Beamforming apparatus and beam control method

Abstract

Embodiments of the present application provide a beamforming device and a beam control method. The beamforming device includes a non-planar substrate, an antenna array, and an adjustment circuit. The antenna array includes a plurality of antenna elements and is disposed on the non-planar substrate. The adjustment circuit is coupled to the antenna array and is configured to adjust a signal of at least one of the antenna elements according to a shape of the non-planar substrate and a given signal angle. Thus, the beamforming device can be flexibly applied in various situations.

Description

Technical Field

[0001] This invention relates to a beamforming technology, and more particularly, to a beamforming device and a beam control method. Background Technology

[0002] In high-frequency applications, beamformers can be used to improve the directivity of antenna systems. Generally, antenna arrays are mounted on a planar substrate. However, such a design may not meet the requirements of some applications. For example, due to the high path loss caused by the wavelet length of millimeter waves (mmWave), there is a need to mount millimeter-wave antenna arrays on vehicle housings. However, vehicle housings are typically non-planar. Therefore, there is a need for designs that utilize non-planar antenna arrays. Summary of the Invention

[0003] The present invention relates to a beamforming device and a beam control method, and can realize a non-planar antenna array system.

[0004] According to an embodiment of the present invention, a beamforming apparatus includes (but is not limited to) a non-planar substrate, an antenna array, and an adjustment circuit. The antenna array includes a plurality of antenna elements and is disposed on the non-planar substrate. The adjustment circuit is coupled to the antenna array and is used to adjust the signal of at least one of the antenna elements according to the shape of the non-planar substrate and a given predetermined signal angle.

[0005] According to an embodiment of the present invention, the beam control method includes (but is not limited to) the following steps: providing a non-planar substrate and an antenna array. The antenna array includes a plurality of antenna elements. Adjusting the signal of at least one of those antenna elements according to the shape of the non-planar substrate and a given signal angle.

[0006] Based on the above, the beamforming apparatus and beam control method according to embodiments of the present invention provide an antenna array disposed on a curved surface, and the signals of each antenna element can be adjusted so that the antenna array radiates electromagnetic waves according to a desired turning angle. Therefore, it can be flexibly applied in more scenarios. Attached Figure Description

[0007] The accompanying drawings are included to further illustrate the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0008] Figure 1 This is a component block diagram of a beamforming apparatus according to an embodiment of the present invention;

[0009] Figure 2AThis is a schematic diagram of an antenna element and a non-planar substrate according to an embodiment of the present invention;

[0010] Figure 2B This is a schematic diagram of an antenna element and a non-planar substrate according to another embodiment of the present invention;

[0011] Figure 3 This is a schematic diagram of half-power beamwidth (HPBW) according to an embodiment of the present invention;

[0012] Figure 4 This is a schematic diagram illustrating the determination of a reference point according to an embodiment of the present invention;

[0013] Figure 5 This is a schematic diagram illustrating the determination of a reference point according to another embodiment of the present invention;

[0014] Figure 6A yes Figure 2A A magnified view of a portion of the image;

[0015] Figure 6B yes Figure 4 A magnified view of a portion of the image;

[0016] Figure 6C yes Figure 4 Another enlarged view of a portion;

[0017] Figure 7 This is a schematic diagram of the radiation field pattern of two antenna elements according to an embodiment of the present invention;

[0018] Figure 8 This is a flowchart of a beam control method according to an embodiment of the present invention.

[0019] Explanation of icon numbers

[0020] 50, 50-1, 50-2: Non-planar substrates;

[0021] 100: Beamforming device;

[0022] 110: Antenna array;

[0023] 1101~110 J 1111~1115, 1121~1128, 1131~1138: Antenna elements;

[0024] 120: Adjust the circuit;

[0025] 130: Memory;

[0026] 150: Controller;

[0027] Z: Reference line;

[0028] Z': Normal

[0029] XY0, XY1, XY2, XY3, XY4: Reference planes;

[0030] HPBW: Half-power beamwidth;

[0031] d: Spacing;

[0032] R: Distance;

[0033] DOS1~DOS3: Signal angle;

[0034] Δθ, Δθ2, Δθ3, Δθ4: angular differences;

[0035] ΔL, ΔL2, ΔL3, ΔL4: Path differences;

[0036] 501, 503: Radiation field type;

[0037] S610~S620: Steps. Detailed Implementation

[0038] Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same component symbols are used in the drawings and description to denote the same or similar parts.

