antennas is within a preset distance range;

[0069] After the signal generator generates a corresponding transmission signal, it is transmitted to the phase shifter for corresponding signal phase modulation. The signal control device gives a determined moment to control the phase shifter to transmit the modulated phase-shifted signal to the transmitting antenna. After receiving the transmission signal, the transmitting antenna radiates a complex phase-shifted signal wave into the space medium where it is located.

[0070] Preferably, Figure 4 Another embodiment of the vehicle-mounted millimeter-wave radar according to the present invention is shown, which includes: an electronic control unit 41, a radar chip 42, a transmitting antenna 43, a transmitting antenna 44, a transmitting antenna 45, and a receiving antenna 46;

[0071] The electronic control unit 41: is used to control the radar chip to emit phase-shifted signals with the same phase, and make corresponding judgments and controls according to the received signals;

[0072] The radar chip 42: integrates corresponding functional modules such as a signal generation module, a signal amplification module, a signal output module, a signal input module, and an arithmetic processing module, etc., and is used to output corresponding phase-shifted signals. The radar chip integrates all the functions of a signal generator and a phase shifter;

[0073] The transmitting antennas 43, 44, and 45: are used to radiate corresponding phase-shifted signals into the space medium where the antennas are located; the distance between adjacent transmitting antennas is within a preset distance range;

[0074] Among them, the radiated phase-shifted signals will be combined into a stronger coherent signal in space;

[0075] The receiving antenna 46: is used to receive the echo signal reflected after the coherent signal touches the detection object;

[0076] In this embodiment, the radar chip 42 generates corresponding millimeter-wave signals. Under the control of the electronic control unit 41, the radar chip outputs corresponding equal-phase signals to the transmitting antenna. The transmitting antennas 43, 44, and 45 radiate multiple beams of the signal waves into space. The signal waves are combined into one beam of signal wave in space, and after touching the detection object, the corresponding signal wave is reflected back and received by the receiving antenna 46, and a series of results are obtained through the radar system.

[0077] Figure 6 The internal structure diagram of the radar chip 42 is shown, including: an arithmetic unit 421, a voltage-controlled oscillator 422, an amplifier 423, a transmitter 424, and a receiver 425;

[0078] Among them, the arithmetic unit 421: is used to convert the received analog signal into a digital potential signal and make corresponding calculations according to the digital potential signal;

[0079] The voltage-controlled oscillator 422: is used to generate corresponding millimeter-wave signals. There are three types of voltage-controlled oscillators: LC voltage-controlled oscillators, RC oscillators, and crystal oscillators;

[0080] The amplifier 423: is used to amplify the analog signal wave received by the receiving antenna 46;

[0081] Transmitter 424: Connect to the transmitting antenna and transmit the millimeter-wave signal;

[0082] Receiver 425: Connect to the receiving antenna and receive the reflected echo signal;

[0083] The voltage-controlled oscillator 422 generates a millimeter-wave signal with consistent phase. Through the transmitter and the transmitting antenna, the corresponding millimeter-wave signal is radiated into space. The receiving antenna receives the corresponding analog signal wave, and the amplifier amplifies the analog signal and hands it over to the operation unit for corresponding operations.

[0084] Figure 6 This is the structure diagram of the operation logic unit, specifically including an operation logic circuit 4211, an input / output port 4212, and an analog-to-digital converter 4213;

[0085] Operation logic circuit: Used to calculate the corresponding data obtained from the radio wave signal;

[0086] Input / output port 4212: Used for corresponding data transmission;

[0087] Analog-to-digital converter 4213: Convert the analog signal into a digital signal;

[0088] The analog-to-digital converter 4213 converts the received analog signal into a digital signal;

[0089] The digital signal is processed by the operation logic circuit to obtain corresponding data. The input / output port will communicate with other network elements, and the data will be transmitted to other network elements through the output port. Similarly, the data input port will also receive information from other network elements.

[0090] The present invention is directed to an in-vehicle application environment. The in-vehicle millimeter-wave radar can increase the target detection distance of the in-vehicle millimeter-wave radar under the conditions of small size and low power consumption.

[0091] Figure 7 Shows the structural schematic diagram of the electronic device according to the embodiment of the present invention. The specific implementation of the electronic device in the specific embodiment of the present invention is not limited. For example, it can be Figure 1 The detection radar in the first vehicle shown.

