Radar device

Abstract

The radar device (1) of the present invention comprises a plurality of transmitting antennas (Tx), a plurality of receiving antennas (Rx), and a processing unit (11) for processing received signals. An antenna group including a first antenna (At1) is set as a first antenna group (Gr1), wherein the first antenna (At1) is any one of a plurality of transmitting antennas (Tx) and receiving antennas (Rx) whose antenna spacing between adjacent antennas is a basic distance (d), and an antenna group including a plurality of second antennas (At2) is set as a second antenna group (Gr2), wherein the antenna spacing between adjacent antennas of the plurality of second antennas (At2) is twice the basic distance (d), and the second antenna (At2) is different from the first antenna (At1). In a virtual receiving antenna group (50) composed of a plurality of virtual receiving antennas (VR), the spacing (Dvr) between adjacent virtual receiving antennas (VR) is the basic distance (distance d), and the virtual receiving antenna (VR) is formed by a plurality of antennas in the first antenna group (Gr1) and the second antenna group (Gr2).

Description

Technical Field

[0001] The present application relates to a radar device. Background Art

[0002] As a conventional radar device, there is a radar system described in Patent Document 1, for example. The structure and operation of the conventional radar device described in Patent Document 1 are as follows.

[0003] The conventional radar device described in Patent Document 1 detects an object around a car as a detection object, i.e., a target object. A transmitting unit composed of at least one transmitting antenna transmits a transmission signal to the object. In addition, a receiving unit composed of at least one receiving antenna receives the transmission signal reflected by the object, i.e., a reflected signal. A signal processing device processes the received signal received by the receiving unit.

[0004] The received signal is obtained by different combinations of the transmitting antenna and the receiving antenna. For each combination, the relative phase center is calculated, which is defined as the sum of the vector from the reference point to the phase center of the transmitting antenna and the vector from the reference point to the phase center of the receiving antenna.

[0005] At this time, each transmitting antenna has at least approximately the same transmission characteristics. In addition, similarly, each receiving antenna has at least approximately the same transmission characteristics. The transmission characteristics of the transmitting antenna and the transmission characteristics of the receiving antenna may be different from each other.

[0006] At this time, it is assumed that a certain spatial direction S is a direction at right angles to the spatial direction R. In addition, the spatial direction S is, for example, a vertical direction, and the spatial direction R is, for example, a horizontal direction. Now, regarding the position of the relative phase center, a combination of a transmitting antenna and a receiving antenna specified in the spatial direction R is considered. In this case, the relative phase center position of the combination of the transmitting antenna and the receiving antenna changes periodically with a period length P.

[0007] Furthermore, the phase component of the received signal of the object changes alternately with a period length P according to the angular position of the received signal relative to the spatial direction S. Therefore, the position of the object in the spatial direction S can be indicated by using this phase component.

[0008] Prior art literature

[0009] Patent Literature

[0010] Patent Document 1: Japanese Patent Publication No. 2011-526373

[0011] Patent Document 2: Japanese Patent Application Publication No. 2016-3873 Summary of the invention

[0012] Technical problem to be solved by the invention

[0013] In the conventional radar device in Patent Document 1, the phase center interval of the receiving antenna having multiple element antennas when the average wavelength is λ is arranged in the radar device at λ / 2, and the power supply circuit for supplying power to each element antenna is a power supply circuit of an intercalation shape that is not arranged between each receiving antenna. Since the wiring lengths of the power supply circuits to each element antenna constituting the receiving antenna are not equal, the conventional radar device in Patent Document 1 cannot achieve equal phase distribution, and cannot achieve antenna frequency characteristics with a wide frequency band, that is, wide-band antenna frequency characteristics. For example, a frequency band of 76 to 81 GHz is used in automotive radars, and the conventional radar device in Patent Document 1 has a limit in achieving a wide-band antenna with a frequency band ratio exceeding 2%, and a wide-band antenna with a frequency band ratio of 2% or more is suitable for realization by other power supply methods. Here, the frequency band ratio is defined as A% of the frequency of the transmitted signal, and when the frequency of the transmitted signal is 77 GHz and the frequency band ratio is 2%, the bandwidth of the antenna is about 1.5 GHz. In addition, the bandwidth of the antenna is defined, for example, by the bandwidth at which the reflection is less than a specified value. As an example of reflection being below a predetermined value, the bandwidth of the antenna is defined as reflection being below -10 dB. The upper limit of the bandwidth ratio is limited not only by the power supply method but also by the bandwidth of the element antenna constituting the antenna. For example, the upper limit of the bandwidth ratio is about 10%.

[0014] As a power supply circuit that can realize equal phase distribution and wideband antenna frequency characteristics, there is a power supply circuit that is formed in a parallel power supply method (tournament method) in which the wiring length to each element antenna is equal. The power supply circuit of the parallel power supply method expands in the horizontal direction (adjacent antenna direction) as the number of element antennas constituting a receiving antenna or a transmitting antenna increases, and the antenna can only be arranged at a wide interval. For example, in the case of a frequency of 77GHz, the wavelength λ becomes about 3.9mm. In the conventional radar device of Patent Document 1, when a power supply circuit of the parallel power supply method is adopted, the installation space of the power supply circuit becomes larger, and the receiving antenna will be arranged at a phase center interval larger than λ / 2, and the receiving antenna cannot be arranged at a phase center interval of λ / 2. For example, when the receiving antennas are not arranged at a phase center interval of λ / 2, high side lobes or grating lobes may appear in the desired coverage area (field of view), thereby erroneously detecting the detection object. Even if the power supply circuit is not a parallel power supply method, when power is supplied to each element antenna from the horizontal direction (adjacent antenna direction), the detection object may be erroneously detected. The desired field of view is the field of view set by design, that is, the designed field of view.

[0015] If the distance between the phase centers of the receiving antennas is d, the distance d is determined by the setting of the field of view, that is, the range of the angle θ that can be measured. For example, when the angle θ is greater than -90° and less than 90°, the distance d needs to be greater than 0 and less than λ / 2. In the case of the conventional radar device of Patent Document 1, when a power supply circuit that supplies power from the horizontal direction such as a parallel power supply method is used, it is impossible to arrange the receiving antennas of three or more channels at intervals of a predetermined distance d while keeping the angle θ greater than -90° and less than 90°.

[0016] The purpose of the technology disclosed in the present specification is to provide a radar device capable of reducing side lobes and suppressing false detection even when it is physically impossible to arrange receiving antennas or transmitting antennas for three or more channels at intervals of a predetermined distance.

[0017] Technical means for solving technical problems

[0018] A radar device of an example disclosed in the specification of the present application includes: a plurality of transmitting antennas for transmitting transmission signals to an object; a plurality of receiving antennas for receiving reflected signals obtained after the transmission signals are reflected by the object and outputting the reflected signals as received signals; and a processing unit for processing received signals outputted from each of the plurality of receiving antennas. The antenna interval between adjacent antennas determined based on the field of view required by the radar device is set as a basic distance, an antenna group including any one of the plurality of transmitting antennas and the plurality of receiving antennas and including a first antenna group is set as a first antenna group, the first antenna group having a plurality of first antennas whose antenna interval between adjacent antennas is the basic distance, and an antenna group including a plurality of antennas of the other party different from the first antenna of the first antenna group and including a second antenna group is set as a second antenna group, the second antenna group having a plurality of second antennas whose antenna interval between adjacent antennas is twice the basic distance. The first antenna and the second antenna include a plurality of element antennas and a power supply circuit for supplying power to the element antennas, the plurality of first antennas are arranged and configured in a first arrangement direction perpendicular to the transmission direction of the transmission signal, and have respective power supply circuits on the positive side or the negative side of the first arrangement direction. The plurality of second antennas are arranged and configured in a second arrangement direction perpendicular to the transmission direction of the transmission signal and parallel to the first arrangement direction, and have a power supply circuit on the positive side or the negative side of the second arrangement direction. No power supply circuit is configured between adjacent antennas in the first antenna group. A virtual receiving antenna group consisting of a plurality of virtual receiving antennas is arranged and configured in a third arrangement direction perpendicular to the transmission direction of the transmission signal and parallel to the first arrangement direction and the second arrangement direction, and the plurality of virtual receiving antennas are formed by a plurality of first antennas of the first antenna group and a plurality of second antennas of the second antenna group, and the interval between adjacent virtual receiving antennas in the third arrangement direction is a basic distance.

[0019] Effects of the Invention

[0020] In an example radar device disclosed in the specification of the present application, the first antenna group includes a first antenna group having multiple first antennas with an antenna spacing between adjacent antennas being a basic distance, the second antenna group includes a second antenna group having multiple second antennas with an antenna spacing between adjacent antennas being twice the basic distance, and the interval between adjacent virtual receiving antennas of multiple virtual receiving antennas formed by transmitting and receiving the multiple first antennas and the multiple second antennas is the basic distance, so that even when it is physically impossible to arrange receiving antennas or transmitting antennas of more than three channels at intervals of a predetermined distance, side lobes can be reduced and false detections can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a diagram showing the configuration of a radar device according to Embodiment 1.

[0022] Figure 2 It is shown that the Figure 1 A diagram of an example of a hardware configuration of the functions of a processing unit in FIG.

[0023] Figure 3 This is a diagram showing a first example of the antenna arrangement of the radar device according to the first embodiment.

[0024] Figure 4 It is shown Figure 3 Figure 3 shows the details of the antenna configuration.

[0025] Figure 5 This is a diagram for explaining the angle measurement method of the radar device according to the first embodiment.

[0026] Figure 6 This is a diagram showing an example of a modulation pattern of the radar device according to the first embodiment.

[0027] Figure 7 is shown corresponding to Figure 3 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0028] Figure 8 This is a flowchart showing the processing of the radar device according to the first embodiment.

[0029] Fig. 9 This is a diagram showing a second example of the antenna arrangement of the radar device according to the first embodiment.

[0030] Fig.10 It is shown Fig. 9 Figure 3 shows the details of the antenna configuration.

[0031] Fig.11 is shown corresponding to Fig. 9Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0032] Fig.12 This is a diagram showing a third example of the antenna arrangement of the radar device according to the first embodiment.

[0033] Fig.13 is shown corresponding to Fig.12 FIG. 1 is a diagram of a first example of a virtual receive antenna group of an antenna configuration.

[0034] Fig.14 is shown corresponding to Fig.12 FIG. 5 is a diagram of a second example of a virtual receive antenna group for an antenna configuration.

[0035] Fig.15 This is a diagram showing a first example of the antenna of the radar device according to the first embodiment.

[0036] Fig.16 This is a diagram showing a second example of the antenna of the radar device according to the first embodiment.

[0037] Fig.17 This is a diagram showing a third example of the antenna of the radar device according to the first embodiment.

[0038] Fig.18 This is a diagram showing a fourth example of the antenna of the radar device according to the first embodiment.

[0039] Fig.19 This is a diagram showing a fifth example of the antenna of the radar device according to the first embodiment.

[0040] Fig. 20 This is a diagram showing a sixth example of the antenna of the radar device according to the first embodiment.

[0041] Fig.21 This is a diagram showing a fourth example of the antenna arrangement of the radar device according to the first embodiment.

[0042] Fig. 22 is shown corresponding to Fig.21 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0043] Fig.23 This is a diagram showing a fifth example of the antenna arrangement of the radar device according to the first embodiment.

[0044] Fig.24 This is a diagram showing a sixth example of the antenna arrangement of the radar device according to the first embodiment.

[0045] Fig.25 This is a diagram showing a seventh example of the antenna arrangement of the radar device according to the first embodiment.

[0046] Fig.26 is shown corresponding to Fig.25 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0047] Fig. 27 This is a diagram showing the antenna arrangement of the radar device according to the second embodiment.

[0048] Fig.28 is shown corresponding to Fig. 27 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0049] Fig.29 This is a diagram showing the antenna arrangement of a radar device according to a third embodiment.

[0050] Fig.30 It is shown Fig.29 Diagram of the configuration of the transmitting antenna in .

[0051] Fig.31 is shown corresponding to Fig.29 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0052] Fig.32 This is a diagram showing the antenna configuration of a radar device according to a fourth embodiment.

[0053] Fig.33 It is shown Fig.32 Diagram of the configuration of the transmitting antenna in .

[0054] Fig.34 is shown corresponding to Fig.32 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0055] Fig.35 It shows Fig.34 FIG. 1 is a diagram of a first virtual receive antenna group.

[0056] Fig.36 It shows Fig.34 FIG. 1 is a diagram of a second virtual receive antenna group.

[0057] Fig.37 This is a diagram showing the antenna configuration of the radar device according to the fifth embodiment.

[0058] Fig.38 is shown corresponding to Fig.37 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0059] Fig.39 It shows Fig.37 FIG. 1 is a diagram of a third virtual receive antenna group.

[0060] Fig.40 This is a diagram showing the antenna configuration of a radar device according to a sixth embodiment.

[0061] Fig.41is shown corresponding to Fig.40 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration.

[0062] Fig.42 It shows Fig.41 FIG. 1 is a diagram of a first virtual receive antenna group.

[0063] Fig.43 It shows Fig.41 FIG. 1 is a diagram of a second virtual receive antenna group.

[0064] Fig.44 It shows Fig.41 FIG. 1 is a diagram of a third virtual receive antenna group. DETAILED DESCRIPTION

[0065] Implementation method 1.

[0066] Figure 1 is a diagram showing the structure of a radar device according to Embodiment 1. Figure 2 It is shown that the Figure 1 A diagram of an example of a hardware configuration of the functions of a processing unit in FIG. Figure 3 is a diagram showing a first example of the antenna configuration of the radar device according to Embodiment 1, Figure 4 It is shown Figure 3 Figure 3 shows the details of the antenna configuration.

[0067] Figure 5 is a diagram for explaining the angle measurement method of the radar device according to the first embodiment. Figure 6 This is a diagram showing an example of a modulation pattern of the radar device according to the first embodiment. Figure 7 is shown corresponding to Figure 3 A diagram of a virtual receive antenna group for an antenna configuration of Figure 8 This is a flowchart showing the processing of the radar device according to the first embodiment. Fig. 9 This is a diagram showing a second example of the antenna arrangement of the radar device according to the first embodiment. Fig.10 It is shown Fig. 9 Figure 1 shows the details of the antenna configuration. Fig.11 is shown corresponding to Fig. 9 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration. Fig.12 This is a diagram showing a third example of the antenna arrangement of the radar device according to the first embodiment. Fig.13 is shown corresponding to Fig.12 A diagram of a first example of a virtual receive antenna group of an antenna configuration, Fig.14 is shown corresponding to Fig.12 FIG. 5 is a diagram of a second example of a virtual receive antenna group for an antenna configuration. Fig.15 is a diagram showing a first example of an antenna of a radar device according to Embodiment 1, Fig.16This is a diagram showing a second example of the antenna of the radar device according to the first embodiment. Fig.17 is a diagram showing a third example of the antenna of the radar device according to the first embodiment, Fig.18 This is a diagram showing a fourth example of the antenna of the radar device according to the first embodiment. Fig.19 is a diagram showing a fifth example of the antenna of the radar device according to the first embodiment, Fig. 20 This is a diagram showing a sixth example of the antenna of the radar device according to the first embodiment. Fig.21 is a diagram showing a fourth example of the antenna configuration of the radar device according to Embodiment 1, Fig. 22 is shown corresponding to Fig.21 Figure 3 is a diagram of a virtual receive antenna group for an antenna configuration. Fig.23 is a diagram showing a fifth example of the antenna configuration of the radar device according to Embodiment 1, Fig.24 This is a diagram showing a sixth example of the antenna arrangement of the radar device according to the first embodiment. Fig.25 is a diagram showing a seventh example of the antenna configuration of the radar device according to Embodiment 1, Fig.26 is shown corresponding to Fig.25 In each figure, the same or corresponding structure is marked with the same reference numerals to indicate that duplicate description is omitted.

[0068] The radar device 1 of the first embodiment includes a processing unit 11, a transmission circuit 12, a reception circuit 13, a plurality of transmission antennas Tx1, Tx2, and a plurality of reception antennas Rx1, Rx2, Rx3, and Rx4. A component unit in which these Tx1, Tx2, Rx1, Rx2, Rx3, and Rx4 are processed as one antenna is called a channel. In the following, the transmission antennas Tx1 and Tx2 are sometimes collectively referred to as transmission antennas Tx, and similarly, the reception antennas Rx1, Rx2, Rx3, and Rx4 are sometimes collectively referred to as reception antennas Rx.

[0069] The radar device 1 is mounted on a moving object. When the moving object is a vehicle, the radar device 1 is connected to an ECU (Electronic Control Unit) 2 of the vehicle.

[0070] In addition, Figure 1 In the radar device 1 shown in FIG. 1 , an example is given in which the number of the transmitting antennas Tx is 2 and the number of the receiving antennas Rx is 4. Fig.12The third example of the antenna configuration of the radar device 1 shown in the figure, the radar device 1 of the first embodiment only needs to include the first antennas At1a and At1b, and the second antenna that operates opposite to the first antenna has any number of channels of two or more, wherein the first antennas At1a and At1b are two transmitting antennas or receiving antennas configured in such a way that the antenna interval D1 between adjacent antennas is a predetermined basic distance, i.e., the distance d. When the first antenna is the transmitting antenna Tx, the second antenna is the receiving antenna Rx, and when the first antenna is the receiving antenna Rx, the second antenna is the transmitting antenna Tx. Fig.12 An example with four second antennas At2a, At2b, At2c, and At2d is shown. The first antennas At1a and At1b are sometimes collectively referred to as first antennas At1, and similarly, the second antennas At2a, At2b, At2c, and At2d are sometimes collectively referred to as second antennas At2.

[0071] The radar device 1 transmits a transmission signal generated by the transmission circuit 12 to the target object 33 from the transmission antenna Tx1 or the transmission antenna Tx2 (see Figure 5 ). The transmission signal is reflected by the target object 33 as the detection target. The reflected signal, i.e., the reflection signal, is received by the receiving antenna Rx. The received signal is input to the processing unit 11 via the receiving circuit 13 as a reception signal. The processing unit 11 calculates the distance to the target object 33, the relative speed of the target object 33, and the angle at which the target object 33 is located (hereinafter referred to as the distance, relative speed, and angle of the target object) by performing signal processing on the reception signal. Next, the structure of each part of the radar device 1 will be described.

[0072] The processing unit 11 controls the operation of each part such as the transmitting antenna Tx, the receiving antenna Rx, the transmitting circuit 12, and the receiving circuit 13 constituting the radar device 1. In addition, the processing unit 11 generates a transmission signal transmitted from the transmitting antenna Tx and performs signal processing on the receiving signal received by the receiving antenna Rx to calculate the distance, relative speed, and angle of the target object.

[0073] The processing unit 11 includes a processor 98 composed of a single-chip microcomputer having a CPU (Central Processing Unit) function or a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array), and a memory 99 composed of a RAM (Random Access Memory) and a ROM (Read Only Memory). The functions of the processing unit 11 are realized by the processor 98 executing a program stored in the memory 99. In addition, each function may be executed by a plurality of processors 98 and a plurality of memories 99 in cooperation. The operation of the processing unit 11 will be described in detail later.

[0074] The transmission circuit 12 includes a voltage generation circuit 121, a voltage controlled oscillator 122, a distribution circuit 123, and a transmission switch 124. The voltage generation circuit 121 generates a desired voltage waveform at a timing controlled by the processing unit 11. The voltage controlled oscillator 122 generates a transmission signal based on the voltage waveform generated by the voltage generation circuit 121 and oscillates the transmission signal. Figure 6 An example of a modulation pattern 61 of a transmission signal is shown in . The desired voltage waveform is a voltage waveform set by design, that is, a designed voltage waveform.

[0075] The distribution circuit 123 appropriately amplifies the transmission signal oscillated by the voltage controlled oscillator 122. The distribution circuit 123 outputs the amplified transmission signal to the transmission switch 124 and to mixers 131, 132, 133, and 134 provided in the reception circuit 13, which will be described later.

[0076] The transmission switching switch 124 is connected to the transmission antenna Tx1 and the transmission antenna Tx2, and switches the output destination between the transmission antenna Tx1 and the transmission antenna Tx2 under the control of the processing unit 11. Therefore, according to the state of the transmission switching switch 124, the transmission signal output from the distribution circuit 123 is emitted from the transmission antenna Tx1 or Tx2 as a beam formed by electromagnetic waves.

[0077] The transmitted electromagnetic waves are reflected by the target object 33. The electromagnetic waves reflected by the target object 33 are received by the receiving antennas Rx1, Rx2, Rx3, and Rx4, respectively. The reception signals received by the receiving antennas Rx1, Rx2, Rx3, and Rx4 are input to the receiving circuit 13.

[0078] The receiving circuit 13 includes mixers 131, 132, 133, and 134, filter circuits 141, 142, 143, and 144, and analog-to-digital converters 151, 152, 153, and 154. The analog-to-digital converter is appropriately referred to as an ADC (Analog-to-Digital Converter).

[0079] The mixers 131 , 132 , 133 , 134 , the filter circuits 141 , 142 , 143 , 144 , and the ADCs 151 , 152 , 153 , 154 are provided one by one for the respective receiving antennas Rx1 , Rx2 , Rx3 , Rx4 .

[0080] The reception signals received by the reception antennas Rx1, Rx2, Rx3, and Rx4 are input to the mixers 131, 132, 133, and 134. In addition, as described above, the transmission signals are input from the distribution circuit 123 of the transmission circuit 12 to the mixers 131, 132, 133, and 134. Each of the mixers 131, 132, 133, and 134 mixes the reception signals received by the reception antennas Rx1, Rx2, Rx3, and Rx4 and the transmission signals input from the distribution circuit 123 of the transmission circuit 12, and outputs the mixed signals.

[0081] The filter circuits 141, 142, 143, and 144 include a bandpass filter for extracting a signal of a desired frequency band and an amplifier circuit for amplifying the signal. The filter circuits 141, 142, 143, and 144 extract and amplify only the signal of the desired frequency band from the mixed waves output by the mixers 131, 132, 133, and 134, respectively, and output it as a received signal voltage. The desired frequency band is a frequency band set by design, that is, a designed frequency band.

