Radar device and vehicle-mounted sensing system

Abstract

[Problem] To provide a radar device capable of suppressing leakage of interference waves from a radome, and an in-vehicle sensing system including the radar device. [Solution] A radar device according to the present disclosure comprises: a substrate having an antenna structure in which a radio wave radiating portion is provided on a first surface; the antenna cover is arranged to be opposite to the first surface of the substrate; and a radio wave absorbing member disposed between the substrate and the radome, having an opening formed at a portion corresponding to a radiation portion, and including an insulator that absorbs radio waves.

Description

Technical Field

[0001] The present disclosure relates to radar devices and vehicle-mounted sensing systems. Background Art

[0002] The radome is used to protect the antenna of the radar device from external impact and dirt, etc. For example, a radio wave radiating portion is provided on one surface of a substrate having an antenna structure, and the radome is arranged to face the surface. In this case, ideally, the radio wave radiated from the radiating portion propagates in a substantially vertical direction within the radome, and passes through the interface between the radome and the external air layer to be radiated toward the outside.

[0003] However, in reality, radio waves propagating in unintended directions exist within the radome, and these radio waves sometimes leak out of the radome as interference waves. Such interference waves cause degradation of antenna directivity.

[0004] PTL 1 describes an invention of a radar device in which an EMI shield is arranged between a substrate having an antenna structure and a radome. However, according to the EMI shield, leakage of interference waves from the radome cannot be prevented.

[0005] [Citation list]

[0006] [Patent Document]

[0007] [PTL 1]

[0008] PCT Patent Publication No. WO2017 / 501371 Summary of the invention

[0009] [Technical issues]

[0010] The present disclosure is directed to solving the above-mentioned problems, and an object thereof is to provide a radar device that can prevent leakage of interference waves from a radome and an in-vehicle sensing system including the radar device.

[0011] [Solution to the problem]

[0012] In order to solve the above-mentioned problems, a radar device according to the present disclosure includes: a metal component, the metal component including a substrate having a radiation portion for radio waves arranged on a first surface; an radome, the radome being arranged to face the first surface of the substrate; and a radio wave absorbing component, the radio wave absorbing component being arranged between the substrate and the radome, having an opening formed in a portion corresponding to the radiation portion, and including an insulator configured to absorb radio waves.

[0013] In addition, according to the present disclosure, the vehicle-mounted sensing system includes a radar device, an object recognition processing device and a vehicle control device, wherein the object recognition processing device is configured to perform object recognition processing based on the output of the radar device, and the vehicle control device is configured to control the vehicle based on the recognition result of the object recognition processing device, the radar device includes a substrate, an antenna cover and a radio wave absorbing member, the substrate has an antenna structure in which a radiation part for radio waves is arranged on a first surface, the antenna cover is arranged to face the first surface of the substrate, the radio wave absorbing member is arranged between the substrate and the antenna cover, has an opening formed in a part corresponding to the radiation part, and includes an insulator configured to absorb radio waves. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a diagram showing the appearance of an antenna of a radar device according to Embodiment 1.

[0015] Figure 2 It is along Figure 1 A cross-sectional view taken along line AA.

[0016] Figure 3A 1 is a top view of the metal component according to Example 1.

[0017] Figure 3B It is along Figure 3A A cross-sectional view taken along line AA.

[0018] Figure 4A is a top view of a radio wave absorbing member according to Embodiment 1.

[0019] Figure 4B It is along Figure 4A A cross-sectional view taken along line AA.

[0020] Figure 5 : is a diagram showing the operation of the radar apparatus according to Embodiment 1.

[0021] Fig. 6A : is a diagram showing the results of electromagnetic field analysis of the radar device according to Example 1.

[0022] Figure 6B : is a diagram showing the directivity of the radar device according to Embodiment 1.

[0023] Figure 7 is a diagram showing the operation of a radar device according to the prior art.

[0024] Fig. 8A : is a diagram showing the results of electromagnetic field analysis of a radar device according to the related art.

[0025] Figure 8Bis a diagram showing the directivity of a radar device according to the related art.

[0026] Fig. 9 is a cross-sectional view of a radar device according to Example 2.

[0027] Fig.10 is a cross-sectional view of a radar device according to Example 3.

[0028] Fig.11 is a cross-sectional view of a radar device according to Embodiment 4.

[0029] Fig. 12A is a top view of a radio wave absorbing member according to Embodiment 4.

[0030] Fig. 12B It is along Fig. 12A A cross-sectional view taken along line AA.

[0031] Fig.13A 1 is a top view of a buffer member according to Example 4.

[0032] Fig. 13B It is along Fig.13A A cross-sectional view taken along line AA.

[0033] Fig.14 is a cross-sectional view of a radar device according to Embodiment 5.

[0034] Fig.15 is a cross-sectional view of a radar device according to Example 6.

[0035] Fig.16 is a cross-sectional view of a radar device according to Example 7.

[0036] Fig.17 is a cross-sectional view of a radar device according to Example 8.

[0037] Fig.18 It is a cross-sectional view of a first modified example of the radar device according to the eighth embodiment.

[0038] Fig.19 It is a cross-sectional view of a second modified example of the radar device according to the eighth embodiment.