[0039] Figure 1 This is a component block diagram of a beamforming apparatus 100 according to an embodiment of the present invention. Please refer to... Figure 1 The beamforming apparatus 100 includes (but is not limited to) a non-planar substrate 50, an antenna array 110, an adjustment circuit 120, a memory 130, and a controller 150.

[0040] The non-planar substrate 50 can be a uniform curved surface or an arbitrary curved surface. For example, Figure 2A This is a schematic diagram of antenna elements 1111-1115, 1121-1128 and a non-planar substrate 50-1 according to an embodiment of the present invention. Please refer to... Figure 2A The non-planar substrate 50-1 has a common center point C on its curved surface, and the distance R from any two points on the curved surface to the center point C is equal (i.e., a uniform curved surface). For example, Figure 2B This is a schematic diagram of antenna elements 1131-1138 and a non-planar substrate 50-2 according to another embodiment of the present invention. Please refer to... Figure 2B The non-planar substrate 50-2 may have multiple curvatures. However, the surface shape of the non-planar substrate 50 may also vary, and the embodiments of the present invention are not limited thereto.

[0041] Antenna array 110 includes several antenna elements 1101 to 110 J(J is a positive integer and represents the total number of antenna elements). Antenna elements 1101 to 110 of antenna array 110. J It is disposed on a non-planar substrate 50. Figure 2A For example, antenna elements 1111-1115 and 1121-1128 are disposed on the concave surface of the non-planar substrate 50-1. Furthermore... Figure 2B For example, antenna elements 1131 to 1138 are disposed on the convex surface of the non-planar substrate 50-2.

[0042] Adjustment circuit 120 is coupled to antenna array 110. In one embodiment, adjustment circuit 120 includes one or more phase shifters, each used to adjust an antenna element 1101, 1102, ..., or 110. J The phase of the transmitted or received signal. In some embodiments, those antenna elements 1101, 1102, ... and / or 110 J The transmitted or received signals have different phases. In another embodiment, the adjustment circuit 120 includes one or more amplifiers and / or attenuators, and one amplifier is used to adjust one or more antenna elements 1101, 1102, ..., and / or 110... J The amplitude of the transmitted or received signal. In some embodiments, the adjustment circuit 120 includes one or more phase shifters and one or more amplifiers, and adjusts one or more antenna elements 1101, 1102, ..., and / or 110 as needed. J The phase and / or amplitude of the transmitted or received signal.

[0043] The memory 130 can be any type of fixed or removable random access memory (RAM), read-only memory (ROM), flash memory, hard disk drive (HDD), solid-state drive (SSD), or similar component. In one embodiment, the memory 130 is used to record program code, software modules, configuration settings, and data (e.g., antenna elements 1101-110). J The location of these locations, their relationship to the non-planar substrate 50, etc., or the relevant information, will be described in detail later in the embodiments thereof.

[0044] Controller 150 is coupled to adjustment circuit 120 and memory 150. Controller 150 may be a chip, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), microcontroller, or other type of circuit. In one embodiment, controller 150 determines the desired direction of departure (DoD) and / or half-power beamwidth (HPBW). In another embodiment, the given direction of departure and / or half-power beamwidth is transmitted to controller 150 via instruction. In one embodiment, controller 150 may output adjustment signals / instructions to control adjustment circuit 120 and enable one or more antenna elements 1101-110 according to the direction of departure and / or half-power beamwidth. J And / or change the enabled antenna elements 1101, 1102, ... and / or 110 J The phase delay and / or amplitude of the transmitted or received signal. In one embodiment, the controller 150 loads program code and / or data from the memory 130.