[0082] ADC 151, 152, 153, 154 includes a converter for performing A / D conversion for converting an analog signal into a digital signal. ADC 151, 152, 153, 154 performs A / D conversion on the reception signal voltage output from filter circuit 141, 142, 143, 144 at the timing controlled by processing unit 11 and converts it into digital voltage data. The digital voltage data is input to processing unit 11, stored in memory 99 of processing unit 11, and used in the calculation process described later.

[0083] Next, the transmitting antenna Tx and the receiving antenna Rx are described. The transmitting antennas Tx1 and Tx2 and the receiving antennas Rx1, Rx2, Rx3, and Rx4 respectively include a plurality of element antennas 19 and a power supply circuit 25. Figure 3 , Figure 4 The element antenna 19 is, for example, a patch antenna.

[0084] The transmitting antenna Tx and the receiving antenna Rx are arranged on the surface of the substrate 23. The transmitting antenna Tx and the receiving antenna Rx can be as follows Figure 4 may be arranged on the same substrate 23 as Fig.24 In this way, the transmission antenna Tx is arranged on one substrate, and the reception antenna Rx is arranged on the other substrate. Fig.24 An example is shown in which the transmission antenna Tx is arranged on the substrate 23a and the reception antenna Rx is arranged on the substrate 23b.

[0085] In the radar device 1 of the first embodiment, each transmission antenna Tx and each reception antenna Rx is formed by a combination of a plurality of element antennas 19. Figure 3 and Figure 4 In the first example of the antenna configuration, if the white quadrilateral is set as one element antenna 19, each transmission antenna Tx is composed of four element antennas 19. In addition, each reception antenna Rx is composed of four element antennas 19. In addition, the number of element antennas 19 is not limited to 4, and can be set to any number as appropriate.

[0086] The transmitting antenna Tx1 and the transmitting antenna Tx2 are designed to have substantially the same transmission characteristics. Similarly, the receiving antennas Rx1, Rx2, Rx3, and Rx4 are designed to have substantially the same transmission characteristics. Substantially the same transmission characteristics refer to transmission characteristics within the allowable difference range. Among them, the transmission characteristics of the transmitting antenna Tx and the transmission characteristics of the receiving antenna Rx may be different from each other. The transmission direction of the radio wave emitted from the transmitting antenna Tx is a direction perpendicular to the plane of the substrate 23, that is, the surface or the back. The transmission direction is Figure 4 In the direction perpendicular to the paper surface.

[0087] The transmitting antenna Tx1 includes a plurality of element antennas 19 arranged along a phase center line 28a passing through the phase center Ct1. The transmitting antenna Tx2 includes a plurality of element antennas 19 arranged along a phase center line 28b passing through the phase center Ct2. The plurality of element antennas 19 of the transmitting antenna Tx are arranged along a phase center line passing through the phase center. The receiving antennas Rx1, Rx2, Rx3, and Rx4 are also arranged along a phase center line passing through the phase center in the same manner as the transmitting antenna Tx. The receiving antenna Rx1 includes a plurality of element antennas 19 arranged along a phase center line 27a passing through the phase center Cr1, and the receiving antenna Rx2 includes a plurality of element antennas 19 arranged along a phase center line 27b passing through the phase center Cr2. The receiving antenna Rx3 includes a plurality of element antennas 19 arranged along a phase center line 27c passing through the phase center Cr1, and the receiving antenna Rx4 includes a plurality of element antennas 19 arranged along a phase center line 27d passing through the phase center Cr4. The directions in which the phase center lines of the transmission antenna Tx and the reception antenna Rx extend are also the directions in which the plurality of element antennas 19 extend.

[0088] like Figure 3 , Figure 4 As shown, the transmitting antennas Tx are arranged parallel to each other, that is, the phase center lines are arranged in parallel and are configured on the surface of the substrate 23. Hereinafter, the arrangement direction of the transmitting antennas Tx is referred to as the first arrangement direction dr1. The first arrangement direction dr1 is a direction perpendicular to the transmission direction of the transmission signal, and is a direction perpendicular to the phase center lines 28a and 28b. In addition, if a certain distance determined later according to the desired field of view of the radar device 1 is set as the distance d, the transmitting antenna spacing Dtx between the two transmitting antennas Tx1 and the transmitting antenna Tx2, that is, the spacing between the phase center line 28a and the phase center line 28b is equal to the distance d. The desired field of view is a field of view set by design to meet the required field of view, that is, a designed field of view.

[0089] like Figure 3 , Figure 4 As shown, the receiving antennas Rx are arranged parallel to each other, that is, the phase center lines are arranged parallel to each other and are arranged on the surface of the substrate 23. Hereinafter, the arrangement direction of the receiving antennas Rx is referred to as the second arrangement direction dr2. The second arrangement direction dr2 is a direction perpendicular to the transmission direction of the transmission signal and is perpendicular to the phase center lines 27a to 27d. The first arrangement direction dr1 and the second arrangement direction dr2 are parallel to each other. Figure 3 , Figure 4An example is shown in which the phase centers Ct1 and Ct2 of the transmitting antenna Tx and the phase centers Cr1, Cr2, Cr3, and Cr4 of the receiving antenna Rx are arranged on the same axis. The transmitting antennas Tx1 and Tx2 are arranged in sequence toward the positive side of the first arrangement direction dr1, and the receiving antennas Rx1, Rx2, Rx3, and Rx4 are arranged in sequence toward the positive side of the second arrangement direction dr2. Figure 3 , Figure 4 In the embodiment, the interval Drx between adjacent receiving antennas Rx1, Rx2, Rx3, and Rx4 is twice the distance d, that is, 2d.

[0090] The transmission antennas Tx1 and Tx2 include a power supply circuit 25 for supplying power to the respective element antennas 19. Similarly, the reception antennas Rx1, Rx2, Rx3, and Rx4 include a power supply circuit 25 for supplying power to the respective element antennas 19. Figure 3 and Figure 4 In the figure, as an example of the power supply circuit 25, a power supply circuit of a parallel power supply method formed by equal wiring lengths to the respective element antennas 19 is shown. The power supply circuit 25 of the transmitting antennas Tx1 and Tx2 is arranged on the positive side or the negative side of the first arrangement direction dr1, and the power supply circuit 25 of the receiving antennas Rx1, Rx2, Rx3, and Rx4 is arranged on the positive side or the negative side of the second arrangement direction dr2. In the transmitting antennas Tx1 and Tx2, the element antennas 19 are arranged opposite to each other in a region adjacent to other transmitting antennas in a manner that no power supply circuit is arranged. In the receiving antennas Rx1, Rx2, Rx3, and Rx4, the element antennas 19 are arranged not opposite to each other in a region adjacent to other receiving antennas in a manner that a power supply circuit 25 is arranged. Here, the antenna group including a group of antennas with an antenna interval of less than a distance d is set as the first antenna group Gr1, and the antenna group not including a group of antennas with an antenna interval of less than a distance d is set as the second antenna group Gr2. In Figure 3 , Figure 4 In the first example of the antenna configuration shown, the transmitting antennas Tx1 and Tx2 are antennas of a first antenna group Gr1 , and the receiving antennas Rx1 , Rx2 , Rx3 , and Rx4 are antennas of a second antenna group Gr2 .

[0091] In the radar device 1 of the first embodiment, the transmitting antenna Tx and the receiving antenna Rx form a virtual receiving antenna. The virtual receiving antenna refers to a virtual receiving antenna formed by the MIMO (Multiple Input Multiple Output) technology. Generally, there are many cases where it is composed of a plurality of transmitting antennas arranged at a first interval and a plurality of receiving antennas arranged at a second interval narrower than the first interval, and it is configured so that each receiving antenna receives a transmission signal from each transmitting antenna and performs signal processing on the transmission signal, thereby using the receiving antenna to interpolate between the transmitting antennas with a larger interval. The virtual receiving antenna group is composed of a plurality of virtual receiving antennas. In the radar device forming the above-mentioned plurality of virtual receiving antennas, the number of virtual receiving antennas is the number of receiving antennas × the number of transmitting antennas, and compared with the case where there is only one transmitting antenna, the desired antenna directivity can be achieved with a smaller number of receiving antennas. The desired antenna directivity is the antenna directivity set by design, that is, the designed antenna directivity.

[0092] Figure 7 It is shown in Figure 3 , Figure 4 A virtual receiving antenna group 50 is formed by the transmitting antenna Tx and the receiving antenna Rx in the first example of the antenna configuration. The virtual receiving antenna group 50 includes a plurality of virtual receiving antennas and is composed of a plurality of virtual receiving antennas. Eight virtual receiving antennas VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8 are formed by two transmitting antennas Tx1 and Tx2 and four receiving antennas Rx1, Rx2, Rx3, and Rx4. In the radar device 1 of embodiment 1, the adjacent antennas among the virtual receiving antennas VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8 are equally spaced at a distance d. In addition, each virtual receiving antenna is represented by a circle. The center of the circle is equivalent to the phase center of the transmitting antenna Tx and the receiving antenna Rx. Sometimes the virtual receiving antennas VR1 to VR8 are collectively referred to as virtual receiving antennas VR, and the arrangement direction of the virtual receiving antennas VR is referred to as the third arrangement direction dr3. The respective virtual receiving antennas of the virtual receiving antenna group 50 are arranged in the third arrangement direction dr3 at equally spaced distances d. In Figure 3 , Figure 4 In the first example of the antenna configuration in , the phase centers of the transmitting antenna Tx and the receiving antenna Rx are arranged on the same axis, so the virtual receiving antennas VR of the virtual receiving antenna group 50 are arranged on the same axis. The third arrangement direction dr3 is a direction perpendicular to the transmission direction of the transmission signal and is parallel to the first arrangement direction dr1 and the second arrangement direction dr2.

[0093] exist Figure 7In the example of FIG. 5 , virtual receiving antennas VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR1, VR5, VR2, VR6, VR3, VR7, VR4, and VR8. In these virtual receiving antenna groups 50, VR1, VR2, VR3, and VR4 represented by solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx1 and received by the receiving antennas Rx1, Rx2, Rx3, and Rx4, and VR5, VR6, VR7, and VR8 represented by dotted circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx2 and received by the receiving antennas Rx1, Rx2, Rx3, and Rx4.

[0094] Next, the method for determining the distance d, as well as the method for determining the transmitting antenna interval Dtx, which is the interval between adjacent transmitting antennas in the transmitting antenna Tx, the receiving antenna interval Drx, which is the interval between adjacent receiving antennas in the receiving antenna Rx, and the virtual receiving antenna interval Dvr, which is the interval between adjacent virtual receiving antennas VR in the virtual receiving antenna group 50, will be described.

[0095] As mentioned above, in Figure 3 , Figure 4 In the first example of the antenna configuration shown, the transmitting antenna spacing Dtx between the transmitting antenna Tx1 and the transmitting antenna Tx2 is configured at a distance d in the first arrangement direction dr1, and the adjacent receiving antenna spacing Drx of each receiving antenna Rx1, Rx2, Rx3, and Rx4 is configured at twice the distance d, i.e. 2d, in the second arrangement direction dr2.

[0096] In the radar device 1 of the first embodiment, it is assumed that the control of the processing unit 11 is performed according to, for example, the following Figure 6 In the modulation mode 61 shown, transmission signals are transmitted alternately from the transmission antenna Tx1 and the transmission antenna Tx2. At this time, the radar device 1 can receive signals of a total of 8 virtual reception channels, including 4 channels of signals transmitted from the transmission antenna Tx1 and received by the reception antennas Rx1, Rx2, Rx3, and Rx4, and 4 channels of signals transmitted from the transmission antenna Tx2 and received by the reception antennas Rx1, Rx2, Rx3, and Rx4. Figure 7 As shown, the virtual receiving channels are a total of 8 channels received by virtual receiving antennas VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8 respectively. The virtual receiving channels of virtual receiving antennas VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8 are set as virtual receiving channels VRC1, VRC2, VRC3, VRC4, VRC5, VRC6, VRC7, and VRC8.

[0097] As described above, in the radar device 1 of the first embodiment, the virtual receiving antenna interval Dvr of the virtual receiving antennas VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8 is set to the distance d. The distance d is a value determined so that no grating lobe is generated within the field of view of the radar device 1. Generally speaking, when the wavelength of the radio wave is λ, if a plurality of virtual receiving antennas VR are arranged at intervals of λ / 2 in the third arrangement direction dr3, it is possible to design an antenna (virtual receiving antenna group 50) that does not generate a grating lobe even if the beam oscillates within the range of ±90° relative to the direction perpendicular to the third arrangement direction dr3, that is, the transmission direction. The field of view of the radar device 1 can also be considered as a field of view in which an angle can be measured without ambiguity, that is, a field of view in which an angle can be measured with high precision. That is, by setting the distance d to λ / 2, a radar device having a field of view of ±90° can be realized, in which no grating lobe is generated and high-precision angle measurement can be performed.

[0098] For example, consider a radar device that uses a phase monopulse method. In this case, if Figure 5 As shown, for example, if the virtual receiving antenna interval Dvr between two virtual receiving antennas VR1 and VR5 is set to d, the wavelength of the transmitted signal is set to λ, and the phase difference between the two virtual receiving antennas VR1 and VR5 is set to The phase difference The following relationship holds between the angle θ of the target object 33. Here, Figure 5 As shown, the angle θ is the angle of the target object 33 when the transmission direction of the transmission signal is set to θ=0.

[0099]

[0100]

[0101] Now, the phase difference In the range of ±π. Therefore, when the distance d is large, the field of view of the radar device 1, that is, the range of the angle θ that can be measured becomes narrower. On the other hand, when the distance d is small, the field of view of the radar device 1, that is, the range of the angle θ that can be measured becomes larger. It can be clearly seen from equations (1) and (2) that, for example, in order to measure the angle θ within the field of view of -90°≤θ≤+90°, the distance d needs to be set to the range of d≤λ / 2.

[0102] Thus, the distance d is a value determined according to the desired field of view required by the radar device 1, that is, the range of the angle θ in which the angle measurement is desired. In other words, when the virtual receiving antenna interval Dvr between adjacent virtual receiving antennas VR is greater than the distance d, the desired wide field of view of the radar device 1 cannot be ensured. Therefore, in order to realize the angle measurement processing within the desired wide field of view of the radar device 1, it is necessary to set the virtual receiving antenna interval Dvr between adjacent virtual receiving antennas VR to an interval less than the distance d. When the virtual receiving antenna interval Dvr between adjacent virtual receiving antennas VR is set to be spaced at equal intervals of the distance d, since it reaches the maximum at the desired value, the degree of freedom of the configuration of the power supply circuit 25 of the transmitting antenna Tx and the receiving antenna Rx, the size of the element antenna 19, etc. can be increased.

[0103] Furthermore, according to the relationship of equation (2), the distance d varies according to the wavelength λ of the transmission signal. Therefore, when the wavelength λ of the transmission signal is variable, the distance d is determined based on the desired field of view of the radar device 1 and the wavelength λ of the transmission signal.

[0104] Next, the operation of the radar device 1 is described. First, in the transmission circuit 12, the voltage generation circuit 121 generates a desired voltage waveform at the timing controlled by the processing unit 11. The voltage controlled oscillator 122 generates and outputs a transmission signal based on the generated voltage waveform. The distribution circuit 123 outputs the transmission signal to the transmission switching switch 124 and outputs it to the mixers 131, 132, 133, and 134 of the receiving circuit 13. Depending on the state of the transmission switching switch 124, the transmission signal is transmitted from the transmission antenna Tx1 or Tx2.

[0105] The transmitted transmission signal is reflected by the target object 33. The reflected signal, which is the transmission signal reflected from the target object 33, is received by each of the receiving antennas Rx1, Rx2, Rx3, and Rx4, and is input to the receiving circuit 13 as a received signal.

[0106] In the receiving circuit 13 , mixers 131 , 132 , 133 , 134 , filter circuits 141 , 142 , 143 , 144 , and ADCs 151 , 152 , 153 , 154 are connected to the receiving antennas Rx1 , Rx2 , Rx3 , Rx4 , respectively.

[0107] In the receiving circuit 13, each mixer 131, 132, 133, 134 mixes the transmission signal from the distribution circuit 123 and the reception signal from the receiving antennas Rx1, Rx2, Rx3, Rx4. Next, the filter circuits 141, 142, 143, 144 extract only the signal of the desired frequency band from the mixed signal. The ADCs 151, 152, 153, 154 perform A / D conversion on the reception signal voltage which is the output of the filter circuits 141, 142, 143, 144 at the timing controlled by the processing unit 11, and obtain digital voltage data. The digital voltage data is input to the processing unit 11 and stored in the memory 99. The processing unit 11 reads the digital voltage data from the memory 99 and uses it in the calculation processing described later.

[0108] Next, the operation of the processing unit 11 will be described in detail. The radar device 1 of the first embodiment is a radar device (time division MIMO) that performs transmission by switching the transmission antennas Tx1 and Tx2 in time in the FCM (Fast Chirp Modulation) method, for example. In addition, the radar device 1 of the first embodiment is not limited to the radar method of the FCM method, and can be applied to various radar methods such as the FM-CW (Frequency Modulated Continuous Wave) method and the pulse Doppler method.

[0109] Figure 6 An example of a modulation mode when transmitting by switching the transmitting antennas Tx1 and Tx2 in time in the FCM mode is shown in FIG. Figure 6 As shown in FIG. 1 , in the FCM method, electromagnetic waves are repeatedly transmitted that are modulated so that the frequency increases (upward) or decreases (downward) at a constant slope. The horizontal axis is time, and the vertical axis is the voltage of the transmitted signal. Hereinafter, a single modulation is called a chirp, and the repeatedly transmitted chirp portion is called a chirp sequence. The chirp sequence is repeated with a period Tc. Figure 6 An example of a chirp sequence consisting of down-chirps is shown. In this example, as an example of time division MIMO, the transmission antenna is switched between Tx1 and Tx2 for each chirp. In addition, the number of chirps is N, including the transmission antennas Tx1 and Tx2.

[0110] Figure 6, the transmitting antenna and the chirp number to be transmitted switched by the transmission switching switch are shown together with the modulation mode 61. In each chirp sequence, for the first chirp, that is, the chirp with the chirp number 1, the chirp of the modulation mode 61 is transmitted from the transmitting antenna Tx1. For the chirp with the chirp number 2, the chirp of the modulation mode 61 is transmitted from the transmitting antenna Tx2. When the chirp number is an odd number, the chirp of the modulation mode 61 is transmitted from the transmitting antenna Tx1, and when the chirp number is an even number, the chirp of the modulation mode 61 is transmitted from the transmitting antenna Tx2. Figure 6 The case where the chirp numbers are 1, 2, 3, N-2, N-1, and N is shown. In addition, the radar device 1 of the first embodiment may not be limited to Figure 6 The various parameters of the chirp sequence, such as the chirp slope and modulation amplitude, are applied.

[0111] As described above, modulation mode 61 can receive signals of a total of eight virtual reception channels, including a transmission signal transmitted from the transmission antenna Tx1 and received by the reception antennas Rx1, Rx2, Rx3, and Rx4, and a transmission signal transmitted from the transmission antenna Tx2 and received by the reception antennas Rx1, Rx2, Rx3, and Rx4. Figure 7 As shown, the virtual receiving channels are 8 channels in total, namely, virtual receiving channels VRC1, VRC2, VRC3, VRC4, VRC5, VRC6, VRC7, and VRC8 corresponding to virtual receiving antennas VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8.

[0112] The processing unit 11 receives the data of the virtual receiving channels of the eight channels as input and measures the distance and relative speed of the target object 33 by the FCM method. As described in Patent Document 2, the distance and relative speed measurement principle of the FCM method is a well-known technology. Figure 8 The operation of the processing unit 11 will be described. Figure 8 1 is a flowchart showing the flow of processing performed by the processing unit 11 to measure the distance, relative speed, and angle of the target object. Figure 8 This is an example, and the radar device 1 of the first embodiment is not limited to Figure 8 The signal processing method shown.

[0113] First, in step ST1, the processing unit 11 receives the data of the eight virtual reception channels VRC1 to VRC8 and performs frequency conversion processing (frequency conversion processing step). Here, as the frequency conversion processing, for example, as described in Patent Document 2, a two-dimensional FFT (Fast Fourier Transform) is used for example.

[0114] Specifically, Figure 6 The data of each chirp in the first FFT process is processed to generate a power spectrum. Next, the processing results are collected for each frequency bin in all chirps, and a second FFT process is performed. Here, the beat signal detected in each chirp based on the transmission signal reflected by the same target object 33, that is, the frequency of the component that becomes the peak in the power spectrum is the same.

[0115] However, when the target object 33 and the vehicle equipped with the radar device 1 have a relative speed, the phase of the beat signal is slightly different for each chirp. That is, in the result of the second FFT processing, for each frequency window, i.e., distance window, obtained as a result of the first FFT processing, a power spectrum is obtained in which the frequency component corresponding to the rotation speed of the phase is set as the frequency window, i.e., speed window. The power spectrum obtained in the second FFT processing is hereinafter referred to as a two-dimensional power spectrum.

[0116] Next, in step ST2, the processing unit 11 detects the peak value by extracting the peak value from the two-dimensional power spectrum (peak value detection process). The method for detecting the peak value may include, for example, the well-known CFAR (Constant False Alarm). Alternatively, as another method, for example, a method of extracting a frequency window that exceeds a preset threshold and reaches a maximum value from a frequency window may be any method as long as it is a method that can detect reflection from an object.

[0117] In addition, the data of virtual receiving channels VRC1 to VRC8 may be added before peak detection. For example, the amplitude values ​​of eight virtual receiving channels may be added and averaged to detect the peak value, or the peak value may be detected by directing the beam in a predetermined direction through the well-known DBF (Digital Beam Forming) process.

[0118] Next, in step ST3, the processing unit 11 calculates the distance and relative speed of the target object 33 for the detected peak value based on the principle of the well-known FCM method described in, for example, Patent Document 2 (distance and speed calculation process). In the first embodiment, the method for calculating the distance and relative speed of the target object is not limited to this case, and any method may be used.

[0119] Next, in step ST4, the processing unit 11 measures the angle of the target object 33 (angle measurement processing step). There are various methods for measuring the angle, such as beamforming, super-resolution angle measurement, maximum likelihood estimation, etc., and the first embodiment does not limit the angle measurement method. Here, the case of performing angle measurement using the above-mentioned phase single pulse method will be described as an example.