[0039] Fig. 20 It is an exploded view of the antenna of the radar device according to Example 9.

[0040] Fig.21 It is along Fig. 20 A cross-sectional view taken along line AA.

[0041] Fig. 22 is a cross-sectional view of a dielectric substrate according to Example 9.

[0042] Fig.23 is a block diagram showing a configuration example of a vehicle control system.

[0043] Fig.24 is a diagram illustrating an example of a sensing area. DETAILED DESCRIPTION

[0044] Hereinafter, embodiments of the present disclosure are described with reference to the accompanying drawings. In the accompanying drawings, the same or corresponding elements are represented by the same reference numerals, and detailed description is appropriately omitted.

[0045] [Example 1]

[0046] Figure 1 : is a diagram showing the appearance of the antenna 1 of the radar device according to Embodiment 1 of the present disclosure. Figure 2 It is along Figure 1 The antenna 1 includes a flat metal member (substrate) 2 having an antenna structure, a radome 3 arranged to face a first surface 2a of the metal member 2, and a radio wave absorbing member 4 arranged between the metal member 2 and the radome 3.

[0047] Figure 3A It is a top view of the metal component 2. Figure 3B It is along Figure 3A A sectional view taken along line AA of the metal member 2 is shown. A radiation portion 5 configured to radiate radio waves is provided on the first surface 2a of the metal member 2. The type of radio waves radiated from the radiation portion 5 is not particularly limited, and includes, for example, millimeter waves used in vehicle-mounted radars, etc. A circuit board 6 on which electronic components, etc. are arranged is arranged on the second surface 2b of the metal member 2.

[0048] Figure 4A is a plan view of the radio wave absorbing member 4 . Figure 4B It is along Figure 4A The radio wave absorbing member 4 includes a material including an insulator configured to absorb radio waves. As the insulator material included in the radio wave absorbing member 4, for example, polyethylene carbonate (PTC) or the like can be used. An opening 4c is formed in a portion of the radio wave absorbing member 4 corresponding to the radiation portion 5 of the metal member 2.

[0049] like Figure 2 As shown, the thickness d1 of the portion of the radome 3 facing the radiation portion 5 is formed to be an integral multiple of half the waveguide wavelength λg of the radio waves propagating in the radome 3, that is, d1=n·λg / 2 (n is a positive integer). In contrast, the thickness d2 of the portion of the radome 3 other than the portion facing the radiation portion 5 is formed to be less than half the waveguide wavelength λg of the radio waves propagating in the radome 3, that is, d2<λg / 2.

[0050] The thickness d3 of the radio wave absorbing member 4 is formed to be large enough to allow the radio waves propagating in the radio wave absorbing member 4 to be absorbed by dielectric loss or magnetic loss. Specifically, the thickness d3 of the radio wave absorbing member 4 is formed to be a thickness that makes the intensity of the radio waves leaking from the radio wave absorbing member 4 equal to or less than a predetermined threshold.

[0051] The radiating portion 5 is arranged to protrude on the first surface 2a of the metal member 2. In addition, the portion of the radome 3 facing the radiating portion 5 is arranged to protrude toward the first surface 2a of the metal member 2. Then, the radiating portion 5 and the portion of the radome 3 facing the radiating portion 5 are fitted in the opening 4c of the radio wave absorbing member 4. In addition, the first surface 5a of the radiating portion 5 and the second surface 3b of the radome 3 are arranged to contact each other.

[0052] The radiating portion 5 has a shape that expands outward from the first surface 2a of the metal member 2. Similarly, a portion of the radome 3 that faces the radiating portion 5 also has a shape that expands outward from the first surface 2a of the metal member 2. An angle θ formed between the radiating portion 5 and the first surface 2a of the metal member 2 is determined based on the opening and directivity required for the antenna 1.

[0053] Next, refer to Figure 5 The operation of the antenna 1 of the radar apparatus according to Embodiment 1 will be described.

[0054] When power is supplied to the plate 6 of the antenna 1, radio waves are radiated from the radiating portion 5. Most of the radio waves radiated from the radiating portion 5 propagate in the Z direction in the portion of the radome 3 having a thickness d1, as shown in FIG. Figure 5 As shown by the solid arrow in FIG. 1 , and passes through the interface between the first surface 3a of the radome 3 and the external air layer to be radiated to the outside of the radome 3, that is, at Figure 5 Radiate upward.

[0055] As described above, the thickness d1 of the portion of the radome 3 facing the radiation portion 5 is formed to be an integral multiple of half of the waveguide wavelength λg of the radio wave propagating in the radome 3, that is, d1=n·λg / 2 (n is a positive integer). Therefore, between the waveguide wavelength λg of the radio wave propagating in the radome 3 and the cutoff wavelength λc1=2·d1 of the portion of the radome 3 having a thickness of d1, a relationship of λg≥λc1 is established. Thus, the radio wave propagating in the Z direction in the portion of the radome 3 having a thickness of d1 is hardly attenuated in the radome 3. Therefore, the loss of the radio wave radiated from the antenna 1 is prevented.