[0045] It should be noted that by changing antenna elements 1101, 1102, ... and / or 110... J With corresponding phase and amplitude, electromagnetic waves can be superimposed in specific directions and canceled out in some directions based on constructive and destructive interference, so that the far field pattern formed by the radiation of the antenna array 110 is equivalent to a specific beam pattern (the field pattern formed by parameters such as main beam direction, beamwidth, directional gain, and side beam level).

[0046] The adjustment circuit 120 adjusts the antenna elements 1101 to 110 according to the shape of the non-planar substrate 50 and the given signal angle. J The signal of at least one of them. Multiple antenna elements 1101-110 in antenna array 110. J The beam formed by radiated electromagnetic waves may be affected by different phases or by adjacent antenna elements 1101-110. J The phase difference results in different field patterns (e.g., different radiation directions, gains, or shapes). The shape of the non-planar substrate 50 reflects the antenna elements 1101–110. JThe settings differ. The signal angle could be the departure direction / angle of departure (AoD) or the direction of arrival (DoA) / angle of arrival (AoA).

[0047] In some embodiments, in order to achieve a specific pointing or gain (i.e., amplitude) for the antenna array 110, each antenna element 1101-110 J The corresponding phases (or delay times) may differ, therefore the adjustment circuit 120 can adjust all or some of the antenna elements 1101 to 1102 respectively. J The phase of the transmitted or received signal is adjusted. This allows the signal to be delayed, enabling different antenna elements 1101 to 110... J The signals have different phases, thus forming a phase difference, which in turn achieves beam patterns with different directions or shapes.

[0048] In one embodiment, the controller 150 determines the half-power beamwidth (HPBW) corresponding to a given signal angle from antenna elements 1101 to 1102. J At least two first elements are selected for electromagnetic wave radiation. For example, some or all of the antenna elements 1101 to 1102. J As the first unit. In one embodiment, these antenna elements 1101 to 110... J The unselected units are designated as the second units. In one embodiment, the controller 150 enables those first units and disables those second units by adjusting the circuit 120. This allows the controller 150 to further radiate electromagnetic waves through those first units, but interrupts the radiation from the second units.

[0049] Specifically, with Figure 2A For example, assume that the turning angle of antenna array 110 (e.g., 0 degrees) is the same as the reference line Z (e.g., the normal direction of the setting position) and perpendicular to the reference plane XY0. If the turning angle is zero degrees, then the direction of signal (DoS) (corresponding to the signal angle) is parallel to the reference line Z. Figure 3 This is a schematic diagram of the half-power beamwidth (HPBW) according to an embodiment of the present invention. Please refer to... Figure 3 Assuming the steering angle is zero degrees and the half-power beamwidth (HPBW) is approximately between 15 degrees.

[0050] It is worth noting that the size of the half-power beamwidth (HPBW) is related to the number of first units. These first units, once activated, will be used to form a beam with the desired half-power beamwidth and signal angle.

[0051] Figure 2A The antenna elements 1111–1115 and 1121–1128 are arranged in a straight line, for example, forming a column. There is a spacing between any two adjacent antenna elements 1111–1115 and 1121–1128. For example, there is a spacing d between antenna element 1115 and antenna element 1123. The half-power beamwidth formed by these antenna elements 1111–1115 and 1121–1128 can be determined as follows:

[0052]

[0053] HPBW0 is the half-power beamwidth (or intrinsic half-power beamwidth) when the turning angle is 0 degrees, λ is the wavelength of the transmitted or received signal of antenna elements 1111~1115 and 1121~1128, M is the number of the first element in the same column, and d is the spacing.

[0054] From this formula (1), the half-power beamwidth is related to the number M of the (activated) first units and the ratio of the spacing d to the wavelength λ of the signal. The number M of those first units can be determined as follows:

[0055]

[0056] HPBW stands for Half Power Beamwidth.