[0120] For example, Figure 7 The interval between virtual receiving channels, i.e., the virtual receiving antenna interval Dvr, is the interval between all receiving channels of distance d, i.e., the signals of each virtual receiving channel of the seven intervals between VR1 and VR5, VR5 and VR2, VR2 and VR6, VR6 and VR3, VR3 and VR7, VR7 and VR4, and VR4 and VR8 are taken as the object, and the phase single pulse angle measurement is performed according to formula (2). The average value of the seven angles thus obtained is calculated, and the average value is output as the angle of the target object 33.

[0121] By the above method, in the radar device 1, the processing unit 11 calculates the distance, relative speed and angle of the target object 33. Figure 6 As shown in FIG. 1 , by executing the above-described processing flow for each chirp sequence repeated at a preset time interval (period Tc), the distance, relative speed, and angle of the target object 33 are repeatedly calculated at the time interval.

[0122] The detection results of the distance, relative speed, angle, etc. of the target object 33 obtained by the radar device 1 are transmitted to the vehicle ECU 2. The vehicle ECU 2 uses the detection results for controlling various vehicle applications.

[0123] In addition, in the processing unit 11, correlation can be obtained according to the time series through a technique called time series processing, so-called tracking processing, etc., and detection results such as distance, relative speed, angle, etc. can be smoothed according to the time series, thereby performing processing to smooth the errors of each detection result.

[0124] In the first embodiment, the time division MIMO method is used as an example for explanation, but any other method may be used as long as it is a method that can separate the signals of the transmission antennas Tx1 and Tx2. For example, a method in which the transmission antennas Tx1 and Tx2 transmit at different transmission frequencies, a method in which the transmission is performed by multiplying a sign orthogonal to the transmission antennas Tx1 and Tx2, a method in which the signals of the transmission antennas Tx1 and Tx2 are separated, etc. may be applied.

[0125] The radar device 1 of embodiment 1 includes a first antenna group Gr1 having a plurality of first antennas arranged at an antenna spacing D1 of a predetermined distance d; a second antenna group Gr2 having any number of more than two second antennas that operate oppositely to the first antennas; and a virtual receiving antenna group 50 having a plurality of virtual receiving antennas VR, the virtual receiving antennas VR being configured at equal intervals of the distance d by inserting first antennas between second antennas having intervals greater than the distance d, thereby reducing side lobes and suppressing false detections even when antennas of more than three channels cannot be physically configured at equal intervals of the distance d due to the power supply circuit 25. The radar device 1 of embodiment 1 is configured at a distance d between adjacent virtual receiving antennas VR, and thus can reduce side lobes and suppress false detections. Figure 3 As shown in the receiving antenna Rx in FIG, when the power supply circuit 25 exists in the lateral direction (adjacent direction) of the antenna, it is impossible to physically arrange the antennas of more than three channels at equal intervals of the distance d. Therefore, the radar device 1 of the first embodiment makes efforts in the configuration method of the first antenna group Gr1 and the second antenna group Gr2 to realize a virtual receiving antenna group 50 having a plurality of virtual receiving antennas VR, and the plurality of virtual receiving antennas VR are configured to be configured at equal intervals of the distance d by applying MIMO or the like.

[0126] The radar device 1 of the first embodiment realizes a wideband antenna frequency characteristic with a bandwidth ratio of 2% or more and 10% or less by making the antenna power supply circuit 25 a parallel power supply method. Due to the power supply circuit 25, it is impossible to physically arrange antennas of more than three channels at equal intervals of a distance d. However, since the radar device 1 of the first embodiment includes: a first antenna At1 group, which is a group of two first antennas At1 arranged at an interval of a distance d; and a plurality of second antennas At2 arranged at an interval of twice the distance d, a virtual receiving antenna group 50 having a plurality of virtual receiving antennas VR is realized. The virtual receiving antenna VR is configured to apply MIMO and the like and is arranged at equal intervals of a distance d, so that side lobes can be reduced while ensuring wideband antenna frequency characteristics, thereby suppressing false detection. An antenna that realizes a wideband antenna frequency characteristic is a wideband antenna.

[0127] The radar device 1 of the embodiment 1 including the transmission antenna Tx and the reception antenna Rx configured in the first example of the antenna configuration is the radar device 1 of the embodiment 1 including the antenna of the first example of the antenna configuration. The radar device 1 of the embodiment 1 including the antenna of the first example of the antenna configuration includes: a first antenna group Gr1 including a plurality of first antennas, namely, transmission antennas Tx, arranged at an antenna interval D1 of a predetermined distance d; a second antenna group Gr2 including an arbitrary number of two or more second antennas, namely, reception antennas Rx, which operate oppositely to the first antennas; and a virtual reception antenna group 50 including a plurality of virtual reception antennas VR configured to be arranged at equal intervals of the distance d by inserting the first antennas between the second antennas having intervals greater than the distance d, so that even when the antennas of three or more channels cannot be physically arranged at equal intervals of the distance d due to the power supply circuit 25, it is possible to reduce side lobes and suppress false detection. The antenna interval D1 in the first example of the antenna configuration is the transmission antenna interval Dtx.

[0128] exist Figure 3 , Figure 4 The first example of the antenna configuration shown is an example in which the first antenna of the first antenna group Gr1 is a transmitting antenna Tx, and the second antenna of the second antenna group Gr2 is a receiving antenna Rx. Fig. 9 , Fig.10 As shown, the first antenna of the first antenna group Gr1 may be a receiving antenna Rx, and the second antenna of the second antenna group Gr2 may be a transmitting antenna Tx. Fig. 9 , Fig.10 The second example of the antenna configuration shown corresponds to the case where the number of transmitting antennas Tx is 4 and the number of receiving antennas Rx is 2. The radar device 1 including the antenna of the second example of the antenna configuration is configured such that the transmission switching switch 124 of the transmitting circuit 12 switches the transmitting antennas Tx1, Tx2, Tx3, and Tx4. In addition, the receiving circuit 13 is configured to include mixers 131, 132, filter circuits 141, 142, and analog-to-digital converters 151, 152 corresponding to the receiving antennas Rx1, Rx2. The modulation mode 61 is a pattern repeated in the order of Tx1, Tx2, Tx3, and Tx4. In Fig.11 2 shows a virtual receiving antenna group 50 formed by the transmitting antennas Tx and the receiving antennas Rx in the second example of the antenna configuration. Eight virtual receiving antennas VR1 to VR8 are formed by two receiving antennas Rx1 and Rx2 and four transmitting antennas Tx1, Tx2, Tx3, and Tx4.

[0129] The receiving antenna Rx1 includes a plurality of element antennas 19 arranged along a phase center line 27a passing through the phase center Cr1. The receiving antenna Rx2 includes a plurality of element antennas 19 arranged along a phase center line 27b passing through the phase center Cr2. The plurality of element antennas 19 of the receiving antenna Rx are arranged along a phase center line passing through the phase center. Similar to the receiving antenna Rx, the plurality of element antennas 19 of the transmitting antennas Tx1, Tx2, Tx3, and Tx4 are also arranged along a phase center line passing through the phase center. The transmitting antenna Tx1 includes a plurality of element antennas 19 arranged along a phase center line 28a passing through the phase center Ct1, and the transmitting antenna Tx2 includes a plurality of element antennas 19 arranged along a phase center line 28b passing through the phase center Ct2. The transmitting antenna Tx3 includes a plurality of element antennas 19 arranged along a phase center line 28c passing through the phase center Ct3, and the transmitting antenna Tx4 includes a plurality of element antennas 19 arranged along a phase center line 28d passing through the phase center Ct4. The directions in which the phase center lines of the transmission antenna Tx and the reception antenna Rx extend are the directions in which the plurality of element antennas 19 extend.

[0130] The transmitting antennas Tx are arranged and configured on the surface of the substrate 23 so as to be parallel to each other, that is, the phase center lines 28a to 28d are parallel, and the receiving antennas Rx are arranged and configured on the surface of the substrate 23 so as to be parallel to each other, that is, the phase center lines 27a and 27b are parallel. The receiving antenna spacing Drx between the two receiving antennas Rx1 and Rx2, that is, the spacing between the phase center line 27a and the phase center line 27b is equal to the distance d. The adjacent transmitting antenna spacing Dtx of each transmitting antenna Tx1, Tx2, Tx3, and Tx4 is twice the distance d, that is, 2d. Fig.10 In the second example of the antenna configuration shown, since the receiving antenna interval Drx is equal to the distance d, the receiving antennas Rx1 and Rx2 are antennas of the first antenna group Gr1. In addition, since the transmitting antenna interval Dtx is twice the distance d, that is, 2d, the transmitting antennas Tx1 to Tx4 are antennas of the second antenna group Gr2.

[0131] The receiving antennas Rx are arranged in a first arrangement direction dr1, and the transmitting antennas Tx are arranged in a second arrangement direction dr2. The first arrangement direction dr1 is a direction perpendicular to the phase center lines 27a and 27b, and the second arrangement direction dr2 is a direction perpendicular to the phase center lines 28a to 28d. Fig.10 , an example is shown in which the phase centers Ct1 to Ct4 of the transmitting antenna Tx and the phase centers Cr1 and Cr2 of the receiving antenna Rx are arranged on the same axis. The receiving antennas Rx1 and Rx2 are arranged in sequence toward the positive side of the first arrangement direction dr1, and the transmitting antennas Tx1, Tx2, Tx3, and Tx4 are arranged in sequence toward the positive side of the second arrangement direction dr2.

[0132] exist Fig.11 In the example of FIG. 5 , virtual receiving antennas VR1 to VR8 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8. In these virtual receiving antenna groups 50, VR1, VR3, VR5, and VR7 represented by solid circles are virtual receiving antennas formed by signals transmitted by transmitting antennas Tx1 to Tx4 and received by receiving antenna Rx1, and VR2, VR4, VR6, and VR8 represented by dotted circles are virtual receiving antennas formed by signals transmitted by transmitting antennas Tx1 to Tx4 and received by receiving antenna Rx2.

[0133] The radar device 1 of the embodiment 1 including the transmission antenna Tx and the reception antenna Rx configured in the second example of the antenna configuration is the radar device 1 of the embodiment 1 including the antenna of the second example of the antenna configuration. The radar device 1 of the embodiment 1 including the antenna of the second example of the antenna configuration includes: a first antenna group Gr1 including a plurality of first antennas, namely reception antennas Rx, arranged at an antenna interval D1 of a predetermined distance d; a second antenna group Gr2 including an arbitrary number of two or more second antennas, namely transmission antennas Tx, which operate oppositely to the first antennas; and a virtual reception antenna group 50 including a plurality of virtual reception antennas VR configured to be arranged at equal intervals of the distance d by inserting the first antennas between the second antennas having intervals greater than the distance d, so that even when the antennas of three or more channels cannot be physically arranged at equal intervals of the distance d due to the power supply circuit 25, it is possible to reduce side lobes and suppress false detection. The antenna interval D1 in the second example of the antenna configuration is the reception antenna interval Drx.

[0134] As described in the first and second examples of antenna configuration, the plurality of first antennas configured at an antenna interval D1 of a predetermined distance d may be transmitting antennas Tx or receiving antennas Rx. Fig.12 , a third example of an antenna configuration is shown in which the first antenna and the second antenna are not specifically a transmitting antenna Tx and a receiving antenna Rx. The first antennas At1a and At1b of the first antenna group Gr1 are arranged at an antenna spacing D1 of a predetermined distance d. The four second antennas At2a, At2b, At2c, and At2d, which operate opposite to the first antenna, are arranged at an antenna spacing D2 of 2d, which is twice the distance d. The antenna spacing D1 is the antenna spacing between adjacent first antennas. The antenna spacing D2 is the antenna spacing between adjacent second antennas. When the first antenna is a transmitting antenna Tx, the radar device 1 including the antennas of the third example of the antenna configuration has Figure 1In the structure shown, when the first antenna is the receiving antenna Rx, the radar device 1 including the antenna of the third example of the antenna configuration has the same structure as the radar device 1 including the antenna of the second example of the antenna configuration.

[0135] Fig.13 , Fig.14 FIG. 5 shows a virtual receiving antenna group 50 formed by the first antenna At1 and the second antenna At2 in the third example of the antenna configuration. Fig.13 The virtual receiving antenna group 50 shown in FIG. 5 corresponds to the case where the first antenna At1 is a transmitting antenna Tx. Fig.14 The virtual receiving antenna group 50 shown in corresponds to the case where the first antenna At1 is the receiving antenna Rx. The modulation pattern 61 when the first antenna At1 is the transmitting antenna Tx becomes a pattern repeated in the order of Tx1 and Tx2. The modulation pattern 61 when the first antenna At1 is the receiving antenna Rx becomes a pattern repeated in the order of Tx1, Tx2, Tx3, and Tx4.

[0136] The first antenna At1a includes a plurality of element antennas 19 arranged along a phase center line 31a passing through a phase center C1a. The first antenna At1b includes a plurality of element antennas 19 arranged along a phase center line 31b passing through a phase center C1b. The plurality of element antennas 19 of the first antenna At1 are arranged along a phase center line passing through a phase center. Similar to the first antenna At1, the plurality of element antennas 19 of each of the second antennas At2a, At2b, At2c, and At2d are arranged along a phase center line passing through a phase center. The second antenna At2a includes a plurality of element antennas 19 arranged along a phase center line 32a passing through a phase center C2a, and the second antenna At2b includes a plurality of element antennas 19 arranged along a phase center line 32b passing through a phase center C2b. The second antenna At2c includes a plurality of element antennas 19 arranged along a phase center line 32c passing through a phase center C2c, and the second antenna At2d includes a plurality of element antennas 19 arranged along a phase center line 32d passing through a phase center C2d. The extending direction of each phase center line of the first antenna At1 and the second antenna At2 is also the extending direction of the plurality of element antennas 19 .

[0137] like Fig.12 As shown, the first antennas At1 are arranged and configured on the surface of the substrate 23 so as to be parallel to each other, that is, the phase center lines are parallel. The arrangement direction of the first antennas At1 is the first arrangement direction dr1. The first arrangement direction dr1 is a direction perpendicular to the phase center lines 31a and 31b. The antenna spacing D1 between the two first antennas At1a and At1b, that is, the spacing between the phase center line 31a and the phase center line 31b is equal to the distance d.

[0138] like Fig.12 As shown, the second antenna At2 is arranged and configured on the surface of the substrate 23 so as to be parallel to each other, that is, the phase center lines are parallel. The arrangement direction of the second antenna At2 is the second arrangement direction dr2. The second arrangement direction dr2 is a direction perpendicular to the phase center lines 32a to 32d. The first arrangement direction dr1 and the second arrangement direction dr2 are parallel to each other. Fig.12 An example is shown in which the phase centers C1a and C1b of the first antenna At1 and the phase centers C2a, C2b, C2c, and C2d of the second antenna At2 are arranged on the same axis. The first antennas At1a and At2a are arranged in sequence toward the positive side of the first arrangement direction dr1, and the second antennas At2a, At2b, At2c, and At2d are arranged in sequence toward the positive side of the second arrangement direction dr2.

[0139] exist Fig.13 In the example of , virtual receiving antennas VR1 to VR8 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR1, VR5, VR2, VR6, VR3, VR7, VR4, and VR8. In these virtual receiving antenna groups 50, VR1, VR2, VR3, and VR4 represented by solid circles are virtual receiving antennas formed by signals transmitted by the first antenna At1a as a transmitting antenna and received by the second antennas At2a, At2b, At2c, and At2d as receiving antennas, and VR5, VR6, VR7, and VR8 represented by dotted circles are virtual receiving antennas formed by signals transmitted by the first antenna At1b as a transmitting antenna and received by the second antennas At2a, At2b, At2c, and At2d as receiving antennas.

[0140] exist Fig.14 In the example of , virtual receiving antennas VR1 to VR8 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8. In these virtual receiving antenna groups 50, VR1, VR3, VR5, and VR7 represented by solid circles are virtual receiving antennas formed by signals transmitted by the second antennas At2a to At2d as transmitting antennas and received by the first antenna At1a as receiving antenna, and VR2, VR4, VR6, and VR8 represented by dotted circles are virtual receiving antennas formed by signals transmitted by the second antennas At2a to At2d as transmitting antennas and received by the first antenna At1b as receiving antenna.

[0141] The radar device 1 of the embodiment 1 including the first antenna At1 and the second antenna At2 configured in the third example of the antenna configuration is the radar device 1 of the embodiment 1 including the antenna in the third example of the antenna configuration. The radar device 1 of the embodiment 1 including the antenna in the third example of the antenna configuration includes: a first antenna group Gr1, which is a plurality of transmitting antennas or receiving antennas, namely, first antennas At1, arranged at an antenna interval D1 of a predetermined distance d; a second antenna group Gr2, which has an arbitrary number of more than two second antennas At2 that operate oppositely to the first antenna At1; and a virtual receiving antenna group 50, which has a plurality of virtual receiving antennas VR, which are formed by inserting the first antenna At1 between the second antennas with a large interval, so that even when the antennas of more than three channels cannot be physically arranged at equal intervals of the distance d due to the power supply circuit 25, it is possible to reduce the side lobe and suppress false detection.

[0142] When the number of channels, that is, the number of antennas of the first antenna At1 is limited to 2, it is preferable to apply the first example of the antenna configuration in which the first antenna At1 is a transmission antenna Tx having a transmission function and the second antenna At2 is a reception antenna Rx having a reception function. The reason is as follows.

[0143] In the case where the second antenna At2 is a transmitting antenna Tx, that is, in the second example of the antenna configuration, the number of transmitting antennas Tx is greater than the number of receiving antennas Rx. The greater the number of transmitting antennas Tx, the larger the scale of the transmitting circuit 12 in the radar device 1. The transmitting circuit 12, which is a circuit having a function of transmitting radio waves, tends to generate more heat than the receiving circuit 13. In the case where the number of channels, that is, the number of antennas, of the first antenna At1 is limited to 2, and the number of channels, that is, the number of antennas, of the second antenna At2 is greater than the first antenna At1, by setting the first antenna At1 as the transmitting antenna Tx, a radar device 1 with less heat generation can be realized.

[0144] Although the example of a parallel power supply method in which the wiring lengths to the element antennas 19 are equal is described as the power supply circuit 25 for the transmission antenna Tx and the reception antenna Rx, the power supply circuit 25 is not limited thereto. Figures 15 to 20 1 to 6 are antennas according to the first to sixth examples. Fig.15 The power supply circuit 25a in the first example of the antenna shown in FIG. 1 is a power supply circuit of a parallel power supply method. Fig.15 The first example of the antenna shown in FIG. 1 includes a four-element antenna 19 and a power supply circuit 25 a . Fig.16 The second example of the antenna shown comprises a four-element antenna 19 and a feed circuit 25b, while Fig.17The third example of the antenna shown includes a four element antenna 19 and a feed circuit 25c. Fig.18 The fourth example of the antenna shown in includes an 8-element antenna 19 and a power supply circuit 25d. Fig.19 The fifth example of the antenna shown in FIG. 1 includes a four-element antenna 19 and a power supply circuit 25 e. Fig. 20 The sixth example of the antenna shown in FIG. 1 includes a four-element antenna 19 and a feeder circuit 25f. The feeder circuits are collectively denoted by 25, and 25a, 25b, 25c, 25d, 25e, and 25f are used to distinguish them.

[0145] exist Fig.15 The power supply circuit 25a of the first example of the antenna shown is an example in which the connection portion of the element antenna 19 is parallel to the first arrangement direction dr1 of the first antenna At1 of the first antenna group Gr1 or parallel to the second arrangement direction dr2 of the second antenna At2 of the second antenna group Gr2. Since the extension direction of the plurality of element antennas 19 is perpendicular to the first arrangement direction dr1 or the second arrangement direction dr2, Fig.15 The feeder circuit 25a in the first example of the antenna shown in FIG. 1 may also be an example in which the connection portion with the element antenna 19 is perpendicular to the extending direction of the plurality of element antennas 19. Fig.16 The feeder circuit 25b of the second example of the antenna shown is an example of a connection portion with the element antenna 19 in the extending direction of the plurality of element antennas 19. Fig.17 The power supply circuit 25c of the third example of the antenna shown is an example in which the connection portion with the element antenna 19 is inclined relative to the extension direction of the plurality of element antennas 19. The second and third examples of the antenna are also parallel power supply systems in which the wiring lengths of the element antennas 19 are equal, similarly to the first example. The radar device 1 of the first embodiment including the second and third examples of the antenna can reduce the side lobes and suppress false detection even when the receiving antennas or transmitting antennas of more than three channels cannot be physically arranged at intervals of a predetermined distance d.

[0146] In addition, although the shape of the element antenna 19 is represented by a quadrilateral, the shape of the element antenna 19 may be any shape. Fig.18 As in the fourth example of the antenna shown in FIG. 1 , the number of antenna columns constituting one channel can be increased to two or more. Fig.18 An example is shown in which eight element antennas 19 and a feeder circuit 25d are included, and two groups of four element antennas 19 extend in a direction perpendicular to the first arrangement direction dr1 or the second arrangement direction dr2.

[0147] The radar device 1 of the first embodiment is an example in which two first antennas At1 are arranged at a predetermined distance d apart and the radar device 1 includes the first antenna At1. Fig.25 The radar device 1 in which the antennas are configured in the seventh example of the antenna configuration shown in the figure is an example in which two first antennas At1 are arranged at intervals of a predetermined distance d to form a group, and there are multiple groups of first antennas At1. Therefore, the radar device 1 of embodiment 1 and the radar devices 1 of embodiments 2 to 6 are examples in which the transmitting antenna Tx or the receiving antenna Rx is not physically arranged at intervals of a predetermined distance d for more than three channels. In this case, for example, in order to realize a wideband antenna with a bandwidth ratio of 2% or more and 10% or less, even if it is not a complete tournament method, that is, a power supply circuit that is not a parallel power supply method such as the power supply circuits 25a, 25b, and 25c, it may be Fig.19 and Fig. 20 The power supply circuit 25e in the fifth example of the antenna shown, and the power supply circuit 25f in the sixth example of the antenna. Fig.19 , Fig. 20 As in the fifth and sixth examples of the antenna shown in the figure, when the power supply lines to all the element antennas 19 are not of equal length, as long as the desired antenna characteristics can be realized at the desired frequency band ratio, even when it is not possible to physically arrange the receiving antennas or transmitting antennas of more than three channels at intervals of a predetermined distance, it is possible to reduce the side lobe and suppress false detection while ensuring the desired frequency band ratio. The desired antenna characteristics are the antenna characteristics set by design, that is, the designed antenna characteristics.