[0056] Most of the radio waves propagating in the Z direction in the portion of the radome 3 having a thickness of d1 pass through the interface between the first surface 3a of the radome 3 and the external air layer to be radiated to the outside of the radome 3. However, some of the radio waves are reflected at the interface and propagate in the -Z direction. However, the optical path difference between these reflected waves propagating in the -Z direction and the reflected waves reflected at the interface between the radiation portion 5 and the radome 3 is an integral multiple of the waveguide wavelength λg. Therefore, interference of the radio waves radiated from the antenna 1 is prevented by these two reflected waves that cancel each other.

[0057] On the contrary, Figure 5 As shown by the dotted arrows in , some of the radio waves radiated from the radiation portion 5 enter the portion of the antenna cover 3 with a thickness of d2. If these radio waves propagate inside the antenna cover 3, the radio waves cause leakage of interference waves from the antenna cover 3. However, as described above, the thickness d2 of the portion of the antenna cover 3 other than the portion facing the radiation portion 5 is formed to be less than half of the waveguide wavelength λg of the radio waves propagating inside the antenna cover 3, that is, d2<λg / 2. Therefore, between the waveguide wavelength λg of the radio waves propagating inside the antenna cover 3 and the cutoff wavelength λc2=2·d2 of the portion of the antenna cover 3 with a thickness of d2, a relationship of λg≤λc2 is established. Thereby, the propagation of radio waves that have entered the portion of the antenna cover 3 with a thickness of d2, that is, the propagation of radio waves that cause interference waves, is prevented.

[0058] Most of the radio waves that have entered the portion of the antenna cover 3 having a thickness of d2 are reflected at the interface between the first surface 3a of the antenna cover 3 and the external air layer to enter the radio wave absorbing member 4. As described above, the thickness d3 of the radio wave absorbing member 4 is formed to be large enough to allow the radio waves propagating in the radio wave absorbing member 4 to be absorbed by dielectric loss or magnetic loss. Thus, almost all of the radio waves that have entered the radio wave absorbing member 4 are absorbed during propagation in the radio wave absorbing member 4. Therefore, leakage of interference waves from the antenna cover 3 is prevented.

[0059] Fig. 6A is a diagram showing the results of electromagnetic field analysis of the antenna 1 of the radar device according to Embodiment 1. In addition, Figure 6B It is shown based on Fig. 6A Graph of the directivity of the antenna 1 created as a result of the electromagnetic field analysis. It can be seen that the directivity of the antenna 1 is flat because the leakage of interference waves from the radome 3 is prevented.

[0060] Figure 71 is a diagram showing an example of the structure of an antenna 1201 of a radar device according to the related art. Unlike the antenna 1 according to Embodiment 1, no radio wave absorbing member is arranged between the metal member 1202 and the radome 1203. In this case, as shown in FIG. Figure 7 As shown by the dotted arrows in FIG. 1 , some of the radio waves radiated from the radiation portion 1205 leak out as interference waves when propagating inside the antenna cover 1203.

[0061] Fig. 8A 1 is a diagram showing the results of electromagnetic field analysis of the antenna 1201 of the radar device according to the prior art. Figure 8B It is shown based on Fig. 8A Graph of the directivity of antenna 1201 created as a result of electromagnetic field analysis in FIG. It can be seen that due to the influence of interference waves leaking out when propagating within antenna cover 1203, the directivity of antenna 1201 is not flat and has ripples.

[0062] As described above, the radar device according to Embodiment 1 includes the metal member 2 having an antenna structure in which a radiation portion 5 for radio waves is provided on the first surface 2a, the radome 3 arranged to face the first surface 2a of the metal member 2, and the radio wave absorbing member 4 arranged between the metal member 2 and the radome 3, having an opening 4c formed in a portion corresponding to the radiation portion 5, and including an insulator configured to absorb radio waves. Thus, leakage of interference waves from the radome 3 is prevented.

[0063] The directivity of the antenna 1 is flat because the leakage of interference waves from the radome 3 is prevented. For example, when distance measurement is performed with a plurality of antennas in combination, if the directivity of the antennas is not flat, a distance measurement error occurs due to a difference in gain at each angle of each antenna, but using the radar device according to Embodiment 1, the occurrence of such a distance measurement error can be prevented.

[0064] Furthermore, since no space is formed between the metal member 2 and the radome 3, the antenna 1 can maintain high strength. Furthermore, since the metal member 2, the radome 3, and the radio wave absorbing member 4 have simple structures, processing and assembly are easy.

[0065] In addition, the thickness d2 of the portion of the radome 3 other than the portion facing the radiation portion 5 is formed to be less than half the waveguide wavelength λg of the radio waves propagating in the radome 3, that is, d2<λg / 2. Thus, the propagation of radio waves causing interference waves in the radome 3 is prevented.

[0066] In addition, the thickness d1 of the portion of the radome 3 facing the radiation portion 5 is formed to be an integral multiple of half the waveguide wavelength λg of the radio waves propagating in the radome 3, that is, d1=n·λg / 2 (n is a positive integer). Thus, the loss and interference of the radio waves radiated from the antenna 1 are prevented.