[0057] For example, if the inherent half-power beamwidth is required to be less than 25 degrees, then according to the above formula, if the number of first elements is 5, the inherent half-power beamwidth is 20.3 degrees. The controller 150 can select the first element based on the position of antenna elements 1111–1115 and 1121–1128. For example, if the desired signal angle corresponds to the area surrounding antenna element 1113 (e.g., between antenna elements 1113 and 1114 and also close to antenna element 1113, or between antenna elements 1113 and 1112 and also close to antenna element 1113), then antenna elements 1111–1115 are the first elements (enabled), and antenna elements 1121–1128 are the second elements (disabled). Therefore, antenna elements 1111–1115 can radiate, and antenna elements 1121–1128 interrupt radiation.

[0058] In this way, if the difference between the signal direction of signal (DoS) and the normal of the central region of the selected first unit group is not zero, this difference can be minimized. In other words, the required steering angle corresponding to the activated first units 1111-1115 approaches zero, thereby effectively improving the energy efficiency of signal transmission and reception.

[0059] In one embodiment, the controller 150 may select a reference point based on a given signal direction. The cross-section of this reference point and the surface on the non-planar substrate 50 thereon is perpendicular to the given signal direction.

[0060] For example, Figure 4 This is a schematic diagram illustrating the determination of a reference point according to an embodiment of the present invention. Please refer to... Figure 4 The signal direction DOS1 is perpendicular to the reference plane XY2. This reference plane XY2 is a tangent to the surface on which antenna element 1131 is located. Therefore, the reference point is located on antenna element 1131. Furthermore, the signal direction DOS2 is perpendicular to the reference plane XY3. This reference plane XY3 is a tangent to a curved surface. However, the intersection of the extension line of the signal direction DOS2 and the reference plane XY3 is located between the surfaces on which antenna elements 1132 and 1133 are located. Therefore, the reference point is located between antenna elements 1132 and 1133. Figure 4 In the example, controller 150 can be considered as a reference point located within the area where antenna array 110 is located.

[0061] For example, Figure 5 This is a schematic diagram illustrating the determination of a reference point according to another embodiment of the present invention. Please refer to... Figure 5 The signal direction DOS3 is perpendicular to the reference plane XY4. This reference plane XY4 is a tangent on a curved surface. However, the intersection of the extension line of the signal direction DOS3 and the reference plane XY3 is located on one side of antenna element 1134 but not between other antenna elements. Therefore, the controller 150 can be considered as a reference point located outside the area where the antenna array 110 is located.

[0062] In one embodiment, if the reference point is located in the region where the antenna array 10 is located (e.g.) Figure 4 As shown), the controller 150 can determine the number of first elements (i.e., enabled antenna elements) located in the same straight row / straight line based on the half-power beamwidth. For example, the number of first elements can be calculated using formula (2).

[0063] In one embodiment, if the reference point is not located in the area where the antenna array 10 is located (e.g., Figure 5 As shown), the controller 150 can determine the half-power beamwidth change ratio based on the steering angle of the antenna array 10, and select the first elements based on this half-power beamwidth and the half-power beamwidth change ratio. The steering angle is the difference between the normal of the tangent plane of the antenna element closest to the reference point and the given signal angle. Figure 5For example, the angle between the normal N4 extending perpendicularly from the tangent of the surface of the antenna element 1134 closest to the reference point and the signal angle DOS3 can be defined as the steering angle. Then, the quantity M is calculated using the following formula:

[0064]

[0065] Where θ S For the steering angle. In other words, cosθ in formula (3) above. S (or its reciprocal, secθ) S This can be considered as a half-power beamwidth change ratio.