[0148] The first arrangement direction dr1, the second arrangement direction dr2, and the third arrangement direction dr3 represent the arrangement directions of adjacent antennas, rather than the directions between phase centers. Fig.21 As in the fourth example of the antenna configuration shown in FIG. 1 , a part of the plurality of antennas may be offset in the extending direction of the element antenna 19 . Fig.21 An example is shown in which the receiving antennas Rx1 and Rx2 in the first antenna group Gr1 are offset from each other in the extending direction of the element antenna 19 or the extending direction of the phase center line. Fig.21 The radar device 1 of the first antenna group Gr1 and the second antenna group Gr2 in the fourth example of the antenna configuration shown can measure the angle of the target object 33 not only in the first arrangement direction dr1, the second arrangement direction dr2, and the third arrangement direction dr3, but also in the extending direction of the phase center line of the antenna perpendicular to the first arrangement direction dr1, the second arrangement direction dr2, and the third arrangement direction dr3. In addition to the antenna configuration, the radar device 1 includes Fig.21The radar device 1 including the antenna of the fourth example of the antenna configuration shown in has the same structure as the radar device 1 including the antenna of the second example of the antenna configuration.

[0149] Fig. 22 It is shown in Fig.21 The fourth example of the antenna configuration shown in FIG. 5 forms a virtual receiving antenna group 50 with the transmitting antenna Tx and the receiving antenna Rx. Fig.11 The second example of the antenna configuration shown is different in that the receiving antennas Rx1, Rx2 in the first antenna group Gr1 are offset from each other in the extending direction of the element antenna 19 or the extending direction of the phase center line. Therefore, in the virtual receiving antenna group 50 formed according to the fourth example of the antenna configuration, the virtual receiving antennas VR2, VR4, VR6, VR8 indicated by the dotted circle are offset in the extending direction of the phase center line of the antenna. Fig.21 The direction from the upper side to the lower side of the paper of the phase center lines 27a and 27b is set as the positive side of the extension direction of the phase center line. Since the receiving antenna Rx2 is offset more toward the positive side of the extension direction of the phase center line than the receiving antenna Rx1, the virtual receiving antennas VR2, VR4, VR6, and VR8 formed by the signal received by the receiving antenna Rx2 in the virtual receiving antenna group 50 are also offset more toward the positive side of the extension direction of the phase center line than the virtual receiving antennas VR1, VR3, VR5, and VR7 formed by the signal received by the receiving antenna Rx1.

[0150] Included in Fig.21 The radar device 1 of the embodiment 1 in which the transmitting antenna Tx and the receiving antenna Rx are arranged in the fourth example of the antenna configuration shown is the radar device 1 of the embodiment 1 including the antenna of the fourth example of the antenna configuration. The radar device 1 of the embodiment 1 including the antenna of the fourth example of the antenna configuration includes: a first antenna group Gr1 having a plurality of first antennas, namely, receiving antennas Rx, arranged at an antenna interval D1 of a predetermined distance d; a second antenna group Gr2 having an arbitrary number of two or more second antennas, namely, transmitting antennas Tx, which operate oppositely to the first antennas; and a virtual receiving antenna group 50 having a plurality of virtual receiving antennas VR, which are configured to be arranged at equal intervals of the distance d by inserting the first antennas between the second antennas having intervals larger than the distance d, so that even when the antennas of three or more channels cannot be physically arranged at equal intervals of the distance d due to the power supply circuit 25, it is possible to reduce side lobes and suppress false detection.

[0151] The radar device 1 may include antennas other than the first antenna group Gr1 and the second antenna group Gr2 . Fig.23 The fifth example of the antenna configuration shown is configured with Fig.10 The second example of the antenna configuration shown is an example of a first antenna group Gr1, a second antenna group Gr2, a transmitting antenna FTx, and receiving antennas FRx1 and FRx2. For example, in the case of long-distance detection, the antenna used for long-distance detection does not necessarily need to be a wide-band antenna. Therefore, when used for long distances, conventional antennas with narrower bands, namely, transmitting antennas FTx and receiving antennas FRx1 and FRx2, can be used. Fig.23 The radar device 1 of the fifth example of the antenna configuration shown in the figure is configured such that a transmitting circuit and a receiving circuit for a transmitting antenna FTx and receiving antennas FRx1 and FRx2 are provided on the radar device 1 having the antenna of the second example of the antenna configuration. Fig.23 The radar device 1 including the transmitting antenna Tx, receiving antenna Rx, transmitting antenna FTx, receiving antenna FRx1, and receiving antenna FRx2 configured in the fifth example of the antenna configuration shown can detect both the close-range object 33 and the long-range object 33. The radar device 1 including the antenna of the fifth example of the antenna configuration includes the radar device 1 of the first embodiment including the antenna of the second example of the antenna configuration, and thus has the same effect as the radar device 1 of the first embodiment including the antenna of the second example of the antenna configuration.

[0152] Fig.24 The sixth example of the antenna configuration shown is configured with Fig.10 The second example of the antenna configuration shown is an example of a first antenna group Gr1, a second antenna group Gr2, and a transmitting antenna Tx5. Fig.24 An example is shown in which the receiving antennas Rx1 and Rx2 of the first antenna group Gr1 are arranged on the surface of the substrate 23b, and the transmitting antennas Tx1 to Tx4 and the transmitting antenna Tx5 of the second antenna group Gr2 are arranged on the surface of the substrate 23a. Fig.24 The radar device 1 of the sixth example of the antenna configuration shown in the figure is configured such that, with the addition of the transmitting antenna Tx5, the transmitting switching switch 124 switches the transmitting antennas Tx1, Tx2, Tx3, Tx4, and Tx5 in the radar device 1 having the antenna of the second example of the antenna configuration. The transmitting antenna Tx5 includes a plurality of element antennas 19 arranged along the phase center line 28e passing through the phase center Ct5. Fig.24 An example is shown in which the transmission antenna interval Dtxa between the transmission antenna Tx5 and the transmission antenna Tx4 of the adjacent second antenna group Gr2 is longer than the transmission antenna interval Dtx. The radar device 1 having the antenna of the sixth example of the antenna configuration includes the radar device 1 of the embodiment 1 having the antenna of the second example of the antenna configuration, and thus has the same effect as the radar device 1 of the embodiment 1 having the antenna of the second example of the antenna configuration.

[0153] The antennas of the first antenna group Gr1 and the second antenna group Gr2 may be arranged in a plurality of groups in the extending direction of the phase center line. Fig.25 The seventh example of the antenna configuration shown is equivalent to comprising two sets of Figure 4 The first example of the antenna configuration shown is an antenna configuration of the first antenna group Gr1 and the second antenna group Gr2. The first antenna group Gr1 includes four transmitting antennas Tx1, Tx2, Tx3, and Tx4, and the second antenna group Gr2 includes eight receiving antennas Rx1, Rx2, Rx3, Rx4, Rx5, Rx6, Rx7, and Rx8. The transmitting antenna Tx includes an antenna group whose antenna interval is less than the distance d, and the receiving antenna Rx does not include an antenna group whose antenna interval is less than the distance d. The transmitting antennas Tx1 and Tx2 constitute the first antenna group 22a, and the transmitting antennas Tx3 and Tx4 constitute the first antenna group 22b. The receiving antennas Rx1 to Rx4 constitute the second antenna group 24a, and the receiving antennas Rx5 to Rx8 constitute the second antenna group 24b. The first antenna group 22b and the second antenna group 24b are Figure 4 The first example of the antenna configuration is shown. The first antenna group 22a and the second antenna group 24a have Figure 4 The first example of the antenna configuration shown is an antenna configuration in which the transmission antenna Tx and the reception antenna Rx are offset in the extending direction of the phase center line.

[0154] Fig.25 An example is shown in which there is one first antenna group configured in the first arrangement direction dr1 of the first antenna group Gr1, and there is one second antenna group configured in the second arrangement direction dr2 of the second antenna group Gr2. However, there is also a case in which there are more than two first antenna groups configured in the first arrangement direction dr1 of the first antenna group Gr1, and there are more than two second antenna groups configured in the second arrangement direction dr2 of the second antenna group Gr2. In this case, the first antenna group Gr1 may include a group A having a plurality of first antennas At1 configured in the first arrangement direction dr1, and a group B having the same structure as the group A and configured in a fourth arrangement direction dr4 which is a direction perpendicular to the first arrangement direction dr1. Fig.25 In the case of, group A is the first antenna group 22a, and group B is the first antenna group 22b. The second antenna group Gr2 may include group C, which has a plurality of second antennas At2 arranged in the second arrangement direction dr2; and group D, which has the same structure as group C and is arranged in a fifth arrangement direction dr5 which is a direction perpendicular to the second arrangement direction dr2. Fig.25 In the case of , group C is the second antenna group 24a, and group D is the second antenna group 24b.

[0155] Including Fig.25The radar device 1 of the seventh example of the antenna configuration shown is configured such that the transmission switching switch 124 of the transmission circuit 12 switches the transmission antennas Tx1, Tx2, Tx3, and Tx4. In addition, the reception circuit 13 is configured to include eight mixers 131, eight filter circuits 141, and eight analog-to-digital converters 151 corresponding to the reception antennas Rx1, Rx2, Rx3, Rx4, Rx5, Rx6, Rx7, and Rx8. The radar device 1 including the seventh example of the antenna configuration transmits a transmission signal having a modulation pattern 61 repeated in the order of Tx1, Tx2, Tx3, and Tx4.

[0156] The transmitting antennas Tx1 and Tx3 include a plurality of element antennas 19 arranged along the phase center line 28a, and the transmitting antennas Tx2 and Tx4 include a plurality of element antennas 19 arranged along the phase center line 28b. The receiving antennas Rx1 and Rx5 include a plurality of element antennas 19 arranged along the phase center line 27a, and the receiving antennas Rx2 and Rx6 include a plurality of element antennas 19 arranged along the phase center line 27b. The receiving antennas Rx3 and Rx7 include a plurality of element antennas 19 arranged along the phase center line 27c, and the receiving antennas Rx4 and Rx8 include a plurality of element antennas 19 arranged along the phase center line 27d. The transmitting antennas Tx1 and Tx3 are arranged and arranged on the surface of the substrate 23 with the transmitting antennas Tx2 and Tx4 so as to be parallel to each other, that is, the phase center lines are parallel. The receiving antennas Rx1, Rx5, the receiving antennas Rx2, Rx6, the receiving antennas Rx3, Rx7, the receiving antennas Rx4, and Rx8 are arranged and configured on the surface of the substrate 23 so as to be parallel to each other, that is, the phase center lines are parallel.

[0157] The transmitting antennas Tx1 and Tx2 in the first antenna group 22a are arranged in the first arrangement direction dr1, and the transmitting antennas Tx3 and Tx4 in the first antenna group 22b are arranged in the first arrangement direction dr1. The receiving antennas Rx1 to Rx4 in the second antenna group 24a are arranged in the second arrangement direction dr2, and the receiving antennas Rx5 to Rx8 in the second antenna group 24b are arranged in the second arrangement direction dr2. Fig.25An example is shown in which the phase centers of the receiving antennas Rx5 to Rx8 in the second antenna group 24b and the phase centers of the transmitting antennas Tx3 and Tx4 in the first antenna group 22b are arranged on the same axis, i.e., the dotted line 29a. The first antenna group 22a and the first antenna group 22b are arranged in sequence toward the positive side of the fourth arrangement direction dr4 perpendicular to the first arrangement direction dr1. The second antenna group 24a and the second antenna group 24b are arranged in sequence toward the positive side of the fifth arrangement direction dr5 perpendicular to the second arrangement direction dr2. The phase centers of the transmitting antennas Tx1 and Tx2 in the first antenna group 22a are arranged on the same axis, i.e., the dotted line 29b. The phase centers of the receiving antennas Rx1 to Rx4 of the second antenna group 24a are arranged on the same axis, i.e., the dotted line 29c. The dotted lines 29a, 29b, and 29c are parallel to each other.

[0158] The transmission antenna spacing Dtx between the transmission antenna Tx1 and the transmission antenna Tx2 in the first antenna group 22a, the transmission antenna spacing Dtx between the transmission antenna Tx3 and the transmission antenna Tx4 in the first antenna group 22b, that is, the spacing between the phase center line 28a and the phase center line 28b is equal to the distance d. The reception antenna spacing Drx between the adjacent reception antennas Rx of the reception antennas Rx1 to Rx4 in the second antenna group 24a, the reception antenna spacing Drx between the adjacent reception antennas Rx of the reception antennas Rx5 to Rx8 in the second antenna group 24b, that is, the spacing between the adjacent phase center lines of the phase center lines 27a to 27d is twice the distance d, that is, 2d. The transmission antenna group spacing Dtxsv, which is the first antenna group spacing between the first antenna group 22a and the first antenna group 22b, is the spacing between the dotted line 29b and the dotted line 29a. The reception antenna group interval Drxsv, which is the second antenna group interval between the second antenna group 24a and the second antenna group 24b, is the interval between the dotted line 29c and the dotted line 29a.

[0159] Fig.26 It is shown in Fig.25The seventh example of the antenna configuration of FIG. 5 is a virtual receiving antenna group 50 formed by the transmitting antenna Tx and the receiving antenna Rx. In the virtual receiving antenna group 50, 32 virtual receiving antennas VR1 to VR32 are formed by four transmitting antennas Tx1 to Tx4 and eight receiving antennas Rx1 to Rx8. VR1, VR2, VR3, VR4, VR5, VR6, VR7, and VR8 represented by white solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx1 and received by the receiving antennas Rx1 to Rx8, and VR9, VR10, VR11, VR12, VR13, VR14, VR15, and VR16 represented by white dotted circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx2 and received by the receiving antennas Rx1 to Rx8. VR17, VR18, VR19, VR20, VR21, VR22, VR23, and VR24 represented by patterned solid circles are virtual receiving antennas formed by signals sent by transmitting antenna Tx3 and received by receiving antennas Rx1 to Rx8, and VR25, VR26, VR27, VR28, VR29, VR30, VR31, and VR32 represented by patterned dotted circles are virtual receiving antennas formed by signals sent by transmitting antenna Tx4 and received by receiving antennas Rx1 to Rx8.

[0160] exist Fig.26 In the virtual receiving antenna group 50 shown, the group consisting of 8 virtual receiving antennas VR arranged in the third arrangement direction dr3 parallel to the first arrangement direction dr1 and the second arrangement direction dr2 is arranged in 4 groups in the sixth arrangement direction dr6 perpendicular to the third arrangement direction dr3. The sixth arrangement direction dr6 is a direction parallel to the fourth arrangement direction dr4 and the fifth arrangement direction dr5. The first group, the second group, the third group, and the fourth group are sequentially arranged on the positive side of the sixth arrangement direction dr6. The interval Dvr between adjacent virtual receiving antennas in the first group of virtual receiving antennas VR1, VR9, VR2, VR10, VR3, VR11, VR4, and VR12 is formed at an equal interval of distance d. The virtual receiving antennas VR1 to VR4 are the first group of virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx1 and received by the receiving antennas Rx1 to Rx4, and the virtual receiving antennas VR9 to VR12 are the first group of virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx2 and received by the receiving antennas Rx1 to Rx4.

[0161] The intervals Dvr between adjacent virtual receiving antennas in the second group of virtual receiving antennas VR5, VR13, VR6, VR14, VR7, VR15, VR8, and VR16 are formed to be equally spaced by a distance d. Virtual receiving antennas VR5 to VR8 are formed to be a second group of virtual receiving antennas by signals transmitted by transmitting antenna Tx1 and received by receiving antennas Rx5 to Rx8, and virtual receiving antennas VR13 to VR16 are formed to be a second group of virtual receiving antennas by signals transmitted by transmitting antenna Tx2 and received by receiving antennas Rx5 to Rx8. The intervals Dvr between adjacent virtual receiving antennas in the third group of virtual receiving antennas VR17, VR25, VR18, VR26, VR19, VR27, VR20, and VR28 are formed to be equally spaced by a distance d. Virtual receiving antennas VR17 to VR20 are a third group of virtual receiving antennas formed by signals transmitted by transmitting antenna Tx3 and received by receiving antennas Rx1 to Rx4, and virtual receiving antennas VR25 to VR28 are a third group of virtual receiving antennas formed by signals transmitted by transmitting antenna Tx4 and received by receiving antennas Rx1 to Rx4. The interval Dvr between adjacent virtual receiving antennas in the fourth group of virtual receiving antennas VR21, VR29, VR22, VR30, VR23, VR31, VR24, and VR32 is formed to be an equal interval of distance d. Virtual receiving antennas VR21 to VR24 are a fourth group of virtual receiving antennas formed by signals transmitted by transmitting antenna Tx3 and received by receiving antennas Rx5 to Rx8, and virtual receiving antennas VR29 to VR32 are a fourth group of virtual receiving antennas formed by signals transmitted by transmitting antenna Tx4 and received by receiving antennas Rx5 to Rx8.

[0162] The interval between the first group of virtual receiving antennas and the second group of virtual receiving antennas in the sixth arrangement direction dr6 is the receiving antenna group interval Drxsv, and the interval between the third group of virtual receiving antennas and the fourth group of virtual receiving antennas in the sixth arrangement direction dr6 is the receiving antenna group interval Drxsv. The interval between the first group of virtual receiving antennas and the third group of virtual receiving antennas in the sixth arrangement direction dr6 is the transmitting antenna group interval Dtxsv. The radar device 1 having the antenna of the seventh example of the antenna configuration is equivalent to the radar device 1 of the embodiment 1 having two groups of antennas of the first example of the antenna configuration, and therefore has the same effect as the radar device 1 of the embodiment 1 having the antenna of the first example of the antenna configuration. In addition, the radar device 1 including the antenna of the seventh example of the antenna configuration can measure the distance, relative speed and angle of the target object 33 in the two-dimensional space of the third arrangement direction dr3 and the sixth arrangement direction dr6 perpendicular to the third arrangement direction dr6.

[0163] The radar device 1 of the first embodiment is an example in which, since it is impossible to physically arrange the first antennas At1 of more than three channels at intervals of a predetermined distance d, the first antennas At1 of two channels are physically arranged at intervals of the distance d. However, in the radar device 1 of the first embodiment, since a plurality of virtual receiving antennas VR formed by the transmission and reception of the first antenna At1 and the second antenna At2 can be arranged at equal intervals of the distance d, it is possible to reduce side lobes and suppress false detection.

[0164] As described above, the radar device 1 of the first embodiment includes a plurality of transmission antennas Tx for transmitting transmission signals to the target object 33, a plurality of reception antennas Rx for receiving reflection signals obtained by the transmission signals reflected by the target object 33 and outputting the reflection signals as reception signals, and a processing unit 11 for processing reception signals outputted from each of the plurality of reception antennas Rx. The antenna interval between adjacent antennas determined based on the field of view required by the radar device 1 is defined as a basic distance (distance d), an antenna group including either the plurality of transmission antennas Tx or the plurality of reception antennas Rx and including a first antenna group is defined as a first antenna group Gr1, the first antenna group including a plurality of first antennas At1 with an antenna interval D1 between adjacent antennas being the basic distance (distance d), and an antenna group including a plurality of antennas different from the first antennas At1 of the first antenna group Gr1 and including a second antenna group is defined as a second antenna group Gr2, the second antenna group including a plurality of second antennas At2 with an antenna interval D2 between adjacent antennas being twice the basic distance (distance d). The first antenna At1 and the second antenna At2 include a plurality of element antennas 19 and a power supply circuit 25 for supplying power to the element antennas 19. The plurality of first antennas At1 are arranged and configured in a first arrangement direction dr1 perpendicular to the transmission direction of the transmission signal, and have respective power supply circuits 25 on the positive side or the negative side of the first arrangement direction dr1. The plurality of second antennas At2 are arranged and configured in a second arrangement direction dr2 perpendicular to the transmission direction of the transmission signal and parallel to the first arrangement direction dr1, and have power supply circuits 25 on the positive side or the negative side of the second arrangement direction dr2. The power supply circuit 25 is not configured between adjacent antennas in the first antenna group. The virtual receiving antenna group 50, which is composed of multiple virtual receiving antennas VR formed by multiple first antennas At1 of the first antenna group Gr1 and multiple second antennas At2 of the second antenna group Gr2, is arranged and configured in a third arrangement direction dr3 that is perpendicular to the sending direction of the sending signal and parallel to the first arrangement direction dr1 and the second arrangement direction dr2. The interval (virtual receiving antenna interval Dvr) between adjacent virtual receiving antennas VR in the third arrangement direction dr3 is the basic distance (distance d).Through the above-mentioned structure, in the radar device 1 of embodiment 1, the first antenna group Gr1 includes a first antenna group, which has a plurality of first antennas At1 whose antenna spacing D1 between adjacent antennas is a basic distance (distance d), and the second antenna group Gr2 includes a second antenna group, which has a plurality of second antennas At2 whose antenna spacing D2 between adjacent antennas is twice the basic distance (distance d), and the interval (virtual receiving antenna interval Dvr) between adjacent virtual receiving antennas VR among a plurality of virtual receiving antennas VR formed by transmitting and receiving the plurality of first antennas At1 and the plurality of second antennas At2 is the basic distance (distance d), so even in the case where more than three channels cannot be physically arranged at intervals of the predetermined distance d as the first antenna At1 of the receiving antenna Rx or the transmitting antenna Tx, the side lobe can be reduced and false detection can be suppressed.

[0165] Implementation method 2.

[0166] Fig. 27 is a diagram showing the antenna configuration of a radar device according to Embodiment 2. Fig.28 is shown with Fig. 27 FIG. 1 is a diagram of a virtual receiving antenna group corresponding to the antenna configuration of the embodiment. In the radar device 1 of the first embodiment, an example is described in which there is only one antenna group of two antennas in the first arrangement direction dr1 in the first antenna group Gr1. The radar device 1 of the second embodiment is an example in which there are multiple antenna groups of two antennas in the first arrangement direction dr1 in the first antenna group Gr1. The parts different from the radar device 1 of the first embodiment are mainly described. It includes Fig. 27 The radar device 1 of the second embodiment of the antenna configuration includes two transmitting antennas Tx1 and Tx2, four receiving antennas Rx1, Rx2, Rx3, and RX4, Figure 1 The transmitting circuit 12, the receiving circuit 13, and the processing unit 11 are shown. Fig. 27 The radar device 1 having the antenna configured with the antenna transmits a transmission signal having a modulation pattern 61 repeated in the order of Tx1 and Tx2.