[0067] Furthermore, the thickness d3 of the radio wave absorbing member 4 is formed to be large enough to allow the radio waves propagating in the radio wave absorbing member 4 to be absorbed by dielectric loss or magnetic loss. Specifically, the thickness d3 of the radio wave absorbing member 4 is formed to be a thickness that makes the intensity of the radio waves leaking from the radio wave absorbing member 4 equal to or less than a predetermined threshold. Thus, the radio wave absorbing member 4 effectively absorbs radio waves.

[0068] Furthermore, the radiating portion 5 is arranged to protrude on the first surface 2a of the metal member 2, and the portion of the radome 3 facing the radiating portion 5 is arranged to protrude toward the first surface 2a of the metal member 2. Then, the radiating portion 5 and the portion of the radome 3 facing the radiating portion 5 are fitted in the opening 4c of the radio wave absorbing member 4. Thus, positioning of the metal member 2 and the radome 3 during assembly becomes easier.

[0069] Furthermore, the radio wave absorbing member 4 and the radome 3 are arranged to be in contact with each other, and therefore when an external force is applied to the radome 3 , the radome 3 is prevented from being damaged.

[0070] Furthermore, the circuit board 6 is provided on the second surface 2b of the metal member 2, and all electronic components required for the operation of the antenna 1 are arranged on the circuit board 6. However, no electronic components are arranged on the first surface 2a of the metal member 2. With this structure, it is made easier to arrange the radio wave absorbing member 4 between the first surface 2a of the metal member 2 and the antenna cover 3.

[0071] [Example 2]

[0072] Fig. 9 2 is a cross-sectional view of an antenna 201 of a radar device according to Embodiment 2 of the present disclosure. A recessed portion 203c is formed in a first surface 203a of a radome 203 of the antenna 201. By this recessed portion 203c, the directivity of radio waves radiated from the antenna 201 can be controlled.

[0073] [Example 3]

[0074] Fig.10 : is a cross-sectional view of an antenna 301 of a radar device according to Embodiment 3 of the present disclosure. A protruding portion 303 is formed on a first surface 303a of a radome 303 of the antenna 301. By the protruding portion 303, the directivity of radio waves radiated from the antenna 301 can be widened.

[0075] [Example 4]

[0076] Fig.11 4 is a cross-sectional view of an antenna 401 of a radar device according to Embodiment 4 of the present disclosure. The antenna 401 includes a metal member 2 having an antenna structure, and a radome 3 arranged to face a first surface 2a of the metal member 2. In addition, a radio wave absorbing member 404 and a buffer member 407 are arranged between the metal member 2 and the radome 3.

[0077] Fig. 12A is a top view of the radio wave absorbing member 404 . Fig. 12B It is along Fig. 12A The radio wave absorbing member 404 is arranged in a ring shape only around the radiation portion 5. Thus, the amount of the radio wave absorbing member used can be reduced compared to Embodiment 1, thereby reducing the manufacturing cost.

[0078] Fig.13A 407 is a top view of the buffer member 407. Fig. 13B It is along Fig.13A The buffer member 407 is arranged between the metal member 2 and the antenna cover 3 except for the portion where the radio wave absorbing member 404 is arranged. Thus, the strength of the antenna 401 can be maintained while reducing the amount of radio wave absorbing member used. However, in the case where sufficient strength can be achieved without using the buffer member 407, Fig.13A and Fig. 13B The portion shown as the cushioning member 407 may remain as a cavity.

[0079] [Example 5]

[0080] Fig.14 5 is a cross-sectional view of an antenna 501 of a radar device according to Embodiment 5 of the present disclosure. Radio wave absorbing members 504 are arranged around the radiation portion 5 in a plurality of ring shapes between the metal member 2 and the radome 3. In addition, a buffer member 507 is also arranged between the metal member 2 and the radome 3 except for the portion where the radio wave absorbing member 504 is arranged. Thus, the strength of the antenna 501 can be maintained while reducing the amount of radio wave absorbing members used. However, in the case where sufficient strength can be achieved without using the buffer member 507, Fig.14 The portion shown as the cushioning member 507 may remain as a cavity.

[0081] [Example 6]

[0082] Fig.156 is a cross-sectional view of an antenna 601 of a radar device according to Embodiment 6 of the present disclosure. A radio wave absorbing member 604 disposed between a metal member 2 and a radome 3 includes multi-layer radio wave absorbing members 604a and 604b having different materials. Multi-layer radio wave absorbing members having different materials are used in combination in this manner, thereby making it easier to adjust the characteristics of the radio wave absorbing member.

[0083] [Example 7]

[0084] Fig.16 7 is a cross-sectional view of an antenna 701 of a radar device according to Embodiment 7 of the present disclosure. A radio wave absorbing member 704 disposed between a metal member 2 and a radome 3 includes multilayer radio wave absorbing members 704a and 704b having different materials. The radio wave absorbing member 704b as one of the layers thereof is an air layer (cavity) or a buffer member. The air layer is used as one of the layers of the multilayer radio wave absorbing member in this way, thereby improving the flexibility of adjusting the characteristics of the radio wave absorbing member.