[0066] Once the first unit has been determined, the additional phase delay provided by these first units when transmitting and receiving signals can be further determined. Figure 2A For example, suppose the first selected element is five antenna elements 1111 to 1115. The center of these antenna elements 1111 to 1115 is antenna element 1113, and the normal Z' of antenna 1113 on the non-planar substrate 50-1 is perpendicular to antenna element 1113. The normal Z' is perpendicular to the reference plane XY1, and the phase delay of these antenna elements 1111 to 1115 can be determined accordingly.

[0067] In one embodiment, the adjustment circuit 120 can adjust according to those antenna elements 1101-110 J The positions of at least two first elements on the non-planar substrate 50 and a given signal angle compensate for the phase difference required by any of those first elements when receiving or transmitting signals. Specifically, when the antenna array 10 is to transmit or receive signals in the direction of the signal (DoS), an antenna element (e.g., Figure 2A The phase difference required for antenna element 1111) is directly related to the distance between this antenna element and a reference plane orthogonal to the signal direction (DoS). Figure 2A For example, when the signal direction (DoS) is parallel to the normal Z' (i.e., the reference position is located in the first activated element), the phase difference compensation required for each activated antenna element is related to the distance between each antenna element and the reference plane XY1.

[0068] Specifically, with Figure 2A For example, suppose there is a device under test (DUT) located at center point C. Each antenna element 1111-1115, 1121-1128 can be separated or integrated together to form an array antenna 110. Therefore, it is possible to receive transmitted signals from the DUT or transmit signals to the DUT in any direction within the directional range where antenna elements 1111-1115, 1121-1128 are arranged.

[0069] In this embodiment (e.g., a uniform curved surface), the phase difference can be understood as the path difference along a given signal angle resulting from the angular difference and spacing between the normals of the two first elements. This path difference refers to the actual path difference between each antenna element when the electromagnetic wave of the DUT arrives at the imaginary plane (e.g., reference plane XY1) of the group of first elements, given the shape of the non-planar substrate.

[0070] Figure 6A yes Figure 2A A magnified view of a portion of the image. Please refer to... Figure 2A and Figure 6A Assuming that in an arc-shaped surface of a non-planar substrate 50-1, the spacing between two antenna elements 1113 and 1114 can be expressed as:

[0071] d=RΔθ…(4)

[0072] Δθ is the angular difference between the normals of the two antenna elements 1113 and 1114.

[0073] If the radius of the arc (e.g., R) is equal to m times the far-field distance (e.g., FR = 2D) 2 / λ)(that is, m is a multiple of the radius of the arc surface defined by the area occupied by the first unit on the non-planar substrate 50 relative to the far-field distance), then the angular difference can be expressed as:

[0074] Δθ=1 / mN 2 …(5)

[0075] N is a multiple of the aperture of the first array defined by the first cells relative to the spacing. The entirety of those first cells is considered as the first array.

[0076] Figure 6A The path difference ΔL between the two antenna elements 1114 and 1115 shown can be estimated as follows:

[0077]

[0078] θ is the given signal angle (or departure / reception angle). If mN 2 If the phase difference Δψ is large (making Δθ very small), then the phase difference Δψ added to antenna element 1114 can be expressed as:

[0079]

[0080] In this way, the phase difference can be compensated for for a specific first unit by adjusting the circuit 120.

[0081] In one embodiment, if a given signal angle results in a required steering angle of θ S The phase difference can then be expressed as:

[0082]

[0083] , n is the permutation number of the first unit, ψ n It is the phase difference of the nth first unit. It is the sequence number of the first unit corresponding to a given signal angle. Figure 2A For example, the arrangement number of antenna element 1111 is 1, the arrangement number of antenna element 1112 is 2, and so on. The arrangement number of the center of these antenna elements 1111 to 1115 (i.e., antenna element 1113) is 3. If the given signal angle is 0 degrees, the transmission direction is towards the center of the arc surface (e.g., the position of antenna element 1113). That is, the given signal angle corresponds to the normal direction of antenna element 1113. Among them, in formula (8) The sign is selected according to the concave (central recess, positive sign) or convex (central protrusion, negative sign) shape of the arc surface occupied by the first unit on the non-planar substrate 50. In other words, the controller 150 controls the adjustment circuit 120 electrically connected to each first unit so that the transmitted and received signals are given the phase difference calculated by the above formula, thereby making the signal equivalent to be received by many first units on the reference plane.