[0167] The transmitting antenna Tx and the receiving antenna Rx are described. Fig. 27In the antenna configuration shown, the receiving antenna Rx is an antenna of the first antenna group Gr1, that is, the first antenna At1, and the transmitting antenna Tx is an antenna of the second antenna group Gr2, that is, the second antenna At2. The receiving antennas Rx1, Rx2, RX3, and RX4 are arranged in sequence toward the positive side of the first arrangement direction dr1, and the transmitting antennas Tx1 and Tx2 are arranged in sequence toward the positive side of the second arrangement direction dr2. The receiving antenna spacing Drx of the receiving antennas Rx1 and Rx2, that is, the spacing between the phase center line 27a and the phase center line 27b is an interval equal to the distance d. Similarly, the receiving antenna spacing Drx of the receiving antennas Rx3 and Rx4, that is, the spacing between the phase center line 27c and the phase center line 27d is an interval equal to the distance d. The receiving antenna spacing Drx is the antenna spacing D1 of the distance d in the first antenna At1 (refer to Fig.12 ). The receiving antennas Rx1 and Rx2 constitute the first antenna group 22a, and the receiving antennas Rx3 and Rx4 constitute the first antenna group 22b. The first antenna group interval Dg1s between the first antenna group 22a and the first antenna group 22b, that is, the interval between the phase center line 27a and the phase center line 27c is 4 times the distance d, that is, 4d. In addition, the first antenna group interval Dg1s may be the interval between the phase center line 27b and the phase center line 27d. The first antenna group interval Dg1s is the interval between adjacent first antenna groups.

[0168] The transmission antenna spacing Dtx of the transmission antennas Tx1 and Tx2, that is, the spacing between the phase center line 28a and the phase center line 28b is twice the distance d, that is, 2d. The transmission antenna spacing Dtx is the antenna spacing D2 (refer to Fig.12 ). The power supply circuit 25 of the transmitting antenna Tx and the receiving antenna Rx shows a power supply circuit formed in a parallel power supply mode in which the wiring length to each element antenna 19 is equal. An example is shown in which the transmitting antenna Tx is the second antenna At2 of the second antenna group Gr2, the power supply circuit 25 is configured in an area adjacent to other transmitting antennas, and the element antenna 19 is configured not to be opposite. The receiving antenna Rx is the first antenna At1 of the first antenna group Gr1, and the element antennas 19 of the receiving antennas Rx1 and Rx2 of the first antenna group 22a are configured to be opposite, so that the power supply circuit 25 is not configured in an area adjacent to other receiving antennas. Similarly, the element antennas 19 of the receiving antennas Rx3 and Rx4 of the first antenna group 22b are configured to be opposite, so that the power supply circuit 25 is not configured in an area adjacent to other receiving antennas.

[0169] Fig.28 It is shown in Fig. 27A virtual receiving antenna group 50 is formed by the transmitting antenna Tx and the receiving antenna Rx in the antenna configuration. The virtual receiving antenna group 50 includes a plurality of virtual receiving antennas. Eight virtual receiving antennas VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8 are formed by the transmitting antennas Tx1 and Tx2 as the two second antennas At2 and the receiving antennas Rx1, Rx2, Rx3, and Rx4 as the four first antennas At1. The interval between adjacent virtual receiving antennas VR among the eight virtual receiving antennas VR, i.e., the virtual receiving antenna interval Dvr, is an equal interval of the distance d. The respective virtual receiving antennas VR of the virtual receiving antenna group 50 are arranged in a third arrangement direction dr3 at an equal interval of the distance d. The third arrangement direction dr3 is a direction parallel to the first arrangement direction dr1 and the second arrangement direction dr2.

[0170] exist Fig.28 In the example of , virtual receiving antennas VR1 to VR8 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR1, VR2, VR5, VR6, VR3, VR4, VR7, and VR8. In these virtual receiving antenna groups 50, VR1, VR2, VR3, and VR4 represented by solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx1 and received by the receiving antennas Rx1 to Rx4, and VR5, VR6, VR7, and VR8 represented by dotted circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx2 and received by the receiving antennas Rx1 to Rx4. Virtual receiving antennas VR1 and VR2 are virtual receiving antennas formed by signals received by the receiving antennas Rx1 and Rx2 of the first antenna group 22a, and virtual receiving antennas VR3 and VR4 are virtual receiving antennas formed by signals received by the receiving antennas Rx3 and Rx4 of the first antenna group 22b. Therefore, the interval between the virtual receiving antenna VR1 formed by the receiving antenna Rx1 of the first antenna group 22a and the virtual receiving antenna VR3 formed by the receiving antenna Rx3 of the first antenna group 22b is the first antenna group interval Dg1s of 4d. The virtual receiving antennas VR1 and VR3 are virtual receiving antennas formed by the receiving antennas Rx1 and Rx3 on the negative side of the third arrangement direction dr3 in the first antenna groups 22a and 22b. The interval between the virtual receiving antennas VR2 and VR4 formed by the receiving antennas Rx2 and Rx4 on the positive side of the third arrangement direction dr3 in the first antenna groups 22a and 22b is also the first antenna group interval Dg1s of 4d.

[0171] VR5, VR6, VR7, and VR8 represented by the dotted circle are similar to VR1, VR2, VR3, and VR4 represented by the solid circle. The interval between the virtual receiving antenna VR5 formed by the receiving antenna Rx1 of the first antenna group 22a and the virtual receiving antenna VR7 formed by the receiving antenna Rx3 of the first antenna group 22b is the first antenna group interval Dg1s of 4d. That is, the interval between the virtual receiving antennas VR5 and VR7 formed by the receiving antennas Rx1 and Rx3 on the negative side of the third arrangement direction dr3 in the first antenna groups 22a and 22b is the first antenna group interval Dg1s of 4d. The interval between the virtual receiving antennas VR6 and VR8 formed by the receiving antennas Rx2 and Rx4 on the positive side of the third arrangement direction dr3 in the first antenna groups 22a and 22b is also the first antenna group interval Dg1s of 4d.

[0172] The first antenna group interval Dg1s between the first antenna groups 22a and 22b having two receiving antennas Rx arranged at a receiving antenna interval Drx of distance d, ie, antenna interval D1, in the first antenna group Gr1 is determined by equation (3).

[0173] Dg1s=Ng2×D2···(3)

[0174] Here, Ng2 is the number of the second antenna, that is, the number of the second antenna. Fig. 27 In the case of the antenna configuration, the number of second antennas Ng2 is 2, the second antenna At2 of the second antenna group Gr2 is the transmitting antenna Tx, and the antenna interval D2 between adjacent second antennas At2 of the second antenna group Gr2 is the transmitting antenna interval Dtx which is twice the distance d.

[0175] exist Fig. 27 In the case of the antenna configuration, the first antenna group interval Dg1s is 2×D2, that is, 4d. As described above, the plurality of first antennas At1 configured with the antenna interval D1 of the predetermined distance d can be either the transmitting antenna Tx or the receiving antenna Rx. The second antenna At2 is an antenna that operates oppositely to the first antenna At1. Fig. 27 The antenna configuration is an example in which the number of first antennas At1 is 4 and the number of second antennas At2 is 2. However, the antennas in the radar device 1 of Embodiment 2 are not limited thereto. The number of first antennas At1 is an even number of 4 or more, the first antenna group has 2 or more, and the number of second antennas At2 is 2 or more.

[0176] In the radar device 1 of the second embodiment, the number of first antennas At1 included in the first antenna group Gr1 is an even number greater than 4, the number of second antennas At2 included in the second antenna group Gr2 is greater than 2, and the transmission circuit 12 and the reception circuit 13 are configured to correspond to the number of transmission antennas Tx as one of the first antennas At1 and the second antenna At2 and the number of reception antennas Rx as the other of the first antennas At1 and the second antenna At2. In the radar device 1 of the second embodiment, the first antenna At1 is arranged so that the first antenna group interval Dg1s, which is the adjacent interval in the first antenna group having two first antennas At1 arranged at an interval of a predetermined distance d, is the value obtained by multiplying the number of second antennas At2, which is the number of second antennas Ng2, by the interval between adjacent second antennas At2 in the second antenna group Gr2, which is the antenna interval D2. Although the radar device 1 of embodiment 2 is unable to physically configure the first antenna At1 for more than three channels at intervals of a predetermined distance d, since a plurality of virtual receiving antennas VR formed by the transmission and reception of the first antenna At1 and the second antenna At2 can be configured at equal intervals of the distance d, side lobes can be reduced and false detections can be suppressed.

[0177] The radar device 1 of the first embodiment including the first antenna At1 and the second antenna At2 configured in the first to sixth examples of antenna configuration is applicable to the case where the first antenna At1 is a dual-channel. In contrast, the radar device 1 of the second embodiment is applicable to the case where the first antenna At1 is an even number of channels or more than a dual-channel. Fig.25 Similarly, the radar device 1 of Embodiment 2 may arrange a plurality of antennas of the first antenna group Gr1 and the second antenna group Gr2 in the extending direction of the phase center line. In this case, the distance, relative speed and angle of the target object 33 can be measured in a two-dimensional space in the third arrangement direction dr3 and the sixth arrangement direction dr6 perpendicular to the third arrangement direction dr3.

[0178] Implementation method 3.

[0179] Fig.29 is a diagram showing the antenna configuration of a radar device according to Embodiment 3. Fig.30 It is shown Fig.29 Diagram of the configuration of the transmitting antenna. Fig.31 is shown corresponding to Fig.29A diagram of a virtual receiving antenna group of an antenna configuration. The radar device 1 of the second embodiment illustrates an example in which the first antenna group Gr1 has a plurality of antenna groups of two in a first arrangement direction dr1. The radar device 1 of the third embodiment is similar to the radar device 1 of the second embodiment, and is an example in which the first antenna group Gr1 has a plurality of antenna groups of two in a first arrangement direction dr1, but is an example in which the number of second antennas At2 of the second antenna group Gr2 is a prime number greater than 2. The parts different from the radar device 1 of the second embodiment are mainly described. Included Fig.29 , Fig.30 The radar device 1 of the embodiment 3 of the antenna configuration includes Fig. 27 The difference between the radar device 1 of the embodiment 2 of the antenna configuration is that the number of antenna groups of the first antenna group Gr1 is 3, and the number of second antennas At2 of the second antenna group Gr2, that is, the number of transmitting antennas Tx is 3. Specifically, it includes Fig.29 , Fig.30 The radar device 1 of the antenna configuration of the embodiment 3 includes three transmitting antennas Tx1, Tx2, Tx3, six receiving antennas Rx1, Rx2, Rx3, Rx4, Rx5, Rx6, a transmitting circuit 12, a receiving circuit 13, and a processing unit 11. In the transmitting circuit 12, the transmitting switching switch 124 is configured to switch the three transmitting antennas Tx1, Tx2, and Tx3. The receiving circuit 13 has a structure corresponding to the six receiving antennas Rx1 to Rx6. Fig.29 , Fig.30 The radar device 1 having the antenna configured with the antenna transmits a transmission signal having a modulation pattern 61 repeated in the order of Tx1, Tx2, and Tx3.

[0180] The transmitting antenna Tx and the receiving antenna Rx are described. Fig.29 , Fig.30 In the antenna configuration shown, the receiving antenna Rx is an antenna of the first antenna group Gr1, that is, the first antenna At1, and the transmitting antenna Tx is an antenna of the second antenna group Gr2, that is, the second antenna At2. The receiving antennas Rx1 to Rx6 are arranged in sequence toward the positive side of the first arrangement direction dr1, and the transmitting antennas Tx1, Tx2, and Tx3 are arranged in sequence toward the positive side of the second arrangement direction dr2. The receiving antennas Rx1 and Rx2 constitute the first antenna group 22a, the receiving antennas Rx3 and Rx4 constitute the first antenna group 22b, and the receiving antennas Rx5 and Rx6 constitute the first antenna group 22c. The first antenna groups 22a and 22b are as described in Embodiment 2. The receiving antenna spacing Drx of the receiving antennas Rx5 and Rx6 of the first antenna group 22c, that is, the spacing between the phase center line 27e and the phase center line 27f is equal to the distance d. The receiving antenna spacing Drx is the antenna spacing D1 of the distance d in the first antenna At1 (refer to Fig.12). The interval between adjacent first antenna groups of the first antenna groups 22a, 22b, and 22c, i.e., the first antenna group interval Dg1s, is 6 times the distance d, i.e., 6d. The interval between the first antenna group 22a and the first antenna group 22b is the interval between the phase center line 27a and the phase center line 27c or the interval between the phase center line 27b and the phase center line 27d, and the interval between the first antenna group 22b and the first antenna group 22c is the interval between the phase center line 27c and the phase center line 27e or the interval between the phase center line 27d and the phase center line 27f.

[0181] The interval between adjacent transmitting antennas Tx among transmitting antennas Tx1, Tx2, and Tx3, namely, the transmitting antenna interval Dtx, is twice the distance d, namely, 2d. The interval between transmitting antennas Tx1 and Tx2 is the interval between phase center line 28a and phase center line 28b, and the interval between transmitting antennas Tx2 and Tx3 is the interval between phase center line 28b and phase center line 28c. The transmitting antenna interval Dtx is the antenna interval D2 (refer to FIG. 1 ) which is twice the distance d in the second antenna At2. Fig.12 ). The power supply circuit 25 for the transmitting antenna Tx and the receiving antenna Rx shows a power supply circuit formed in a parallel power supply mode with equal wiring lengths to the respective element antennas 19. An example is shown in which the transmitting antenna Tx is the second antenna At2 of the second antenna group Gr2, the power supply circuit 25 is arranged in an area adjacent to other transmitting antennas, and the element antennas 19 are arranged not to be opposite. The receiving antenna Rx is the first antenna At1 of the first antenna group Gr1, and the element antennas 19 of the two receiving antennas Rx1 and Rx2 in the first antenna group 22a, 22b, and 22c are arranged to be opposite to each other, so that the power supply circuit 25 is not arranged in an area adjacent to other receiving antennas.

[0182] Fig.31 It is shown in Fig.29 , Fig.30 A virtual receiving antenna group 50 is formed by the transmitting antenna Tx and the receiving antenna Rx in the antenna configuration. The virtual receiving antenna group 50 includes a plurality of virtual receiving antennas. 18 virtual receiving antennas VR1 to VR18 are formed by 3 transmitting antennas Tx1 to Tx3 as the second antenna At2 and 6 receiving antennas Rx1 to Rx6 as the first antenna At1. The interval between adjacent virtual receiving antennas VR among the 18 virtual receiving antennas VR, i.e., the virtual receiving antenna interval Dvr, is formed at equal intervals of a distance d. The respective virtual receiving antennas VR of the virtual receiving antenna group 50 are arranged at equal intervals of a distance d in a third arrangement direction dr3. The third arrangement direction dr3 is a direction parallel to the first arrangement direction dr1 and the second arrangement direction dr2.

[0183] exist Fig.31In the example of FIG. 5 , virtual receiving antennas VR1 to VR18 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR1, VR2, VR7, VR8, VR13, VR14, VR3, VR4, VR9, VR10, VR15, VR16, VR5, VR6, VR11, VR12, VR17, and VR18. In these virtual receiving antenna groups 50, VR1, VR2, VR3, VR4, VR5, and VR6 represented by white solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx1 and received by the receiving antennas Rx1 to Rx6, and VR7, VR8, VR9, VR10, VR11, and VR12 represented by white dotted circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx2 and received by the receiving antennas Rx1 to Rx6. VR13, VR14, VR15, VR16, VR17, and VR18 indicated by patterned solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx3 and received by the receiving antennas Rx1 to Rx6.

[0184] Virtual receiving antennas VR1 and VR2 are virtual receiving antennas formed by signals received by receiving antennas Rx1 and Rx2 of first antenna group 22a, virtual receiving antennas VR3 and VR4 are virtual receiving antennas formed by signals received by receiving antennas Rx3 and Rx4 of first antenna group 22b, and virtual receiving antennas VR5 and VR6 are virtual receiving antennas formed by signals received by receiving antennas Rx5 and Rx6 of first antenna group 22c. Therefore, the interval between adjacent virtual receiving antennas VR1, VR3, and VR5 formed by receiving antenna Rx1 of first antenna group 22a, receiving antenna Rx3 of first antenna group 22b, and receiving antenna Rx5 of first antenna group 22c is the first antenna group interval Dg1s of 6d. The receiving antennas Rx1, Rx3, and Rx5 are the receiving antennas Rx on the negative side of the third arrangement direction dr3 in the first antenna group 22a, 22b, and 22c, but the virtual receiving antennas VR2, VR4, and VR6 formed by the receiving antennas Rx2, Rx4, and Rx6 which are the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna group 22a, 22b, and 22c are also spaced apart from each other by the first antenna group spacing Dg1s of 6d.

[0185] VR7, VR8, VR9, VR10, VR11, and VR12 represented by the white dotted circle are similar to VR1 to VR6 represented by the white solid circle. The interval between adjacent virtual receiving antennas VR7, VR9, and VR11 formed by the receiving antenna Rx1 of the first antenna group 22a, the receiving antenna Rx3 of the first antenna group 22b, and the receiving antenna Rx5 of the first antenna group 22c is the first antenna group interval Dg1s of 6d. The interval between virtual receiving antennas VR8, VR10, and VR12 formed by the receiving antennas Rx2, Rx4, and Rx6 as the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, and 22c is also the first antenna group interval Dg1s of 6d.

[0186] VR13, VR14, VR15, VR16, VR17, VR18 represented by patterned solid circles are similar to VR1 to VR6 represented by blank solid circles. The interval between adjacent virtual receiving antennas VR13, VR15, VR17 formed by receiving antenna Rx1 of the first antenna group 22a, receiving antenna Rx3 of the first antenna group 22b, and receiving antenna Rx5 of the first antenna group 22c is the first antenna group interval Dg1s of 6d. The interval between virtual receiving antennas VR14, VR16, VR18 formed by receiving antennas Rx2, Rx4, Rx6 as receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, 22c is also the first antenna group interval Dg1s of 6d.

[0187] The first antenna group Gr1 includes two receiving antennas Rx arranged at a receiving antenna interval Drx of a distance d, that is, an antenna interval D1. The interval between adjacent first antenna groups in the first antenna groups 22a, 22b, and 22c, that is, the first antenna group interval Dg1s, is determined by equation (3). Fig.29 , Fig.30 In the case of the antenna configuration, the number of second antennas Ng2 is 3, the second antenna At2 of the second antenna group Gr2 is a transmitting antenna Tx, and the antenna interval D2 between adjacent second antennas At2 of the second antenna group Gr2 is a transmitting antenna interval Dtx which is twice the distance d. Fig.29 , Fig.30 In the case of the antenna configuration, the first antenna group interval Dg1s is 3×D2, that is, 6d. As described above, the plurality of first antennas At1 configured with the antenna interval D1 of the predetermined distance d can be either the transmitting antenna Tx or the receiving antenna Rx. The second antenna At2 is an antenna that operates oppositely to the first antenna At1. Fig.29 , Fig.30The antenna configuration is an example in which the number of first antennas At1 is 6 and the number of second antennas At2 is 3. However, the antennas in the radar device 1 of Embodiment 3 are not limited thereto. The number of first antennas At1 is an even number greater than 4, the number of first antenna groups is greater than 2, and the number of second antennas At2 is a prime number greater than 2.

[0188] In the radar device 1 of the third embodiment, the number of the first antennas At1 included in the first antenna group Gr1 is an even number greater than 4, the number of the second antennas At2 included in the second antenna group Gr2 is a prime number greater than 2, and the transmission circuit 12 and the reception circuit 13 are configured to correspond to the number of transmission antennas Tx as one of the first antennas At1 and the second antenna At2 and the number of reception antennas Rx as the other of the first antennas At1 and the second antenna At2. In the radar device 1 of the third embodiment, the first antennas At1 are arranged so that the first antenna group interval Dg1s as the adjacent interval in the first antenna group having two first antennas At1 arranged at an interval of a predetermined distance d is a value obtained by multiplying the number of second antennas Ng2 as the number of second antennas At2 by the antenna interval D2 as the interval between adjacent second antennas At2 in the second antenna group Gr2. Although the radar device 1 of embodiment 3 is unable to physically configure the first antenna At1 for more than three channels at intervals of a predetermined distance d, since multiple virtual receiving antennas VR formed by the transmission and reception of the first antenna At1 and the second antenna At2 can be configured at equal intervals of the distance d, side lobes can be reduced and false detections can be suppressed.

[0189] The radar device 1 of the third embodiment preferably has a number of first antennas At1 that is an even number greater than two channels and a number of second antennas At2 that is a prime number greater than 2. In the radar device 1 of the third embodiment, even if the second antenna At2 is a prime number greater than 2, a plurality of virtual receiving antennas VR formed by the transmission and reception of the first antenna At1 and the second antenna At2 can be arranged at equal intervals of a distance d. Furthermore, in the case where the second antenna At2 is a transmitting antenna Tx, by collectively configuring a virtual receiving antenna VR for each transmitting antenna Tx in the group of receiving antennas Rx, i.e., the first antenna group 22a, 22b, 22c, a plurality of virtual receiving antennas VR can be arranged at equal intervals of a distance d. Fig.25 Similarly, the radar device 1 of Embodiment 3 may arrange a plurality of antennas of the first antenna group Gr1 and the second antenna group Gr2 in the extending direction of the phase center line. In this case, the distance, relative speed and angle of the target object 33 can be measured in a two-dimensional space in the third arrangement direction dr3 and the sixth arrangement direction dr6 perpendicular to the third arrangement direction dr3.

[0190] Implementation method 4.