[0085] [Example 8]

[0086] Fig.17 8 is a cross-sectional view of an antenna 801 of a radar device according to Embodiment 8 of the present disclosure. A plurality of radiation portions 805 are provided on a metal member 802. Even with the plurality of radiation portions 805 provided in this manner, the radio waves radiated from the radiation portions 805 are prevented from propagating in a portion of the antenna cover 803 having a thickness of d2, thereby preventing mutual coupling between each of the radiation portions 805. Figure 18-19 This is a modified example of an antenna having multiple radiating parts.

[0087] [Example 9]

[0088] Fig. 20 1 is an exploded view of an antenna 901 of a radar device according to Embodiment 9 of the present disclosure. Fig.21 It is along Fig. 20 The antenna 901 includes a flat dielectric substrate (substrate) 902 having an antenna structure, an antenna cover 903 arranged to face a first surface 902a of the dielectric substrate 902, a radio wave absorbing member 904 arranged between the dielectric substrate 902 and the antenna cover 903, and a housing 920 configured to accommodate the dielectric substrate 902.

[0089] The antenna 901 according to Embodiment 9 has a "rear-side power transfer structure" that performs feeding from the rear surface (i.e., the second surface 902b) of the dielectric substrate 902, and a feeder configured to feed the antenna structure is provided on the rear surface 902b of the dielectric substrate 902. On the front surface of the dielectric substrate 902, i.e., the first surface 902a, a radiating portion 905 configured to radiate or receive radio waves is provided. On the rear surface 902b of the dielectric substrate 902, a circuit board 906 on which electronic components and the like are arranged is arranged. In addition, at the lower portion of a housing 920 configured to accommodate the dielectric substrate 902, i.e., on the side of the housing 920 facing the rear surface 902b of the dielectric substrate 902, a heat dissipation member 921 is provided.

[0090] In this manner, a feed line configured to feed the antenna structure is provided on the rear surface 902b of the dielectric substrate 902, and a circuit board 906 on which electronic components and the like are arranged is also arranged on the rear surface 902b, with the result that only the radiation portion 905 is arranged on the front surface 902a of the dielectric substrate 902. Thus, unnecessary radiation from the front surface 902a of the dielectric substrate 902 can be prevented. In addition, since the circuit board 906 and the heat dissipation member 921 are arranged together on the rear surface 902b of the dielectric substrate 902, a sufficient space can be ensured to arrange the radio wave absorption member 904 on the front surface 902a of the dielectric substrate 902.

[0091] Fig. 22 : is a cross-sectional view showing a detailed structure of a dielectric substrate 902. The dielectric substrate 902 includes a feed line (feed cable) 910, a waveguide 913, a feed section 908, and a radiation section 905, the waveguide 913 is configured to transmit a signal fed from the feed line 910 from the rear surface 902b side of the dielectric substrate 902 to the front surface 902a side, the feed section 908 is configured to feed the signal transmitted by the waveguide 913 to the radiation section 905 by proximity coupling, and the radiation section 905 is configured to radiate radio waves based on the signal fed from the feed section 908.

[0092] The dielectric substrate 902 includes a plurality of layers L1 to L7. The surface of the layer L1 (the surface on the upper side of the substrate) corresponds to the front surface 902a of the dielectric substrate 902. The surface of the layer L7 (the surface on the lower side of the substrate) corresponds to the rear surface 902b of the dielectric substrate 902. The layers L1 and L7 include, for example, a fluorine substrate or a glass polyimide substrate. The layers L2, L3, L4, L5, and L6 include a high-frequency material such as a glass epoxy substrate.

[0093] Between the layers L1 and L2, a feeding portion 908 is provided. The feeding portion 908 is, for example, a plate-shaped conductive member. The conductive member is, for example, a metal such as copper, aluminum, or gold. The feeding portion 908 feeds a signal supplied from the waveguide 913 to the radiation portion 905 by proximity coupling.

[0094] Between the layers L5 and L6, the ground plate 909b as a conductive member is disposed on the left and right in a direction parallel to the substrate surface so as to be separated by an interval corresponding to the opening portion 915. Between the layers L2 and L3, the ground plate 909c as a conductive member is disposed on the left and right in a direction parallel to the substrate surface at an interval corresponding to the opening portion 916.

[0095] Between layers L6 and L7, a ground plate 909a as a conductive member is provided. The ground plate 909a serves as a ground line for a feed line 910. The feed line 910 is a microstrip line. The ground line (ground plate 909a) can be connected or coupled to the left ground plate 909b through layer L6 using one or more vias.

[0096] Via 914a is provided to penetrate through layers L3-L5 to electrically connect left ground plates 909b and 909c. Via 914b is provided to penetrate through layers L3-L5 to electrically connect right ground plates 909b and 909c.

[0097] A portion of the upper side of the region sandwiched between the passage 914a and the passage 914b is covered by the left and right grounding plates 909c, 909c, and the remaining portion serves as an opening portion 916. A portion of the lower side of the region sandwiched between the passage 914a and the passage 914b is covered by the left and right grounding plates 909b, 909b, and the remaining portion serves as an opening portion 915.

[0098] exist Fig. 22 In the lateral direction of the drawing, the positions of the opening portions 915 and 916 are different, but the positions may be the same or may partially overlap. The passage 914a, the passage 914b, the left grounding plate 909c, the right grounding plate 909c, the left grounding plate 909b, and the right grounding plate 909b form a waveguide 913 (intra-substrate waveguide).