[0084] It should be noted that if the selected first unit is changed, the hypothetical line, hypothetical plane, relative steering angle, and phase difference to be compensated for the group corresponding to these first units will also change.

[0085] In one embodiment, when the reference point is located between two first units, the controller 150 can determine the phase difference to be compensated based on the proximity of the first unit or the reference point.

[0086] If the first unit closest to the reference point is selected, the controller 150 can determine the phase difference according to the aforementioned formulas (4) to (8). Compensation based on this phase difference will only have minor but acceptable defects.

[0087] by Figure 6B For example, Figure 6B yes Figure 4 A magnified view of a portion of the image. Please refer to... Figure 4 and Figure 6B , Figure 4 Antenna elements 1133 and 1134 shown are located on a convex arc surface, therefore, the one in formula (8) is selected. Assume the reference point is close to antenna element 1132. Therefore, the location of antenna element 1114 is used as the modified reference point. And, given a signal angle such that the required steering angle is θ... S The phase difference can then be expressed as:

[0088]

[0089] If the reference point is to be maintained, the controller 150 can determine the phase difference to be compensated by the reference point or the cross section of the surface on which it is located.

[0090] by Figure 6C For example, Figure 6C yes Figure 4 Another enlarged view of a portion. Please refer to... Figure 4 and Figure 6C , Figure 6C The path differences ΔL3 and ΔL4 between the two antenna elements 1132 and 1133 shown and the extension line of the signal direction DOS2 (assuming it is located between antenna elements 1132 and 1133) can be estimated as follows:

[0091]

[0092]

[0093] Furthermore, since antenna elements 1132 and 1133 are located on an outwardly convex arc surface, the determination of the phase difference also uses formula (8). (For example, formula (9)).

[0094] In one embodiment, the controller 150 may, based on those antenna elements 1101-110 J The antenna elements 1101-110 are compensated for their position on the non-planar substrate 50 by adjustment circuit 120. J At least one of the element factors. Due to antenna elements 1101 to 110... J Some or all of them are not in the same plane or in mutually parallel planes, therefore each antenna element 1101 to 110... J The orientation of the radiation pattern (i.e., element factor) may differ. The controller 150 can adjust the orientation based on antenna elements 1101 to 1102. J The orientation difference, turning angle, and radiation pattern caused by the position on the non-planar substrate 50 are compensated for by at least one antenna element 1101-110. J .

[0095] For example, Figure 7 This is a schematic diagram of the radiation patterns 501 and 503 of two antenna elements 1101 and 1102 according to an embodiment of the present invention. Please refer to... Figure 7Assuming the turning angle is 0 degrees, corresponding to the orientation of the radiation pattern 501 of antenna element 1101, while the orientation of the radiation pattern 505 of antenna element 1102 is 5 degrees. Since the two antenna elements 1101 and 1102 are not on the same plane, the gain of antenna element 1102 at 0 degrees may be less than that of antenna element 1101. Therefore, controller 150 can compensate for the gain difference ΔG of antenna element 1102.

[0096] In one embodiment, the controller 150 may, based on those antenna elements 1101-110 J The antenna elements 1101-110 are compensated for their position on the non-planar substrate 50 by adjustment circuit 120. J The path loss of at least one of them. Figure 5 For example, antenna elements 1101 and 1102 are separated by a distance, resulting in a phase difference. This phase difference also causes path loss. Therefore, controller 150 can compensate for the path loss gain of the signal from antenna element 1102.

[0097] on the other hand, Figure 8 This is a flowchart of a beam control method according to an embodiment of the present invention. Please refer to... Figure 8 Provides a non-planar substrate 50 and antenna arrays 1101 to 110 J (Step S610). Adjust the antenna elements 1101 to 110 according to the shape of the non-planar substrate 50 and the turning angle of the antenna array 110. J At least one of the signals (step S620).