[0191] Fig.32 is a diagram showing the antenna configuration of a radar device according to Embodiment 4. Fig.33 It is shown Fig.32 Diagram of the configuration of the transmitting antenna. Fig.34 is shown corresponding to Fig.32 A diagram of a virtual receive antenna group for an antenna configuration of Fig.35 It shows Fig.34 A diagram of a first virtual receive antenna group, Fig.36 It shows Fig.34 In the radar device 1 of the third embodiment, a method for extending the antenna configuration of the radar device 1 of the second embodiment is described in the case where the number of second antennas At2 in the second antenna group Gr2 is a prime number greater than 2. The radar device 1 of the fourth embodiment is an example of having a plurality of second antenna groups, and the second antenna group includes a prime number of second antennas At2 greater than two. The parts different from the radar device 1 of the third embodiment are mainly described. Including Fig.32 , Fig.33 The radar device 1 of the embodiment 4 of the antenna configuration includes Fig.29 , Fig.30 The difference of the radar device 1 of the embodiment 3 of the antenna configuration is that the second antenna group Gr2 includes two second antenna groups, and the second antenna group has three transmission antennas Tx as the second antenna At2. Specifically, it includes Fig.32 , Fig.33 The radar device 1 of the antenna configuration of the antenna embodiment 4 includes six transmitting antennas Tx1, Tx2, Tx3, Tx4, Tx5, and Tx6, six receiving antennas Rx1, Rx2, Rx3, Rx4, Rx5, and Rx6, a transmitting circuit 12, a receiving circuit 13, and a processing unit 11. In the transmitting circuit 12, the transmitting switching switch 124 is configured to switch the six transmitting antennas Tx1 to Tx6. The receiving circuit 13 has a structure corresponding to the six receiving antennas Rx1 to Rx6. Fig.32 , Fig.33 The radar device 1 having the antenna configured with the antenna transmits a transmission signal having a modulation pattern 61 repeated in the order of Tx1, Tx2, Tx3, Tx4, Tx5, and Tx6.

[0192] The transmitting antenna Tx and the receiving antenna Rx are described. Fig.32 , Fig.33In the antenna configuration shown, the receiving antenna Rx is an antenna of the first antenna group Gr1, that is, the first antenna At1, and the transmitting antenna Tx is an antenna of the second antenna group Gr2, that is, the second antenna At2. The receiving antennas Rx1 to Rx6 are sequentially arranged toward the positive side of the first arrangement direction dr1, and the transmitting antennas Tx1 to Tx6 are sequentially arranged toward the positive side of the second arrangement direction dr2. The receiving antennas Rx1 and Rx2 constitute the first antenna group 22a, the receiving antennas Rx3 and Rx4 constitute the first antenna group 22b, and the receiving antennas Rx5 and Rx6 constitute the first antenna group 22c. Fig.32 The first antenna group Gr1 shown in FIG. Fig.29 The first antenna group Gr1 shown in FIG. 1 is the same as that in FIG. 1 , and thus description thereof will not be repeated.

[0193] The transmitting antennas Tx1, Tx2, and Tx3 constitute the second antenna group 24a, and the transmitting antennas Tx4, Tx5, and Tx6 constitute the second antenna group 24b. If the number of the second antenna groups, i.e., the number of groups, is α, and the number of antennas in the second antenna group, i.e., the number of antennas within the group, is β, then Fig.32 , Fig.33 In the second antenna group Gr2 in the antenna configuration shown, the group number α is 2, the number of antennas in the group β is 3, and according to α×β, it is calculated that there are 6 second antennas At2. The second antenna group 24a is as described in Embodiment 3. The second antenna group 24b also has the same structure as the second antenna group 24a. The interval between adjacent transmitting antennas Tx among transmitting antennas Tx4, Tx5, and Tx6, that is, the transmitting antenna interval Dtx, is twice the distance d, that is, 2d. The interval between transmitting antenna Tx4 and transmitting antenna Tx5 is the interval between phase center line 28d and phase center line 28e, and the interval between transmitting antenna Tx5 and transmitting antenna Tx6 is the interval between phase center line 28e and phase center line 28f. The transmitting antenna interval Dtx is the antenna interval D2 which is twice the distance d in the second antenna At2 (refer to Fig.12 ). The power supply circuit 25 for the transmitting antenna Tx and the receiving antenna Rx shows a power supply circuit formed in a parallel power supply mode with equal wiring lengths to the respective element antennas 19. An example is shown in which the transmitting antenna Tx is the second antenna At2 of the second antenna group Gr2, the power supply circuit 25 is arranged in an area adjacent to other transmitting antennas, and the element antennas 19 are arranged not to be opposite. The receiving antenna Rx is the first antenna At1 of the first antenna group Gr1, and the element antennas 19 of the two receiving antennas Rx in the first antenna group 22a, 22b, 22c are arranged to be opposite to each other, so that the power supply circuit 25 is not arranged in an area adjacent to other receiving antennas.

[0194] Fig.34 , Fig.35 , Fig.36 It is shown in Fig.32 , Fig.33 A virtual receiving antenna group 50 is formed by the transmitting antenna Tx and the receiving antenna Rx in the antenna configuration. The virtual receiving antenna group 50 includes a plurality of virtual receiving antennas. Thirty-six virtual receiving antennas VR1 to VR36 are formed by six transmitting antennas Tx1 to Tx6 as the second antenna At2 and six receiving antennas Rx1 to Rx6 as the first antenna At1. The interval between adjacent virtual receiving antennas VR among the 36 virtual receiving antennas VR, i.e., the virtual receiving antenna interval Dvr, is formed to be an equal interval of distance d. The respective virtual receiving antennas VR of the virtual receiving antenna group 50 are arranged in a third arrangement direction dr3 at an equal interval of distance d. The third arrangement direction dr3 is a direction parallel to the first arrangement direction dr1 and the second arrangement direction dr2.

[0195] Since the second antenna group Gr2 includes two second antenna groups 24a and 24b, the virtual receiving antenna group 50 includes: a virtual receiving antenna group 51a, which has virtual receiving antennas VR1~VR18 formed by signals transmitted through the transmitting antenna Tx of the second antenna group 24a and received through the receiving antennas Rx1~Rx6; a virtual receiving antenna group 51b, which has virtual receiving antennas VR19~VR36 formed by signals transmitted through the transmitting antenna Tx of the second antenna group 24b and received through the receiving antennas Rx1~Rx6. Fig.35 The virtual receiving antenna group 51a shown has the same structure as described in Embodiment 3. Fig.31 The virtual receiving antenna group 50 has the same structure.

[0196] The virtual receiving antenna group 51b has the same structure as the virtual receiving antenna group 51a. Fig.36In the example of FIG. 5 , virtual receiving antennas VR19 to VR36 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR19, VR20, VR25, VR26, VR31, VR32, VR21, VR22, VR27, VR28, VR33, VR34, VR23, VR24, VR29, VR30, VR35, and VR36. In the virtual receiving antenna group 51b, VR19, VR20, VR21, VR22, VR23, and VR24 indicated by a blank solid circle are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx4 and received by the receiving antennas Rx1 to Rx6, and VR25, VR26, VR27, VR28, VR29, and VR30 indicated by a blank dotted circle are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx5 and received by the receiving antennas Rx1 to Rx6. VR31, VR32, VR33, VR34, VR35, and VR36 indicated by patterned solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx6 and received by the receiving antennas Rx1 to Rx6.

[0197] Virtual receiving antennas VR19 and VR20 are virtual receiving antennas formed by signals received by receiving antennas Rx1 and Rx2 of the first antenna group 22a, virtual receiving antennas VR21 and VR22 are virtual receiving antennas formed by signals received by receiving antennas Rx3 and Rx4 of the first antenna group 22b, and virtual receiving antennas VR23 and VR24 are virtual receiving antennas formed by signals received by receiving antennas Rx5 and Rx6 of the first antenna group 22c. Therefore, the interval between adjacent virtual receiving antennas VR19, VR21, and VR23 formed by receiving antenna Rx1 of the first antenna group 22a, receiving antenna Rx3 of the first antenna group 22b, and receiving antenna Rx5 of the first antenna group 22c is the first antenna group interval Dg1s of 6d. The receiving antennas Rx1, Rx3, and Rx5 are the receiving antennas Rx on the negative side of the third arrangement direction dr3 in the first antenna group 22a, 22b, and 22c, but the virtual receiving antennas VR20, VR22, and VR24 formed by the receiving antennas Rx2, Rx4, and Rx6 which are the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna group 22a, 22b, and 22c are also spaced apart from each other by the first antenna group spacing Dg1s of 6d.

[0198] VR25, VR26, VR27, VR28, VR29, and VR30 represented by the white dotted circle are similar to VR19 to VR24 represented by the white solid circle. The interval between adjacent virtual receiving antennas VR25, VR27, and VR29 formed by the receiving antenna Rx1 of the first antenna group 22a, the receiving antenna Rx3 of the first antenna group 22b, and the receiving antenna Rx5 of the first antenna group 22c is the first antenna group interval Dg1s of 6d. The interval between virtual receiving antennas VR26, VR28, and VR30 formed by the receiving antennas Rx2, Rx4, and Rx6 as the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, and 22c is also the first antenna group interval Dg1s of 6d.

[0199] VR31, VR32, VR33, VR34, VR35, and VR36 represented by patterned solid circles are similar to VR19 to VR24 represented by blank solid circles. The intervals between adjacent virtual receiving antennas VR31, VR33, and VR35 formed by receiving antenna Rx1 of the first antenna group 22a, receiving antenna Rx3 of the first antenna group 22b, and receiving antenna Rx5 of the first antenna group 22c are the first antenna group interval Dg1s of 6d. The intervals between virtual receiving antennas VR32, VR34, and VR36 formed by receiving antennas Rx2, Rx4, and Rx6, which are receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, and 22c, are also the first antenna group interval Dg1s of 6d.

[0200] In the first antenna group Gr1, the interval between adjacent first antenna groups in the first antenna groups 22a, 22b, and 22c having two receiving antennas Rx arranged at an antenna interval Drx of a distance d, namely, an antenna interval D1, is determined by the first antenna group interval Dg1s, which is determined by equation (4).

[0201] Dg1s=β×D2···(4)

[0202] As mentioned above, β is the number of antennas in the second antenna group, that is, the number of antennas in the group. Fig.32 , Fig.33 In the case of the antenna configuration, the number of antennas β in the second antenna group is 3, the second antenna At2 of the second antenna group Gr2 is a transmitting antenna Tx, and the antenna spacing D2 between adjacent second antennas At2 in each second antenna group 24a, 24b of the second antenna group Gr2 is a transmitting antenna spacing Dtx which is twice the distance d. Fig.32 , Fig.33 In the case of the antenna configuration, the first antenna group interval Dg1s is 3×D2, that is, 6d.

[0203] The second antenna group interval Dg2s between the second antenna groups 24a and 24b having three transmission antennas Tx arranged at an antenna interval D2 which is twice the distance d in the second antenna group Gr2 is determined by equation (5). The second antenna group interval Dg2s is the interval between adjacent second antenna groups.

[0204] Dg2s=Dg1s×Ng1 / 2···(5)

[0205] Here, Ng1 is the number of first antennas, that is, the number of first antennas. Fig.32 , Fig.33 In the case of the antenna configuration in , the first antenna group interval Dg1s is 6d and the first antenna number Ng1 is 6.

[0206] exist Fig.32 , Fig.33 In the case of the antenna configuration, the second antenna group interval Dg2s is 18d calculated according to 6d×6 / 2. As described above, the plurality of first antennas At1 configured with the antenna interval D1 of the predetermined distance d can be either the transmitting antenna Tx or the receiving antenna Rx. The second antenna At2 is an antenna that operates oppositely to the first antenna At1. Fig.32 , Fig.33 The antenna configuration is an example in which the number of first antennas At1 is 6 and the number of second antennas At2 is 6. However, the antennas in the radar device 1 of the fourth embodiment are not limited to this. The number of first antennas At1, i.e., the number of first antennas Ng1, is an even number greater than 4, the number of first antenna groups is greater than 2, and the number of second antennas At2, i.e., the number of second antennas Ng2, is α×β. Here, the number of second antenna groups α and the number of antennas in the group β in the second antenna group Gr2 are both integers greater than 2.

[0207] In the radar device 1 of the fourth embodiment, the number of the first antennas At1 included in the first antenna group Gr1 is an even number greater than 4, the number of the second antennas At2 included in the second antenna group Gr2 is α×β, and the transmission circuit 12 and the reception circuit 13 are configured to correspond to the number of the transmission antennas Tx as one of the first antennas At1 and the second antennas At2 and the number of the reception antennas Rx as the other of the first antennas At1 and the second antennas At2. In the radar device 1 of the fourth embodiment, the first antennas At1 are arranged so that the first antenna group interval Dg1s is a value obtained by multiplying the number of antennas in the group β as the number of second antennas At2 in the second antenna group 24a, 24b by the antenna interval D2 as the interval between adjacent second antennas At2 in the second antenna group 24a, 24b. The first antenna group interval Dg1s is the interval between adjacent first antennas At1 in the first antenna group having two first antennas At1 arranged at an interval of a predetermined distance d. In the radar device 1 of the fourth embodiment, the second antenna At2 is arranged so that the second antenna group interval Dg2s is a value obtained by dividing the product of the first antenna group interval Dg1s and the first antenna number Ng1, which is the number of the first antennas At1, by 2, and the second antenna group interval Dg2s is the interval between adjacent second antenna groups 24a, 24b, which have the number of second antennas At2, which are the number of antennas in the group, β, arranged at the antenna interval D2. Although the radar device 1 of the fourth embodiment is a case where the first antennas At1 of more than three channels cannot be physically arranged at intervals of a predetermined distance d, a plurality of virtual receiving antennas VR formed by the transmission and reception of the first antenna At1 and the second antenna At2 can be arranged at equal intervals of the distance d, so that side lobes can be reduced and false detection can be suppressed.

[0208] The radar device 1 of the fourth embodiment is applicable to the case where the number of first antennas At1 is an even number greater than two channels, and the number of second antennas At2 is the product of the number of groups α and the number of antennas in the group β, that is, α×β. Even in the case where the radar device 1 of the fourth embodiment cannot physically configure the first antennas At1 with more than three channels at intervals of a predetermined distance d, a plurality of virtual receiving antennas VR formed by the transmission and reception of the first antenna At1 and the second antenna At2 can be configured at equal intervals of the distance d. Furthermore, in the case where the second antenna At2 is a transmitting antenna Tx, by collectively configuring the virtual receiving antennas VR for each transmitting antenna Tx in the group of receiving antennas Rx, that is, the first antenna group 22a, 22b, 22c, a plurality of virtual receiving antennas VR can be configured at equal intervals of the distance d. Fig.25Similarly, the radar device 1 of Embodiment 4 may arrange a plurality of antennas of the first antenna group Gr1 and the second antenna group Gr2 in the extending direction of the phase center line. In this case, the distance, relative speed and angle of the target object 33 can be measured in a two-dimensional space in the third arrangement direction dr3 and the sixth arrangement direction dr6 perpendicular to the third arrangement direction dr3.

[0209] exist Fig.32 , Fig.33 In the antenna configuration example, the first antenna group Gr1 and the second antenna group Gr2 are arranged and configured in another antenna arrangement direction, that is, the first antenna group Gr1 is arranged on the positive side of the second arrangement direction dr2 of the second antenna group Gr2. Fig.37 As shown, the first antenna group Gr1 and the second antenna group Gr2 can be arranged in parallel with each other in the extending direction of the phase center line of each antenna. Fig.37 In the antenna configuration example, the first antenna group Gr1 is configured on the upper side of the second antenna group Gr2 on the paper. When the first antenna group Gr1 and the second antenna group Gr2 are arranged and configured in the direction in which the phase center lines of the respective antennas extend, the virtual receiving antennas VR can be arranged at equal intervals at a predetermined distance d, and the lengths of the transmitting antennas Tx and the receiving antennas Rx of the radar device 1 in the long-side direction, i.e., the lengths in the first arrangement direction dr1 and the second arrangement direction dr2, can be reduced. In this case, even if the total number of the transmitting antennas Tx and the receiving antennas Rx increases, the lengths in the long-side direction of the transmitting antennas Tx and the receiving antennas Rx, i.e., the lengths in the long-side direction of the antennas, can be prevented from protruding and becoming longer than the lengths of the transmitting circuit 12, the receiving circuit 13, and the processing unit 11 in the long-side direction of the antennas. When the total number of the transmitting antennas Tx and the receiving antennas Rx on the same straight line increases, the length of the radar device 1 in the long-side direction becomes longer in accordance with the lengths in the long-side direction of the antennas. Therefore, when the total number of transmission antennas Tx and reception antennas Rx increases, the length of the radar device 1 in the longitudinal direction can be shortened by shortening the length of the transmission antennas Tx and reception antennas Rx in the longitudinal direction.

[0210] Implementation method 5.

[0211] Fig.37 is a diagram showing the antenna configuration of a radar device according to Embodiment 5. Fig.38 is shown corresponding to Fig.37 A diagram of a virtual receive antenna group for an antenna configuration of Fig.39 It is shown Fig.37The radar device 1 of the fifth embodiment is an example in which the number α of the second antenna group in the second antenna group Gr2 of the radar device 1 of the fourth embodiment is 3. The parts different from the radar device 1 of the fourth embodiment are mainly described. Fig.37 The radar device 1 of the embodiment 5 includes an antenna having an antenna configuration of Fig.32 , Fig.33 The difference of the radar device 1 of the embodiment 4 of the antenna configuration is that the second antenna group Gr2 includes three second antenna groups, and the second antenna group has three transmission antennas Tx as the second antenna At2. If the number of groups α of the second antenna At2 in the second antenna group Gr2 and the number of antennas in the group β are used to represent, Fig.32 , Fig.33 The radar device 1 of the embodiment 4 of the antenna configuration of the antenna is an example in which the number of groups α and the number of antennas in the group β are 2 and 3 respectively, including Fig.37 The radar device 1 according to the fifth embodiment of the antenna configuration is an example in which the number of groups α and the number of antennas in each group β are 3 and 3, respectively.

[0212] Specifically, it includes Fig.37 The radar device 1 of the antenna configuration of the fifth embodiment includes 9 transmitting antennas Tx1, Tx2, Tx3, Tx4, Tx5, Tx6, Tx7, Tx8, and Tx9, 6 receiving antennas Rx1, Rx2, Rx3, Rx4, Rx5, and Rx6, a transmitting circuit 12, a receiving circuit 13, and a processing unit 11. In the transmitting circuit 12, the transmitting switching switch 124 is configured to switch the 9 transmitting antennas Tx1 to Tx9. The receiving circuit 13 has a structure corresponding to the 6 receiving antennas Rx1 to Rx6. Fig.37 The radar device 1 having the antenna configured with the antenna transmits a transmission signal having a modulation pattern 61 repeated in the order of Tx1, Tx2, Tx3, Tx4, Tx5, Tx6, Tx7, Tx8, and Tx9.

[0213] The transmitting antenna Tx and the receiving antenna Rx are described. Fig.37 In the antenna configuration shown, the receiving antenna Rx is an antenna of the first antenna group Gr1, that is, the first antenna At1, and the transmitting antenna Tx is an antenna of the second antenna group Gr2, that is, the second antenna At2. The receiving antennas Rx1 to Rx6 are sequentially arranged toward the positive side of the first arrangement direction dr1, and the transmitting antennas Tx1 to Tx9 are sequentially arranged toward the positive side of the second arrangement direction dr2. The receiving antennas Rx1 and Rx2 constitute the first antenna group 22a, the receiving antennas Rx3 and Rx4 constitute the first antenna group 22b, and the receiving antennas Rx5 and Rx6 constitute the first antenna group 22c. Fig.37 The first antenna group Gr1 shown in FIG. Fig.32The first antenna group Gr1 shown in FIG. 1 is the same as that in FIG. 1 , and thus description thereof will not be repeated.

[0214] The transmitting antennas Tx1, Tx2, and Tx3 form a second antenna group 24a, the transmitting antennas Tx4, Tx5, and Tx6 form a second antenna group 24b, and the transmitting antennas Tx7, Tx8, and Tx9 form a second antenna group 24c. If the number of groups α of the second antenna At2 in the second antenna group Gr2 and the number of antennas in the group β are used to represent Fig.37 In the second antenna group Gr2 in the antenna configuration shown, the number of groups α is 3, and the number of antennas in the group β is 3. According to α×β, it is calculated that there are 9 second antennas At2. The second antenna groups 24a and 24b are as described in embodiment 4. The second antenna group 24c also has the same structure as the second antenna groups 24a and 24b. The interval between adjacent transmitting antennas Tx among transmitting antennas Tx7, Tx8, and Tx9, that is, the transmitting antenna interval Dtx, is twice the distance d, that is, 2d. The interval between transmitting antenna Tx7 and transmitting antenna Tx8 is the interval between phase center line 28g and phase center line 28h, and the interval between transmitting antenna Tx8 and transmitting antenna Tx9 is the interval between phase center line 28h and phase center line 28i. The transmitting antenna interval Dtx is the antenna interval D2 which is twice the distance d between the second antennas At2 (refer to Fig.12 ). The power supply circuit 25 for the transmission antenna Tx and the reception antenna Rx is similar to the radar device 1 of the fourth embodiment, and is a power supply circuit of a parallel power supply system in which the wiring lengths to the element antennas 19 are equal.

[0215] Fig.38 It is shown in Fig.37 A virtual receiving antenna group 50 is formed by the transmitting antenna Tx and the receiving antenna Rx in the antenna configuration. Fig.38 The virtual receiving antenna group 50 shown includes virtual receiving antenna groups 51a, 51b, and 51c. The virtual receiving antenna groups 51a and 51b are respectively connected to Fig.35 , Fig.36 The virtual receiving antenna groups 51a and 51b shown are the same. Fig.39 54 virtual receiving antennas VR1 to VR54 are formed by 9 transmitting antennas Tx1 to Tx9 as the second antenna At2 and 6 receiving antennas Rx1 to Rx6 as the first antenna At1. The interval between adjacent virtual receiving antennas VR among the 54 virtual receiving antennas VR, i.e., the virtual receiving antenna interval Dvr, is formed to be an equal interval of distance d. The virtual receiving antennas VR of the virtual receiving antenna group 50 are arranged in the third arrangement direction dr3 at an equal interval of distance d. The third arrangement direction dr3 is a direction parallel to the first arrangement direction dr1 and the second arrangement direction dr2.