[0092] Such as Figure 7 As shown, the electronic device may include: a microprocessor (MCU) 71, an analog-to-digital converter (A / D) 72, a communication interface (Communications Interface) 73, a memory (memory) 74, a communication bus 75, and a program 76.

[0093] Among them, the microprocessor 71, the analog-to-digital converter 72, the communication interface 73, and the memory 74 complete communication with each other through the communication bus 75. The communication interface 73 is used to communicate with other devices such as network elements such as a microprocessor or an analog-to-digital converter. The microprocessor 71 is used to execute the program 76, and specifically can execute the relevant steps in the above embodiments of the control method of the millimeter-wave radar.

[0094] Specifically, the program 76 may include program code, and the program code includes operation instructions of the millimeter-wave radar.

[0095] In the embodiment of the present invention, according to the type of the hardware used, the microprocessor 71 may be a central processing unit (CPU), and the microprocessor 71 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0096] The memory 74 is used to store the program 76. The memory 74 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory. The program 76 is specifically used to cause the processor 71 to execute the millimeter-wave radar control method in any of the above method embodiments.

[0097] Among them, when the computer program is executed by the processor, one or more steps in the millimeter-wave radar disclosed in the embodiment of the present invention are implemented. The complete computer program product is embodied on one or more readable storage media containing the computer program disclosed in the embodiment of the present invention (including but not limited to, disk memory, CD-ROM, optical memory, etc.).

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle-mounted millimeter-wave radar, characterized in that, Comprising: A plurality of transmitting antennas; The spacing between adjacent transmitting antennas is within a preset distance range; A plurality of phase shifters; One of the phase shifters is correspondingly arranged with one of the transmitting antennas, and outputs a corresponding phase-shifted signal to the transmitting antenna; A signal generator connected to the phase shifter, the signal generator being configured to provide a transmission signal to each phase shifter; A controller connected to the phase shifter, the controller being configured to control the phase-shifted signals output by each of the phase shifters to have the same phase; The spacing between the adjacent transmitting antennas satisfies the following formula: d≤λf(2sin ) Wherein, d is the spacing between two adjacent transmitting antennas, λ is the wavelength of the signal transmitted by the antenna, and f is the frequency of the signal transmitted by the antenna. is the maximum pointing angle of the detection target.

2. The vehicle-mounted millimeter-wave radar according to claim 1, wherein The transmitting antenna includes a first transmitting antenna, a second transmitting antenna, and a third transmitting antenna; The phase shifter includes a first phase shifter connected to the first transmitting antenna, a second phase shifter connected to the second transmitting antenna, and a third phase shifter connected to the third transmitting antenna.

3. A control method for an in-vehicle millimeter-wave radar, applied to the in-vehicle millimeter-wave radar according to claim 1 or 2, characterized in that, Comprising: Via the phase shifter, a plurality of phase-shifted signals based on the same transmission signal are formed; The phases of the phase-shifted signals are equal; The plurality of phase-shifted signals are respectively transmitted outward through a plurality of transmitting antennas; the spacing between the transmitting antennas is within a preset distance range; The echo signals of the phase-shifted signals transmitted outward by the transmitting antennas are acquired.

4. The control method according to claim 3, wherein After the plurality of phase-shifted signals are transmitted, they are synthesized into a high-gain signal wave in space, and after touching an object, corresponding echo signals are reflected back; The first millimeter-wave signal radiated by the first transmitting antenna, the second millimeter-wave signal radiated by the second transmitting antenna, and the third millimeter-wave signal radiated by the third transmitting antenna are synthesized into a stronger coherent gain signal in the air, and the echo signals reflected after contacting the object surface.

5. An electronic device, characterized in that, Comprising: At least one processor and a memory, the processor being communicatively connected to the memory; The memory stores computer instructions, so that when the processor calls the computer instructions, it executes the control method of the millimeter-wave radar as described in claim 3 or 4.

6. A non-volatile computer-readable and writable storage medium, characterized in that, The storage medium stores computer program instructions, and when the computer program instructions are called by the processor, the processor is caused to execute the control method of the vehicle-mounted millimeter-wave radar as described in claim 3 or 4.

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