[0099] One of the opening portion 915 and the opening portion 916 corresponds to the input portion of the waveguide 913, and the other corresponds to the output portion of the waveguide 913. Specifically, in the case where the antenna 901 is used for transmission, the opening portion 915 corresponds to the input portion, and the opening portion 916 corresponds to the output portion. In the case where the antenna 901 is used for reception, the opening portion 916 corresponds to the input portion, and the opening portion 915 corresponds to the output portion. In the following description, it is mainly assumed that the opening portion 915 corresponds to the input portion of the waveguide 913 and the opening portion 916 corresponds to the output portion of the waveguide 913.

[0100] On the surface of layer L1, a radiation portion 905 is provided. On the lower side surface (back side) of layer L7, a signal line 912 of a feed line 910 is provided. The signal line 912, the ground plate 909a and the layer L7 (dielectric layer) form the feed line 910. The feed line 910 is connected to a power supply circuit 911 configured to supply a high frequency signal (a millimeter wave band signal in Embodiment 9). The power supply circuit 911 includes, for example, an integrated circuit. In Embodiment 9, the feed line 910 is a microstrip line, but the feed line 910 may also be other lines such as a coplanar line.

[0101] The feeder 910 transmits a millimeter wave band signal supplied from the power supply circuit 911. The end 912a of the signal line 912 faces the opening portion 915 through the layer L7 and the layer L6. The signal transmitted through the feeder 910 is input to the waveguide 913 from the end 912a of the signal line 912 through the opening portion 915. As described above, a structure in which feeding is performed from a surface opposite to a surface on which the radiation portion 905 is arranged is referred to as a "rear side power transfer structure".

[0102] [Example of Change]

[0103] The antenna structure of the radar device according to Embodiments 1 to 9 has a radiation portion that is arranged to protrude on the first surface of the flat plate-like substrate. In addition to this structure, the antenna structure of the radar device may be, for example, a slot antenna, a microstrip antenna, or a horn antenna. Therefore, for example, the radiation portion may be a space that is arranged on the first surface of the flat plate-like substrate.

[0104] In the radar apparatus according to Embodiments 1 to 9, a frequency selective surface (FSS) and a metasurface may be arranged on the first surface of the radome. Thereby, unnecessary interference waves radiated from the radome may be absorbed and attenuated.

[0105] [Application Examples]

[0106] Next, an application example of the antenna of the radar device according to the present disclosure is described. The antenna of the radar device can also be applied to any vehicle-mounted control system, device, method, etc. described below.

[0107] <<1. Configuration example of vehicle control system>>

[0108] Fig.23 1 is a block diagram showing a configuration example of a vehicle control system 11 as an example of a mobile device control system to which the present technology is applied. The antenna of the radar device according to the above-described embodiment or modification can also be used as an antenna in the case where the communication unit 22 performs wireless communication, for example.

[0109] The vehicle control system 11 is provided in the vehicle 100 , and executes processing related to travel assistance and automatic driving of the vehicle 100 .

[0110] The vehicle control system 11 includes a vehicle control ECU (electronic control unit) 21, a communication unit 22, a map information accumulation unit 23, a position information acquisition unit 24, an external identification sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a storage unit 28, a driving assistance and automatic driving control unit 29, a DMS (driver monitoring system) 30, an HMI (human-machine interface) 31 and a vehicle control unit 32.

[0111] The vehicle control ECU 21, the communication unit 22, the map information accumulation unit 23, the position information acquisition unit 24, the external recognition sensor 25, the in-vehicle sensor 26, the vehicle sensor 27, the storage unit 28, the driving assistance and automatic driving control unit 29, the driver monitoring system (DMS) 30, the human-machine interface (HMI) 31 and the vehicle control unit 32 are connected to each other in a communicative manner via a communication network 41. The communication network 41 includes, for example, an on-vehicle communication network or bus conforming to a digital two-way communication standard, such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), FlexRay (registered trademark) or Ethernet (registered trademark). The communication network 41 can be distinguished according to the type of data to be transmitted. For example, CAN can be applied to data related to vehicle control, while Ethernet can be applied to large-capacity data. Note that in some cases, the units of the vehicle control system 11 are directly connected by using wireless communication intended for relatively short-range communication (such as near field communication (NFC) or Bluetooth (registered trademark)) without the communication network 41.

[0112] Note that, hereinafter, in the case where the units of the vehicle control system 11 perform communication via the communication network 41, the description of the communication network 41 is omitted. For example, in the case where the vehicle control ECU 21 communicates with the communication unit 22 via the communication network 41, this case is simply described as "the vehicle control ECU 21 communicates with the communication unit 22".

[0113] The vehicle control ECU 21 includes, for example, various processors such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). The vehicle control ECU 21 controls all or some of the functions of the vehicle control system 11.

[0114] The communication unit 22 communicates with various types of devices inside and outside the vehicle, other vehicles, servers, base stations, etc., and transmits and receives various types of data. At this time, the communication unit 22 can perform communication by using a variety of communication methods.