[0216] The second antenna group Gr2 includes three second antenna groups 24a, 24b, and 24c, so the virtual receiving antenna group 50 includes: a virtual receiving antenna group 51a, which has virtual receiving antennas VR1 to VR18 formed by signals transmitted through the transmitting antenna Tx of the second antenna group 24a and received through the receiving antennas Rx1 to Rx6; a virtual receiving antenna group 51b, which has virtual receiving antennas VR19 to VR36 formed by signals transmitted through the transmitting antenna Tx of the second antenna group 24b and received through the receiving antennas Rx1 to Rx6; and a virtual receiving antenna group 51c, which has virtual receiving antennas VR37 to VR54 formed by signals transmitted through the transmitting antenna Tx of the second antenna group 24c and received through the receiving antennas Rx1 to Rx6.

[0217] The virtual receiving antenna group 51c has the same structure as the virtual receiving antenna groups 51a and 51b. Fig.39 In the example of FIG. 5 , virtual receiving antennas VR37 to VR54 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR37, VR38, VR43, VR44, VR49, VR50, VR39, VR40, VR45, VR46, VR51, VR52, VR41, VR42, VR47, VR48, VR53, and VR54. In the virtual receiving antenna group 51c, VR37, VR38, VR39, VR40, VR41, and VR42 represented by white solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx7 and received by the receiving antennas Rx1 to Rx6, and VR43, VR44, VR45, VR46, VR47, and VR48 represented by white dotted circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx8 and received by the receiving antennas Rx1 to Rx6. VR49, VR50, VR51, VR52, VR53, and VR54 indicated by patterned solid circles are virtual receiving antennas formed by signals transmitted via the transmitting antenna Tx9 and received via the receiving antennas Rx1 to Rx6.

[0218] Virtual receiving antennas VR37 and VR38 are virtual receiving antennas formed by signals received by receiving antennas Rx1 and Rx2 of first antenna group 22a, virtual receiving antennas VR39 and VR40 are virtual receiving antennas formed by signals received by receiving antennas Rx3 and Rx4 of first antenna group 22b, and virtual receiving antennas VR41 and VR42 are virtual receiving antennas formed by signals received by receiving antennas Rx5 and Rx6 of first antenna group 22c. Therefore, the interval between adjacent virtual receiving antennas VR37, VR39, and VR41 formed by receiving antenna Rx1 of first antenna group 22a, receiving antenna Rx3 of first antenna group 22b, and receiving antenna Rx5 of first antenna group 22c is the first antenna group interval Dg1s of 6d. The receiving antennas Rx1, Rx3, and Rx5 are the receiving antennas Rx on the negative side of the third arrangement direction dr3 in the first antenna group 22a, 22b, and 22c, but the virtual receiving antennas VR38, VR40, and VR42 formed by the receiving antennas Rx2, Rx4, and Rx6 which are the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna group 22a, 22b, and 22c are also spaced apart from each other by the first antenna group spacing Dg1s of 6d.

[0219] VR43, VR44, VR45, VR46, VR47, and VR48 represented by the white dotted circle are similar to VR37 to VR42 represented by the white solid circle. The interval between adjacent virtual receiving antennas VR43, VR45, and VR47 formed by receiving antenna Rx1 of the first antenna group 22a, receiving antenna Rx3 of the first antenna group 22b, and receiving antenna Rx5 of the first antenna group 22c is the first antenna group interval Dg1s of 6d. The interval between virtual receiving antennas VR44, VR46, and VR48 formed by receiving antennas Rx2, Rx4, and Rx6 as receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, and 22c is also the first antenna group interval Dg1s of 6d.

[0220] VR49, VR50, VR51, VR52, VR53, and VR54 represented by patterned solid circles are similar to VR37 to VR42 represented by white solid circles. The intervals between adjacent virtual receiving antennas VR49, VR51, and VR53 formed by receiving antenna Rx1 of the first antenna group 22a, receiving antenna Rx3 of the first antenna group 22b, and receiving antenna Rx5 of the first antenna group 22c are the first antenna group interval Dg1s of 6d. The intervals between virtual receiving antennas VR50, VR52, and VR54 formed by receiving antennas Rx2, Rx4, and Rx6, which are receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, and 22c, are also the first antenna group interval Dg1s of 6d.

[0221] The interval between adjacent first antenna groups in the first antenna group 22a, 22b, and 22c having two receiving antennas Rx arranged at a receiving antenna interval Drx of a distance d, i.e., an antenna interval D1, in the first antenna group Gr1 is determined according to equation (4). The second antenna group interval Dg2s between the second antenna group 24a, 24b, and 24c having three transmitting antennas Tx arranged at a transmitting antenna interval Dtx of twice the distance d, i.e., an antenna interval D2, in the second antenna group Gr2 is determined according to equation (5).

[0222] exist Fig.37 In the case of the antenna configuration, the number of antennas in the second antenna group β is 3, the second antenna At2 of the second antenna group Gr2 is a transmitting antenna Tx, and the antenna spacing D2 between adjacent second antennas At2 in each second antenna group 24a, 24b, 24c of the second antenna group Gr2 is a transmitting antenna spacing Dtx which is twice the distance d. Fig.37 In the case of antenna configuration, Fig.32 , Fig.33 The same is true for the antenna configuration of , the first antenna group interval Dg1s is 3×D2, that is, 6d. Since the first antenna group interval Dg1s is 6d and the first antenna number Ng1 is 6, Fig.32 , Fig.33 In the same manner as in the case of the antenna configuration, the second antenna group interval Dg2s is 18d calculated based on 6d×6 / 2.

[0223] As described above, the plurality of first antennas At1 arranged at the antenna interval D1 of the predetermined distance d may be either the transmitting antenna Tx or the receiving antenna Rx. The second antenna At2 is an antenna that performs the opposite operation to the first antenna At1. Fig.37 The antenna configuration is an example in which the number of first antennas At1 is 6 and the number of second antennas At2 is 9. However, as described in Embodiment 4, the antennas in the radar device 1 of Embodiment 5 are not limited thereto. The number of first antennas At1, i.e., the number of first antennas Ng1, is an even number of 4 or more, the number of first antenna groups is 2 or more, and the number of second antennas At2, i.e., the number of second antennas Ng2, is α×β.

[0224] In the radar device 1 of the fifth embodiment, the number of first antennas At1 included in the first antenna group Gr1 is an even number greater than 4, the number of second antennas At2 included in the second antenna group Gr2 is α×β, and the transmission circuit 12 and the reception circuit 13 are configured to correspond to the number of transmission antennas Tx as one of the first antennas At1 and the second antennas At2 and the number of reception antennas Rx as the other of the first antennas At1 and the second antennas At2. In the radar device 1 of the fifth embodiment, the first antenna At1 is arranged so that the first antenna group interval Dg1s is a value obtained by multiplying the number of antennas in the group β as the number of second antennas At2 in the second antenna group 24a, 24b, 24c by the antenna interval D2 as the interval between adjacent second antennas At2 in the second antenna group 24a, 24b, 24c. The first antenna group interval Dg1s is the interval between adjacent first antennas At1 in the first antenna group having two first antennas At1 arranged at an interval of a predetermined distance d. In the radar device 1 of the fifth embodiment, the second antenna At2 is arranged so that the second antenna group interval Dg2s is a value obtained by dividing the product of the first antenna group interval Dg1s and the first antenna number Ng1, which is the number of the first antennas At1, by 2, and the second antenna group interval Dg2s is the interval between adjacent second antenna groups 24a, 24b, and 24c, which have the number of second antennas At2 in the group arranged at the antenna interval D2, α. Although the radar device 1 of the fifth embodiment is a case where the first antennas At1 of more than three channels cannot be physically arranged at intervals of a predetermined distance d, a plurality of virtual receiving antennas VR formed by the transmission and reception of the first antenna At1 and the second antenna At2 can be arranged at equal intervals of the distance d, so that side lobes can be reduced and false detection can be suppressed.

[0225] The radar device 1 of the fifth embodiment is a case where the number α of the second antenna groups of the second antenna group Gr2 in the radar device 1 of the fourth embodiment is 3, and has the same effects as the radar device 1 of the fourth embodiment.

[0226] Implementation method 6.

[0227] Fig.40 is a diagram showing the antenna configuration of a radar device according to Embodiment 6. Fig.41 is shown with Fig.40 Figure 3 shows a diagram of a virtual receiving antenna group corresponding to the antenna configuration. Fig.42 , Fig.43 , Fig.44 They are shown respectively Fig.41 A first virtual receiving antenna group, Fig.41 A second virtual receiving antenna group, Fig.41The radar device 1 of the sixth embodiment is an example in which the number of antennas β in the second antenna group in the second antenna group Gr2 of the radar device 1 of the fifth embodiment is 2. The parts different from the radar device 1 of the fifth embodiment are mainly described. Fig.40 The radar device 1 of the embodiment 6 of the antenna configuration includes Fig.37 The difference of the radar device 1 of the antenna configuration of the embodiment 5 is that the second antenna group Gr2 includes three second antenna groups, and the second antenna group has two transmission antennas Tx as the second antenna At2. If the number of groups α of the second antenna At2 in the second antenna group Gr2 and the number of antennas in the group β are used to represent, Fig.37 The radar device 1 of the embodiment 5 of the antenna configuration of the antenna is an example in which the number of groups α and the number of antennas in the group β are 2 and 3 respectively, including Fig.40 The radar device 1 according to the sixth embodiment of the antenna configuration is an example in which the number of groups α and the number of antennas in each group β are 3 and 2, respectively.

[0228] Specifically, it includes Fig.40 The radar device 1 of the antenna configuration of the antenna embodiment 4 includes six transmitting antennas Tx1, Tx2, Tx3, Tx4, Tx5, and Tx6, six receiving antennas Rx1, Rx2, Rx3, Rx4, Rx5, and Rx6, a transmitting circuit 12, a receiving circuit 13, and a processing unit 11. In the transmitting circuit 12, the transmitting switching switch 124 is configured to switch the six transmitting antennas Tx1 to Tx6. The receiving circuit 13 has a structure corresponding to the six receiving antennas Rx1 to Rx6. Fig.40 The radar device 1 having the antenna configured with the antenna transmits a transmission signal having a modulation pattern 61 repeated in the order of Tx1, Tx2, Tx3, Tx4, Tx5, and Tx6.

[0229] The transmitting antenna Tx and the receiving antenna Rx are described. Fig.40 In the antenna configuration shown, the receiving antenna Rx is an antenna of the first antenna group Gr1, that is, the first antenna At1, and the transmitting antenna Tx is an antenna of the second antenna group Gr2, that is, the second antenna At2. The receiving antennas Rx1 to Rx6 are sequentially arranged toward the positive side of the first arrangement direction dr1, and the transmitting antennas Tx1 to Tx6 are sequentially arranged toward the positive side of the second arrangement direction dr2. The receiving antennas Rx1 and Rx2 constitute the first antenna group 22a, the receiving antennas Rx3 and Rx4 constitute the first antenna group 22b, and the receiving antennas Rx5 and Rx6 constitute the first antenna group 22c. Fig.40 The first antenna group Gr1 shown in FIG. Fig.37 The first antenna group Gr1 shown in FIG. 1 is the same as that in FIG. 1 , and thus description thereof will not be repeated.

[0230] The transmitting antennas Tx1 and Tx2 form a second antenna group 24a, the transmitting antennas Tx3 and Tx4 form a second antenna group 24b, and the transmitting antennas Tx5 and Tx6 form a second antenna group 24c. If the number of groups α of the second antenna At2 in the second antenna group Gr2 and the number of antennas in the group β are used to represent Fig.40 In the second antenna group Gr2 in the antenna configuration shown, the number of groups α is 3, and the number of antennas in the group β is 2. According to α×β, there are 6 second antennas At2. In the transmitting antennas Tx1 and Tx2 of the second antenna group 24a, the interval between adjacent transmitting antennas Tx, that is, the transmitting antenna interval Dtx, is twice the distance d, that is, 2d. The interval between the transmitting antenna Tx1 and the transmitting antenna Tx2 is the interval between the phase center line 28a and the phase center line 28b. The transmitting antenna interval Dtx is the antenna interval D2 (refer to) which is twice the distance d in the second antenna At2. Fig.12 ). The second antenna groups 24b and 24c also have the same structure as the second antenna group 24a. In the transmitting antennas Tx3 and Tx4 of the second antenna group 24b, the interval between adjacent transmitting antennas Tx, that is, the transmitting antenna interval Dtx, is twice the distance d, that is, 2d. The interval between the transmitting antennas Tx3 and Tx4 is the interval between the phase center line 28c and the phase center line 28d. In the transmitting antennas Tx5 and Tx6 of the second antenna group 24c, the interval between adjacent transmitting antennas Tx, that is, the transmitting antenna interval Dtx, is twice the distance d, that is, 2d. The interval between the transmitting antenna Tx5 and the transmitting antenna Tx6 is the interval between the phase center line 28e and the phase center line 28f.

[0231] The power supply circuit 25 for the transmitting antenna Tx and the receiving antenna Rx shows a power supply circuit formed in a parallel power supply mode with equal wiring lengths to the respective element antennas 19. An example is shown in which the transmitting antenna Tx is the second antenna At2 of the second antenna group Gr2, but the element antennas 19 of the two transmitting antennas Tx are arranged to face each other, so that the power supply circuit 25 is not arranged in an area adjacent to other transmitting antennas. The receiving antenna Rx is the first antenna At1 of the first antenna group Gr1, and the element antennas 19 of the two receiving antennas Rx in the first antenna group 22a, 22b, 22c are arranged to face each other, so that the power supply circuit 25 is not arranged in an area adjacent to other receiving antennas.

[0232] Fig.41 , 42 , 43, 44 show the Fig.40A virtual receiving antenna group 50 is formed by the transmitting antenna Tx and the receiving antenna Rx in the antenna configuration. The virtual receiving antenna group 50 includes a plurality of virtual receiving antennas. Thirty-six virtual receiving antennas VR1 to VR36 are formed by six transmitting antennas Tx1 to Tx6 as the second antenna At2 and six receiving antennas Rx1 to Rx6 as the first antenna At1. The interval between adjacent virtual receiving antennas VR among the 36 virtual receiving antennas VR, i.e., the virtual receiving antenna interval Dvr, is formed to be an equal interval of distance d. The respective virtual receiving antennas VR of the virtual receiving antenna group 50 are arranged in a third arrangement direction dr3 at an equal interval of distance d. The third arrangement direction dr3 is a direction parallel to the first arrangement direction dr1 and the second arrangement direction dr2.

[0233] The second antenna group Gr2 includes three second antenna groups 24a, 24b, and 24c, so the virtual receiving antenna group 50 includes: a virtual receiving antenna group 52a, which has virtual receiving antennas VR1 to VR12 formed by signals transmitted through the transmitting antenna Tx of the second antenna group 24a and received through the receiving antennas Rx1 to Rx6; a virtual receiving antenna group 52b, which has virtual receiving antennas VR13 to VR24 formed by signals transmitted through the transmitting antenna Tx of the second antenna group 24b and received through the receiving antennas Rx1 to Rx6; and a virtual receiving antenna group 52c, which has virtual receiving antennas VR25 to VR36 formed by signals transmitted through the transmitting antenna Tx of the second antenna group 24c and received through the receiving antennas Rx1 to Rx6.

[0234] exist Fig.42 In the example of the virtual receiving antenna group 52a shown, the virtual receiving antennas VR1 to VR12 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR1, VR2, VR7, VR8, VR3, VR4, VR9, VR10, VR5, VR6, VR11, and VR12. In the virtual receiving antenna group 52a, VR1, VR2, VR3, VR4, VR5, and VR6 represented by white solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx1 and received by the receiving antennas Rx1 to Rx6, and VR7, VR8, VR9, VR10, VR11, and VR12 represented by white dotted circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx2 and received by the receiving antennas Rx1 to Rx6.

[0235] Virtual receiving antennas VR1 and VR2 are virtual receiving antennas formed by signals received by receiving antennas Rx1 and Rx2 of first antenna group 22a, virtual receiving antennas VR3 and VR4 are virtual receiving antennas formed by signals received by receiving antennas Rx3 and Rx4 of first antenna group 22b, and virtual receiving antennas VR5 and VR6 are virtual receiving antennas formed by signals received by receiving antennas Rx5 and Rx6 of first antenna group 22c. Therefore, the interval between adjacent virtual receiving antennas VR1, VR3, and VR5 formed by receiving antenna Rx1 of first antenna group 22a, receiving antenna Rx3 of first antenna group 22b, and receiving antenna Rx5 of first antenna group 22c is the first antenna group interval Dg1s of 4d. The receiving antennas Rx1, Rx3, and Rx5 are the receiving antennas Rx on the negative side of the third arrangement direction dr3 in the first antenna group 22a, 22b, and 22c, but the virtual receiving antennas VR2, VR4, and VR6 formed by the receiving antennas Rx2, Rx4, and Rx6 which are the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna group 22a, 22b, and 22c are also spaced apart from each other by the first antenna group spacing Dg1s of 4d.

[0236] VR7, VR8, VR9, VR10, VR11, and VR12 represented by the white dotted circle are similar to VR1 to VR6 represented by the white solid circle. The interval between adjacent virtual receiving antennas VR7, VR9, and VR11 formed by the receiving antenna Rx1 of the first antenna group 22a, the receiving antenna Rx3 of the first antenna group 22b, and the receiving antenna Rx5 of the first antenna group 22c is the first antenna group interval Dg1s of 4d. The interval between virtual receiving antennas VR8, VR10, and VR12 formed by the receiving antennas Rx2, Rx4, and Rx6 as the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, and 22c is also the first antenna group interval Dg1s of 4d.

[0237] The virtual receiving antenna group 52b has the same structure as the virtual receiving antenna group 52a. Fig.43In the example of FIG. 5 , virtual receiving antennas VR13 to VR24 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR13, VR14, VR19, VR20, VR15, VR16, VR21, VR22, VR17, VR18, VR23, and VR24. In the virtual receiving antenna group 52b, VR13, VR14, VR15, VR16, VR17, and VR18 represented by white solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx3 and received by the receiving antennas Rx1 to Rx6, and VR19, VR20, VR21, VR22, VR23, and VR24 represented by white dotted circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx4 and received by the receiving antennas Rx1 to Rx6.

[0238] Virtual receiving antennas VR13 and VR14 are virtual receiving antennas formed by signals received by receiving antennas Rx1 and Rx2 of first antenna group 22a, virtual receiving antennas VR15 and VR16 are virtual receiving antennas formed by signals received by receiving antennas Rx3 and Rx4 of first antenna group 22b, and virtual receiving antennas VR17 and VR18 are virtual receiving antennas formed by signals received by receiving antennas Rx5 and Rx6 of first antenna group 22c. Therefore, the interval between adjacent virtual receiving antennas VR13, VR15, and VR17 formed by receiving antenna Rx1 of first antenna group 22a, receiving antenna Rx3 of first antenna group 22b, and receiving antenna Rx5 of first antenna group 22c is the first antenna group interval Dg1s of 4d. The virtual receiving antennas VR14, VR16, VR18 formed by the receiving antennas Rx2, Rx4, Rx6 as the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, 22c are also spaced apart by the first antenna group interval Dg1s of 4d.

[0239] VR19, VR20, VR21, VR22, VR23, and VR24 represented by the white dotted circle are similar to VR13 to VR18 represented by the white solid circle. The interval between the adjacent virtual receiving antennas VR19, VR21, and VR23 formed by the receiving antenna Rx1 of the first antenna group 22a, the receiving antenna Rx3 of the first antenna group 22b, and the receiving antenna Rx5 of the first antenna group 22c is the first antenna group interval Dg1s of 4d. The interval between the virtual receiving antennas VR20, VR22, and VR24 formed by the receiving antennas Rx2, Rx4, and Rx6 as the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, and 22c is also the first antenna group interval Dg1s of 4d.

[0240] The virtual receiving antenna group 52c has the same structure as the virtual receiving antenna groups 52a and 52b. Fig.44 In the example of FIG. 5 , virtual receiving antennas VR25 to VR36 are respectively oriented toward the positive side of the third arrangement direction dr3, and are arranged in the order of VR25, VR26, VR31, VR32, VR27, VR28, VR33, VR34, VR29, VR30, VR35, and VR36. In the virtual receiving antenna group 52c, VR25, VR26, VR27, VR28, VR29, and VR30 represented by white solid circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx5 and received by the receiving antennas Rx1 to Rx6, and VR31, VR32, VR33, VR34, VR35, and VR36 represented by white dotted circles are virtual receiving antennas formed by signals transmitted by the transmitting antenna Tx6 and received by the receiving antennas Rx1 to Rx6.

[0241] Virtual receiving antennas VR25 and VR26 are virtual receiving antennas formed by signals received by receiving antennas Rx1 and Rx2 of the first antenna group 22a, virtual receiving antennas VR27 and VR28 are virtual receiving antennas formed by signals received by receiving antennas Rx3 and Rx4 of the first antenna group 22b, and virtual receiving antennas VR29 and VR30 are virtual receiving antennas formed by signals received by receiving antennas Rx5 and Rx6 of the first antenna group 22c. Therefore, the adjacent intervals among virtual receiving antennas VR25, VR27, and VR29 formed by receiving antenna Rx1 of the first antenna group 22a, receiving antenna Rx3 of the first antenna group 22b, and receiving antenna Rx5 of the first antenna group 22c are the first antenna group interval Dg1s of 4d. The virtual receiving antennas VR26, VR28, VR30 formed by the receiving antennas Rx2, Rx4, Rx6 as the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, 22c are also spaced apart by the first antenna group interval Dg1s of 4d.

[0242] VR31, VR32, VR33, VR34, VR35, and VR36 represented by the white dotted circle are similar to VR25 to VR30 represented by the white solid circle. The interval between adjacent virtual receiving antennas VR31, VR33, and VR35 formed by the receiving antenna Rx1 of the first antenna group 22a, the receiving antenna Rx3 of the first antenna group 22b, and the receiving antenna Rx5 of the first antenna group 22c is the first antenna group interval Dg1s of 4d. The interval between virtual receiving antennas VR32, VR34, and VR36 formed by the receiving antennas Rx2, Rx4, and Rx6 as the receiving antennas Rx on the positive side of the third arrangement direction dr3 in the first antenna groups 22a, 22b, and 22c is also the first antenna group interval Dg1s of 4d.