[0098] about Figure 8 The implementation details of each step are described in detail in the foregoing embodiments and implementation methods, and will not be repeated here. In one embodiment, step S620 can be implemented by the controller 150 coordinating with the adjustment circuit 120. In addition to being implemented in the form of circuits, the steps and implementation details of the embodiments of the present invention can also be implemented by the controller in software, and the embodiments of the present invention are not limited thereto.

[0099] In summary, the beamforming apparatus and beam control method of this invention provide an antenna array disposed on a non-planar substrate, and adjust the signals of the antenna elements according to the desired turning angle. This invention allows for the selection of a first element to be activated based on the desired beam pattern, and compensation for the amplitude and / or phase of the selected first element. Therefore, non-planar antenna arrays can be applied in more scenarios.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A beamforming device, characterized in that, include: Non-planar substrate; An antenna array, comprising multiple antenna elements, is disposed on the non-planar substrate; An adjustment circuit is coupled to the antenna array and is used to adjust the signal of at least one of the antenna elements according to the shape of the non-planar substrate and a given signal angle. as well as The controller, coupled to the adjustment circuit, is configured to: A reference point is selected based on a given signal direction, wherein the cross-section of the reference point on the surface of the non-planar substrate is perpendicular to the given signal direction; In response to the fact that the reference point is not located in the area where the antenna array is located, the half-power beamwidth change ratio is determined according to the turning angle of the antenna array, and at least two first elements are selected for electromagnetic wave transmission and reception according to the half-power beamwidth and the half-power beamwidth change ratio, wherein the turning angle is the difference between the normal of the tangent plane of the antenna element closest to the reference point and the given signal angle, and wherein the half-power beamwidth change ratio is the cosine value of the turning angle.

2. The beamforming apparatus according to claim 1, characterized in that, The at least two first units are arranged in a straight line, and there is a spacing d between any two adjacent units. Then the number M of the at least two first units is: ， HPBW is the half-power beamwidth, and λ is the wavelength of the signal.

3. The beamforming apparatus according to claim 1, characterized in that, The controller is also configured to: Responding to the fact that the reference point is located in the region where the antenna array is situated, the number of at least two first elements on the straight line is determined based on the half-power beamwidth.

4. The beamforming apparatus according to claim 1, further comprising: A memory, coupled to the controller, is used to store the positions of the antenna elements on the non-planar substrate, wherein The controller selects at least two first units based on the position of the antenna unit.

5. The beamforming apparatus according to claim 1, characterized in that, The adjustment circuit is further configured to compensate for a phase difference of a signal from one of the at least two first units based on the position of at least two first units on the non-planar substrate and the given signal angle, wherein the phase difference is related to the angular difference between the two first units and the normal to the non-planar substrate.

6. The beamforming apparatus according to claim 5, characterized in that, The at least two first units are arranged in a straight line, there is a gap between any two adjacent units, and the phase difference is also related to the path difference along the given signal angle caused by the angle difference and the gap.

7. The beamforming apparatus according to claim 6, wherein the phase difference for: ， λ is the path difference, and λ is the wavelength of the signal; in, ， d is the spacing, and It refers to the difference in angles.

8. The beamforming apparatus according to claim 6, characterized in that, If the given signal angle makes the required steering angle be Then the phase difference corresponding to each of the first units is: ， n is the permutation number of the at least two first units. It is the phase difference of the nth first unit. is the arrangement number of the first unit corresponding to the given signal angle, m is the multiple of the radius of the arc surface defined by the area occupied by the at least two first units on the non-planar substrate relative to the far-field distance, and N is the multiple of the aperture of the first array defined by the at least two first units relative to the spacing.