[0115] The communication with the outside of the vehicle that the communication unit 22 can perform is briefly described. The communication unit 22 communicates with, for example, a server (hereinafter referred to as an "external server") existing on an external network via a base station or an access point by using a wireless communication method such as 5G (fifth generation mobile communication system), LTE (Long Term Evolution) or DSRC (Dedicated Short Range Communication). The external network with which the communication unit 22 communicates includes, for example, the Internet, a cloud network, or a company-specific network. The communication method performed by the communication unit 22 with respect to the external network is not particularly limited as long as it is a wireless communication method that can perform digital two-way communication at a predetermined or higher communication speed and over a predetermined or longer distance.

[0116] In addition, for example, the communication unit 22 can communicate with a terminal present in the vicinity of the vehicle by using P2P (peer-to-peer) technology. The terminal present in the vicinity of the vehicle is, for example, a terminal worn by a mobile body moving at a relatively low speed (such as a pedestrian and a bicycle), a terminal installed at a fixed location such as a store, or an MTC (machine type communication) terminal. In addition, the communication unit 22 can also perform V2X communication. V2X communication refers to communication between the vehicle and other vehicles, such as vehicle-to-vehicle communication with other vehicles, vehicle-to-infrastructure communication with roadside units, etc., vehicle-to-home communication with homes, and vehicle-to-pedestrian communication with terminals owned by pedestrians, etc.

[0117] The communication unit 22 can receive, for example, a program for updating software for controlling the operation of the vehicle control system 11 from the outside (over the air). The communication unit 22 can also receive map information, traffic information, information about the surroundings of the vehicle 100, and the like from the outside. In addition, for example, the communication unit 22 can transmit information associated with the vehicle 100 and information about the surroundings of the vehicle 100, and the like to the outside. Examples of the information associated with the vehicle 100 that the communication unit 22 transmits to the outside include data indicating the state of the vehicle 100 and the recognition result of the recognition unit 73. In addition, for example, the communication unit 22 performs communication corresponding to a vehicle emergency call system such as eCall.

[0118] For example, the communication unit 22 receives electromagnetic waves transmitted by a Vehicle Information and Communication System (VICS) (registered trademark), such as a radio wave beacon, an optical beacon, or an FM multiplex broadcast.

[0119] The communication with the inside of the vehicle that the communication unit 22 can perform is briefly described. The communication unit 22 can communicate with each device in the vehicle by using, for example, wireless communication. The communication unit 22 can communicate with the device inside the vehicle by using, for example, a communication method that can perform digital two-way communication at a predetermined or higher communication speed via wireless communication, such as wireless LAN, Bluetooth, NFC, or WUSB (Wireless USB). The communication unit 22 is not limited to this, and can also communicate with each device inside the vehicle by using wired communication. For example, the communication unit 22 can communicate with each device in the vehicle via wired communication through a cable connected to a connection terminal not shown. The communication unit 22 can communicate with each device in the vehicle by using, for example, a communication method that can perform digital two-way communication at a predetermined or higher communication speed via wired communication, such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface) (registered trademark) or MHL (Mobile High Definition Link).

[0120] Here, the in-vehicle device refers to, for example, a device in the vehicle that is not connected to the communication network 41. As the in-vehicle device, for example, a mobile device or wearable device owned by a passenger such as a driver, or an information device brought into the vehicle and temporarily installed, etc. are assumed.

[0121] The map information accumulation unit 23 accumulates one or both of maps acquired from the outside and maps created in the vehicle 100. For example, the map information accumulation unit 23 accumulates a three-dimensional high-precision map and a global map covering a wider area with lower precision than the high-precision map.

[0122] Examples of high-precision maps include dynamic maps, point cloud maps, and vector maps. A dynamic map is a map including four layers of, for example, dynamic information, semi-dynamic information, semi-static information, and static information, and is provided to the vehicle 100 from an external server or the like. A point cloud map is a map including a point cloud (point cloud data). A vector map is a map in which, for example, traffic information such as lanes and traffic light positions is associated with a point cloud map and is suitable for ADAS (Advanced Driver Assistance System) or AD (Autonomous Driving).

[0123] The point cloud map and the vector map may be provided from, for example, an external server, or may be created in the vehicle 100 based on the sensing results of the camera 51, the radar 52, or the LiDAR 53, etc. and accumulated in the map information accumulation unit 23 as a map for matching with a local map described later. In addition, in the case where a high-precision map is provided from an external server, etc., in order to reduce the communication capacity, for example, map data of several hundred square meters related to the planned route that the vehicle 100 is to travel from now on is acquired from the external server, etc.

[0124] The position information acquisition unit 24 receives a GNSS (Global Navigation Satellite System) signal from a GNSS satellite and acquires position information about the vehicle 100. The acquired position information is supplied to the driving assistance and automatic driving control unit 29. Note that the position information acquisition unit 24 is not limited to the method using the GNSS signal, and may acquire position information by using a beacon, for example.

[0125] The exterior recognition sensor 25 includes various sensors for recognizing the external conditions of the vehicle 100, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The exterior recognition sensor 25 includes any type and number of sensors.