[0243] The interval between adjacent first antenna groups in the first antenna group 22a, 22b, 22c having two receiving antennas Rx arranged at a receiving antenna interval Drx of a distance d, i.e., an antenna interval D1, in the first antenna group Gr1 is determined according to equation (4). The second antenna group interval Dg2s between the second antenna group 24a, 24b, 24c having two transmitting antennas Tx arranged at a transmitting antenna interval Dtx of twice the distance d, i.e., an antenna interval D2, in the second antenna group Gr2 is determined according to equation (5).

[0244] exist Fig.40 In the case of the antenna configuration, the number of antennas β in the second antenna group is 2, the second antenna At2 of the second antenna group Gr2 is a transmitting antenna Tx, and the antenna spacing D2 between adjacent second antennas At2 in each second antenna group 24a, 24b, 24c of the second antenna group Gr2 is a transmitting antenna spacing Dtx which is twice the distance d. Fig.40 In the case of the antenna configuration, the first antenna group interval Dg1s is 2×D2, that is, 4d. Since the first antenna group interval Dg1s is 4d and the first antenna number Ng1 is 6, the second antenna group interval Dg2s is 12d calculated according to 4d×6 / 2.

[0245] As described above, the plurality of first antennas At1 arranged at the antenna interval D1 of the predetermined distance d may be either the transmitting antenna Tx or the receiving antenna Rx. The second antenna At2 is an antenna that performs the opposite operation to the first antenna At1. Fig.40 The antenna configuration is an example in which the number of first antennas At1 is 6 and the number of second antennas At2 is 6. However, as described in Embodiments 4 and 5, the antennas in the radar device 1 of Embodiment 6 are not limited thereto. The number of first antennas At1, i.e., the number of first antennas Ng1, is an even number of 4 or more, the number of first antenna groups is 2 or more, and the number of second antennas At2, i.e., the number of second antennas Ng2, is α×β.

[0246] In the radar device 1 of the sixth embodiment, the number of first antennas At1 included in the first antenna group Gr1 is an even number greater than 4, the number of second antennas At2 included in the second antenna group Gr2 is α×β, and the transmission circuit 12 and the reception circuit 13 are configured to correspond to the number of transmission antennas Tx as one of the first antennas At1 and the second antennas At2 and the number of reception antennas Rx as the other of the first antennas At1 and the second antennas At2. In the radar device 1 of the sixth embodiment, the first antennas At1 are arranged so that the first antenna group interval Dg1s is a value obtained by multiplying the number of antennas in the group β as the number of second antennas At2 in the second antenna group 24a, 24b, 24c by the antenna interval D2 as the interval between adjacent second antennas At2 in the second antenna group 24a, 24b, 24c. The first antenna group interval Dg1s is the interval between adjacent first antennas At1 in the first antenna group having two first antennas At1 arranged at an interval of a predetermined distance d. In the radar device 1 of the sixth embodiment, the second antenna At2 is arranged so that the second antenna group interval Dg2s is a value obtained by dividing the product of the first antenna group interval Dg1s and the first antenna number Ng1, which is the number of the first antennas At1, by 2, and the second antenna group interval Dg2s is the interval between adjacent ones of the second antenna groups 24a, 24b, and 24c, which have the second antennas At2, which are the number of antennas in the group, β, arranged at the antenna interval D2. Although the radar device 1 of the sixth embodiment is a case where the first antennas At1 of more than three channels cannot be physically arranged at intervals of a predetermined distance d, a plurality of virtual receiving antennas VR formed by the transmission and reception of the first antenna At1 and the second antenna At2 can be arranged at equal intervals of the distance d, so that side lobes can be reduced and false detection can be suppressed.

[0247] The radar device 1 of the sixth embodiment is a case where the number of antennas β in the second antenna group of the second antenna group Gr2 in the radar device 1 of the fifth embodiment is 2, and has the same effects as the radar device 1 of the fifth embodiment.

[0248] include Fig.37The radar device 1 of the embodiment 5 of the antenna configuration shown is an example in which the power supply circuit 25 is arranged in the area where the transmission antenna Tx as the second antenna At2 is adjacent to other transmission antennas in the second antenna group Gr2, and the element antenna 19 is arranged not to be opposite. In this case, it is also considered that the power supply circuit 25 is close to the antenna according to the wavelength λ of the transmission signal transmitted by the radar device 1. In this case, the power supply circuit 25 as a part of the antenna will have an influence and sometimes cause disturbance to the antenna configuration pattern. The antenna configuration pattern without disturbance is an antenna configuration pattern when the values ​​of the parameters for determining the antenna configuration pattern, namely the antenna spacing D1, D2, the first antenna group spacing Dg1s, and the second antenna group spacing Dg2s are within the allowable range at any position of the antenna and are regarded as constant values. The antenna configuration pattern with disturbance refers to the antenna configuration pattern when the values ​​of the antenna spacing D1, D2, the first antenna group spacing Dg1s, and the second antenna group spacing Dg2s exceed the allowable range according to different positions and are not regarded as constant values. When disturbance occurs in the antenna configuration pattern, the distance, relative speed, and angle of the target object 33 cannot be accurately measured. However, in the inclusion Fig.40 In the radar device 1 of embodiment 6 of the antenna configuration shown in , the first antenna At1 and the second antenna At2, i.e., the element antenna 19 of the receiving antenna Rx and the transmitting antenna Tx, are arranged relative to each other so that the power supply circuit 25 is not arranged in an area adjacent to other antennas. Therefore, there is no disturbance to the parameters used to determine the antenna configuration pattern, and the distance, relative speed and angle of the target object 33 can be accurately measured.

[0249] When the number of antennas β in the second antenna group of the second antenna group Gr2 is 2, the element antennas 19 can be arranged to face each other so that the feeder circuit 25 is not arranged between the antennas 19 and 2. Fig.40 In the region adjacent to other antennas shown in , therefore, it is effective as a countermeasure to suppress disturbance of the antenna configuration pattern. In addition, even when the width of the feeder circuit 25 is large, that is, when the width in the second arrangement direction dr2 is large, Fig.40 The configuration of the transmission antenna Tx as the second antenna At2 of the second antenna group Gr2 shown in is also effective for accurately measuring the distance, relative speed, and angle of the target object 33.

[0250] Consider the antenna sizes of the first antenna group Gr1 and the second antenna group Gr2. The antenna size of the first antenna group Gr1, i.e., the first antenna group size Dg1t, is defined as the length from the phase center line on the most negative side of the first arrangement direction dr1 to the phase center line on the most positive side. Similar to the antenna size of the first antenna group Gr1, the antenna size of the second antenna group Gr2, i.e., the second antenna group size Dg2t, is defined as the length from the phase center line on the most negative side of the second arrangement direction dr2 to the phase center line on the most positive side. Fig.40 The radar device 1 of the embodiment 6 of the antenna configuration shown is an example in which the number of first antennas Ng1 is 6, the number of second antennas Ng2 is 6, the number of groups α and the number of antennas in the second antenna group Gr2 are 3 and 2, respectively. Fig.32 , Fig.33 The radar device 1 of the embodiment 4 of the antenna configuration shown in FIG. 1 is described, wherein the first antenna number Ng1 and the second antenna number Ng2 are the same as the antenna configuration shown in FIG. Fig.40 The antenna configuration shown has the same number of antennas as the radar device 1 of the sixth embodiment. Fig.32 , Fig.33 The radar device 1 of the fourth embodiment of the antenna configuration shown is an example in which the number of first antennas Ng1 is 6, the number of second antennas Ng2 is 6, and the number of groups α and the number of antennas in the second antenna group Gr2 are 3 and 2, respectively. Fig.32 , Fig.33 , Fig.40 It can be seen that the first antenna group size Dg1t is expressed by equation (6), and the second antenna group size Dg2t is expressed by equation (7).

[0251] Dg1t=Dg1s×(Ng1 / 2-1)+D1

[0252] =D2×β×(Ng1 / 2-1)+D1···(6)

[0253] Dg2t=Dg2s×(α-1)+D2×(β-1)

[0254] =Dg1s×Ng1 / 2×(α-1)+D2×(β-1)

[0255] =β×D2×Ng1 / 2×(α-1)+D2×(β-1)

[0256] ···(7)

[0257] In addition, Fig.32 , Fig.33 , Fig.40 , which is an example in which the antenna intervals D1 and D2 are d and 2d.

[0258] include Fig.40In the radar device 1 of the sixth embodiment of the antenna configuration shown in the figure, the number α of the second antenna group Gr2 and the number β of antennas in the group are 3 and 2 respectively. According to equations (6) and (7), the first antenna group size Dg1t and the second antenna group size Dg2t are 9d and 26d respectively. Fig.32 , Fig.33 In the radar device 1 of the fourth embodiment of the antenna configuration shown in the figure, the number of groups α of the second antenna group Gr2 and the number of antennas β in the group are 2 and 3, respectively. According to equations (6) and (7), the first antenna group size Dg1t and the second antenna group size Dg2t are 13d and 22d, respectively. In both cases, the second antenna group size Dg2t is larger than the first antenna group size Dg1t. Therefore, in order to reduce the width of the radar device 1 in the long-side direction, that is, the width in the second arrangement direction dr2, it is preferable to select the number of groups α of the second antenna group Gr2 to be 2. Therefore, in the case where the parameters for determining the antenna configuration pattern are not disturbed, by selecting the number of groups α of the second antenna group Gr2 to be 2, the width of the radar device 1 in the long-side direction can be reduced. On the other hand, in the case where the wavelength λ used by selecting the number of groups α of the second antenna group Gr2 to be 2 causes disturbance to the parameters for determining the antenna configuration pattern, by selecting the number of groups α of the second antenna group Gr2 to be 3, the distance, relative speed, and angle of the target object 33 can be accurately measured.

[0259] Depending on the location where the radar device 1 is mounted, the relatively long width of the radar device 1, i.e., the width in the long side direction, is sometimes limited. For example, when the radar device 1 is mounted near the bumper of a vehicle, it is sometimes necessary to reduce the width in the long side direction due to restrictions on the surrounding structures and the shape of the bumper. In the case of considering a design to reduce the width in the long side direction of the radar device 1, a structure in which the transmitting antenna Tx and the receiving antenna Rx are arranged in the longitudinal direction, i.e., the extension direction of the phase center line, can be considered. In this case, since the size of the width in the long side direction of the radar device 1 is larger than the width in the long side direction of the entire transmitting antenna Tx and the width in the long side direction of the entire receiving antenna Rx, it is necessary to have a radar device 1 in which the width in the long side direction of the entire transmitting antenna Tx or the width in the long side direction of the entire receiving antenna Rx is as small as possible. In this case, the number of groups α of the second antenna group Gr2 can be selected to be 2.

[0260] In addition, although the present application describes various exemplary embodiments and examples, the various features, methods and functions described in one or more embodiments are not limited to specific embodiments, but can also be applied to the embodiments alone, or in various combinations to be applied to the embodiments. Therefore, it can be considered that countless unillustrated variations are also included in the technical scope disclosed in the present application specification. For example, it is set to include the case where at least one constituent element is deformed, added or omitted, and the case where at least one constituent element is extracted and combined with constituent elements of other embodiments.

[0261] Description of symbols

[0262] 1…radar device, 11…processing unit, 19…element antenna, 22a, 22b, 22c…first antenna group, 24a, 24b, 24c…second antenna group, 25, 25a, 25b, 25c, 25d, 25e, 25f…power supply circuit, 33…target object, 50…virtual receiving antenna group, 51a, 51b, 51c…virtual receiving antenna group, 52a, 52b, 52c…virtual receiving antenna group, At1, At1a, At1b…first antenna, At2, At2a, At2b, At2c, At2d…second antenna, d…distance (basic distance), D1…antenna spacing, D2…antenna spacing (second antenna spacing), dr1…first arrangement direction, dr2…second arrangement direction, dr3…third arrangement direction, dr4…fourth arrangement direction, dr5…fifth arrangement direction, Dg1s…first antenna group spacing, Dg2s…second antenna group spacing, Dvr…virtual receiving antenna spacing, Gr1…first antenna group, Gr2…second antenna group, Ng1…first antenna number, Ng2…second antenna number, Rx, Rx1, Rx2, Rx3, Rx4, Rx5, Rx6… Receiving antenna, Tx, Tx1, Tx2, Tx3, Tx4, Tx5, Tx6, Tx7, Tx8, Tx9... Transmitting antenna, VR... Virtual receiving antenna, VR1, VR2, VR3, VR4, VR5, VR6, VR7, VR8, VR9, VR10... Virtual receiving antenna, VR11, VR12, VR13, VR14, VR15, VR16, VR17, VR18, VR19, VR20... Virtual receiving antenna, VR21, VR22, VR23, VR24, VR25, VR26, VR27 , VR28, VR29, VR30…virtual receiving antenna, VR31, VR32, VR33, VR34, VR35, VR36, VR37, VR38, VR39, VR40…virtual receiving antenna, VR41, VR42, VR43, VR44, VR45, VR46, VR47, VR48, VR49, VR50…virtual receiving antenna, VR51, VR52, VR53, VR54…virtual receiving antenna, α…number of groups (number of second antenna groups), β…number of antennas within a group (number of antennas within the second antenna group).

Claims

1. A radar device, comprising: A plurality of transmitting antennas for transmitting a transmission signal to a target object; a plurality of receiving antennas for receiving reflected signals obtained after the transmission signal is reflected by the target object and outputting the reflected signals as received signals; and a processing unit for processing the received signals outputted from each of the plurality of receiving antennas, The radar device is characterized in that The antenna interval between adjacent antennas determined based on the field of view required by the radar device is set as a basic distance. The antenna group including any one of the plurality of transmitting antennas and the plurality of receiving antennas and including the first antenna group is set as a first antenna group, wherein the first antenna group has a plurality of first antennas with antenna intervals between adjacent antennas being the basic distance, the antenna group including a plurality of antennas different from the first antenna of the first antenna group and including a second antenna group is set as a second antenna group, the second antenna group including a plurality of second antennas with an antenna interval between adjacent antennas being twice the basic distance, The first antenna and the second antenna include a plurality of element antennas and a power supply circuit for supplying power to the element antennas. The plurality of first antennas are arranged and configured in a first arrangement direction perpendicular to the transmission direction of the transmission signal, and have respective power supply circuits on the positive side or the negative side of the first arrangement direction. The plurality of second antennas are arranged and configured in a second arrangement direction perpendicular to the transmission direction of the transmission signal and parallel to the first arrangement direction, and have the power supply circuit on the positive side or the negative side of the second arrangement direction. No power supply circuit is configured between adjacent antennas in the first antenna group, A virtual receiving antenna group composed of multiple virtual receiving antennas is arranged and configured in a third arrangement direction perpendicular to the sending direction of the sending signal and parallel to the first arrangement direction and the second arrangement direction. The multiple virtual receiving antennas are formed by multiple first antennas of the first antenna group and multiple second antennas of the second antenna group. The interval between adjacent virtual receiving antennas in the third arrangement direction is the basic distance.

2. The radar device according to claim 1, characterized in that The first antenna is the transmitting antenna, and the second antenna is the receiving antenna.

3. The radar device according to claim 1, characterized in that The first antenna is the receiving antenna, and the second antenna is the transmitting antenna.

4. The radar device according to any one of claims 1 to 3, characterized in that In the first antenna group, the number of the first antennas is 2, and the number of the first antenna group is 1.

5. The radar device according to any one of claims 1 to 3, characterized in that: In the first antenna group, the first antenna group is more than 2, In the second antenna group, the number of the second antennas, i.e., the number of second antennas, is greater than or equal to 2. The antenna interval between adjacent second antennas which is twice the basic distance is set as the second antenna interval, The first antenna group interval, which is an interval between adjacent first antenna groups, is a value obtained by multiplying the number of the second antennas by the second antenna interval.

6. The radar device according to claim 5, characterized in that In the second antenna group, the number of the second antennas is a prime number greater than 2.

7. The radar device according to any one of claims 1 to 3, characterized in that: In the first antenna group, the first antenna group is 2 or more, the number of the first antennas, that is, the number of first antennas is an even number of 4 or more, The antenna interval between adjacent second antennas which is twice the basic distance is set as the second antenna interval, The number of the second antenna groups is set to the number of the second antenna groups, and the number of antennas in the second antenna group is set to the number of antennas in the second antenna group. The number of second antennas of the second antenna group, which is the number of the second antennas, is a value obtained by multiplying the number of the second antenna groups by the number of antennas in the second antenna group. The first antenna group spacing, which is the spacing between adjacent first antenna groups, is a value obtained by multiplying the number of antennas in the second antenna group by the second antenna spacing. The second antenna group interval, which is an interval between adjacent second antenna groups, is a value obtained by dividing the product of the first antenna group interval and the number of the first antennas by 2.

8. The radar device according to claim 7, characterized in that The number of the second antenna groups is 2.

9. The radar device according to claim 7, characterized in that The number of antennas in the second antenna group is 2, and no power supply circuit is configured between adjacent antennas in the second antenna group.

10. The radar device according to any one of claims 1 to 9, characterized in that: The first antenna group includes the first antennas arranged to be offset in a direction perpendicular to the first arrangement direction.

11. The radar device according to any one of claims 1 to 10, characterized in that: The second antenna group includes the second antennas that are arranged to be offset in a direction perpendicular to the second arrangement direction.

12. The radar device according to any one of claims 1 to 11, characterized in that: The first antenna group includes: a group A including a plurality of the first antennas arranged in the first arrangement direction; and a group B having the same structure as the group A and arranged in a direction perpendicular to the first arrangement direction.

13. The radar device according to any one of claims 1 to 12, characterized in that: The second antenna group includes: a C group including a plurality of the second antennas arranged in the second arrangement direction; and a D group having the same structure as the C group and arranged in a direction perpendicular to the second arrangement direction.

14. A radar device comprising: A plurality of transmitting antennas for transmitting a transmission signal to a target object; a plurality of receiving antennas for receiving reflected signals obtained after the transmission signal is reflected by the target object and outputting the reflected signals as received signals; and a processing unit for processing the received signals outputted from each of the plurality of receiving antennas, The radar device is characterized in that The antenna interval between adjacent antennas determined based on the field of view required by the radar device is set as a basic distance. The antenna group including any one of the plurality of transmitting antennas and the plurality of receiving antennas and including the first antenna group is set as a first antenna group, wherein the first antenna group has a plurality of first antennas with antenna intervals between adjacent antennas being the basic distance, the antenna group including a plurality of antennas different from the first antenna of the first antenna group and including a second antenna group is set as a second antenna group, the second antenna group including a plurality of second antennas with an antenna interval between adjacent antennas being twice the basic distance, The plurality of first antennas are arranged and configured in a first arrangement direction perpendicular to the transmission direction of the transmission signal and have a frequency band ratio of 2% or more and 10% or less. The plurality of second antennas are antennas arranged and configured in a second arrangement direction perpendicular to the transmission direction of the transmission signal and parallel to the first arrangement direction and having a frequency band ratio of 2% or more and 10% or less, No power supply circuit for supplying power to the first antenna is configured between adjacent antennas in the first antenna group. A virtual receiving antenna group composed of multiple virtual receiving antennas is arranged and configured in a third arrangement direction perpendicular to the sending direction of the sending signal and parallel to the first arrangement direction and the second arrangement direction. The multiple virtual receiving antennas are formed by multiple first antennas of the first antenna group and multiple second antennas of the second antenna group. The interval between adjacent virtual receiving antennas in the third arrangement direction is the basic distance.

15. The radar device according to claim 14, characterized in that The first antenna is the transmitting antenna, and the second antenna is the receiving antenna.

16. The radar device according to claim 14, characterized in that The first antenna is the receiving antenna, and the second antenna is the transmitting antenna.

17. The radar device according to any one of claims 14 to 16, characterized in that: In the first antenna group, the number of the first antennas is 2, and the number of the first antenna group is 1.

18. The radar device according to any one of claims 14 to 16, characterized in that: In the first antenna group, the first antenna group is more than 2, In the second antenna group, the number of the second antennas, i.e., the number of second antennas, is greater than or equal to 2. The antenna interval between adjacent second antennas which is twice the basic distance is set as the second antenna interval, The first antenna group interval, which is an interval between adjacent first antenna groups, is a value obtained by multiplying the number of the second antennas by the second antenna interval.

19. The radar device according to claim 18, characterized in that In the second antenna group, the number of the second antennas is a prime number greater than 2.

20. The radar device according to any one of claims 14 to 16, characterized in that: In the first antenna group, the first antenna group is 2 or more, the number of the first antennas, that is, the number of first antennas is an even number of 4 or more, The antenna interval between adjacent second antennas which is twice the basic distance is set as the second antenna interval, The number of the second antenna groups is set to the number of the second antenna groups, and the number of antennas in the second antenna group is set to the number of antennas in the second antenna group. The number of second antennas of the second antenna group, which is the number of the second antennas, is a value obtained by multiplying the number of the second antenna groups by the number of antennas in the second antenna group. The first antenna group spacing, which is the spacing between adjacent first antenna groups, is a value obtained by multiplying the number of antennas in the second antenna group by the second antenna spacing. The second antenna group interval, which is an interval between adjacent second antenna groups, is a value obtained by dividing the product of the first antenna group interval and the number of the first antennas by 2.

21. The radar device according to claim 20, characterized in that The number of the second antenna groups is 2.

22. The radar device according to claim 20, characterized in that The number of antennas in the second antenna group is 2, and no power supply circuit is configured between adjacent antennas in the second antenna group.

23. The radar device according to any one of claims 14 to 22, characterized in that: The first antenna group includes the first antennas arranged to be offset in a direction perpendicular to the first arrangement direction.

24. The radar device according to any one of claims 14 to 23, characterized in that: The second antenna group includes the second antennas that are arranged to be offset in a direction perpendicular to the second arrangement direction.

25. The radar device according to any one of claims 14 to 24, characterized in that: The first antenna group includes: a group A including a plurality of the first antennas arranged in the first arrangement direction; and a group B having the same structure as the group A and arranged in a direction perpendicular to the first arrangement direction.

26. The radar device according to any one of claims 14 to 25, characterized in that: The second antenna group includes: a C group including a plurality of the second antennas arranged in the second arrangement direction; and a D group having the same structure as the C group and arranged in a direction perpendicular to the second arrangement direction.

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