9. The beamforming apparatus according to claim 5, characterized in that, The controller is also configured to: The phase difference is determined based on the proximity of the reference point between the two first units, where the reference point is located between the two first units or the reference point, wherein the cross-section corresponding to the reference point and the surface on which it is located is perpendicular to the direction of the given signal.

10. The beamforming apparatus according to claim 1, characterized in that, The controller is also configured to: Determine the phase delay of the antenna element by the adjustment circuit.

11. The beamforming apparatus according to claim 1, characterized in that, The controller is also configured to: The element factor of at least one of the antenna elements is compensated by the adjustment circuit according to the position of the antenna element on the non-planar substrate.

12. The beamforming apparatus according to claim 1, characterized in that, The controller is also configured to: The path loss of at least one of the antenna elements is compensated by the adjustment circuit according to the position of the antenna element on the non-planar substrate.

13. A beam control method, characterized in that, include: A non-planar substrate and an antenna array are provided, wherein the antenna array includes a plurality of antenna elements disposed on the non-planar substrate; The signal of at least one of the antenna elements is adjusted according to the shape of the non-planar substrate and a given signal angle. A reference point is selected based on a given signal direction, wherein the cross-section of the reference point on the surface of the non-planar substrate is perpendicular to the given signal direction; and In response to the fact that the reference point is not located in the area where the antenna array is located, the half-power beamwidth change ratio is determined according to the turning angle of the antenna array, and at least two first elements are selected for electromagnetic wave transmission and reception according to the half-power beamwidth and the half-power beamwidth change ratio, wherein the turning angle is the difference between the normal of the tangent plane of the antenna element closest to the reference point and the given signal angle, and wherein the half-power beamwidth change ratio is the cosine value of the turning angle.

14. The beam control method according to claim 13, characterized in that, The at least two first units are arranged in a straight line, and there is a spacing d between any two adjacent units, wherein the number M of the at least two first units is determined by: ， HPBW is the half-power beamwidth, and λ is the wavelength of the signal.

15. The beam control method according to claim 13, characterized in that, Also includes: The number of the at least two first elements on the straight line is determined based on the half-power beamwidth, since the reference point is located in the region where the antenna array is situated.

16. The beam control method according to claim 13, characterized in that, The step of adjusting the signal of at least one of the antenna elements according to the shape of the non-planar substrate and the given signal angle includes: The phase difference of a signal from one of the at least two first units in the antenna element is compensated based on the position of at least two first units on the non-planar substrate and the given signal angle, wherein the phase difference is related to the angular difference between the two of the at least two first units and the normal to the non-planar substrate.

17. The beam control method according to claim 16, characterized in that, The at least two first units are arranged in a straight line, there is a gap between any two adjacent units, and the phase difference is also related to the path difference along the given signal angle caused by the angle difference and the gap.

18. The beam control method according to claim 17, characterized in that, The phase difference for: ， λ is the path difference, and λ is the wavelength of the signal; in, ， d is the spacing, and It refers to the difference in angles.

19. The beam control method according to claim 17, characterized in that, If the given signal angle makes the required steering angle be Then the phase difference corresponding to each of the first units is: ， n is the permutation number of the at least two first units. It is the phase difference of the nth first unit. is the arrangement number of the first unit corresponding to the given signal angle, m is the radius of the arc surface defined by the area occupied by the at least two first units on the non-planar substrate relative to the far-field distance, and N is the aperture of the first array defined by the at least two first units relative to the spacing.

20. The beam control method according to claim 16, characterized in that, Also includes: The phase difference is determined based on the proximity of the reference point between the two first units, where the reference point is located between the two first units or the reference point, wherein the cross-section corresponding to the reference point and the surface on which it is located is perpendicular to the direction of the given signal.

21. The beam control method according to claim 13, characterized in that, Also includes: The element factor of at least one of the antenna elements is compensated according to the position of the antenna element on the non-planar substrate.

22. The beam control method according to claim 13, characterized in that, Also includes: The path loss of at least one of the antenna elements is compensated based on the position of the antenna element on the non-planar substrate.

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