[0126] For example, the external recognition sensor 25 includes a camera 51, a radar 52, a LiDAR (light detection and ranging, laser imaging detection and ranging) 53, and an ultrasonic sensor 54. The external recognition sensor 25 is not limited thereto, and may include one or more types of sensors among the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54. The number of the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54 is not particularly limited as long as the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54 can be actually installed in the vehicle 100. In addition, the type of sensor included in the external recognition sensor 25 is not limited to this example, and the external recognition sensor 25 may include other types of sensors. An example of a sensing area of ​​each sensor included in the external recognition sensor 25 is described later.

[0127] Note that there is no particular limitation on the imaging method of the camera 51. For example, as necessary, a camera using an imaging method capable of distance measurement, such as a ToF (Time of Flight) camera, a stereo camera, a monocular camera, or an infrared camera, may be applied to the camera 51. The camera 51 is not limited thereto, and may be a camera for simply acquiring a captured image regardless of distance measurement.

[0128] In addition, for example, the exterior recognition sensor 25 may include an environmental sensor for detecting the environment around the vehicle 100. The environmental sensor is a sensor for detecting an environment such as weather, atmospheric phenomena, and brightness. Examples of the environmental sensor may include various sensors such as a raindrop sensor, a fog sensor, a sunlight sensor, a snow sensor, and an illumination sensor.

[0129] Furthermore, for example, the exterior recognition sensor 25 includes a microphone for detecting sounds around the vehicle 100 and the position of a sound source and the like.

[0130] The in-vehicle sensor 26 includes various sensors for detecting information about the interior of the vehicle, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The types and numbers of various sensors included in the in-vehicle sensor 26 are not particularly limited as long as the sensors can be actually installed in the vehicle 100.

[0131] For example, the in-vehicle sensor 26 may include at least one or more types of sensors among a camera, a radar, a seat sensor, a steering wheel sensor, a microphone, and a biometric sensor. As a camera included in the in-vehicle sensor 26, for example, a camera using various imaging methods capable of distance measurement, such as a ToF camera, a stereo camera, a monocular camera, or an infrared camera, may be used. The camera included in the in-vehicle sensor 26 is not limited to these, and may be a camera for simply acquiring a captured image regardless of distance measurement. The biometric sensor included in the in-vehicle sensor 26 is set on a seat or a steering wheel, etc., and detects various types of biometric information about passengers such as a driver.

[0132] The vehicle sensor 27 includes various sensors for detecting the state of the vehicle 100, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The types and numbers of various sensors included in the vehicle sensor 27 are not particularly limited as long as the sensors can be actually installed in the vehicle 100.

[0133] For example, the vehicle sensor 27 includes a speed sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), and an inertial measurement unit (IMU) integrating them. For example, the vehicle sensor 27 includes a steering angle sensor configured to detect the steering angle of the steering wheel, a yaw rate sensor, an accelerator sensor configured to detect the operation amount of the accelerator pedal, and a brake sensor configured to detect the operation amount of the brake pedal. For example, the vehicle sensor 27 includes a rotation sensor configured to detect the number of revolutions of the engine or motor, an air pressure sensor configured to detect tire pressure, a slip rate sensor configured to detect tire slip rate, and a wheel speed sensor configured to detect the rotation speed of the wheel. For example, the vehicle sensor 27 includes a battery sensor configured to detect the remaining amount and temperature of the battery and a collision sensor configured to detect an external collision.

[0134] The storage unit 28 includes at least one of a nonvolatile storage medium and a volatile storage medium, and stores data and programs. The storage unit 28 is used as, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) and a RAM (Random Access Memory), and as a storage medium, a magnetic storage device such as an HDD (Hard Disk Drive), a semiconductor storage device, an optical storage device, and a magneto-optical storage device can be applied. The storage unit 28 stores various programs and data used by each unit of the vehicle control system 11. For example, the storage unit 28 includes an EDR (Event Data Recorder) and a DSSAD (Data Storage System for Automatic Driving), and stores information about the vehicle 100 before and after an event such as an accident and information acquired by the in-vehicle sensor 26.

[0135] The driving assist and automatic driving control unit 29 controls driving assist and automatic driving of the vehicle 100. The driving assist and automatic driving control unit 29 includes an analyzing unit 61, an action planning unit 62, and an operation control unit 63, for example.

[0136] The analysis unit 61 performs analysis processing of the vehicle 100 and the conditions around the vehicle 100. The analysis unit 61 includes a self-position estimation unit 71, a sensor fusion unit 72, and a recognition unit 73.

[0137] The own position estimation unit 71 estimates the own position of the vehicle 100 based on the sensor data from the external recognition sensor 25 and the high-precision map accumulated in the map information accumulation unit 23. For example, the own position estimation unit 71 generates a local map based on the sensor data from the external recognition sensor 25, and matches the local map with the high-precision map, thereby estimating the own position of the vehicle 100. The reference of the position of the vehicle 100 is, for example, the center of the rear wheel pair axle.

[0138] The local map is a three-dimensional high-precision map created, for example, by using a technology such as SLAM (Simultaneous Localization and Mapping) or an occupancy grid map. The three-dimensional high-precision map is, for example, a point cloud map as described above. The occupancy grid map is a map that divides the three-dimensional or two-dimensional space around the vehicle 100 into grids (grids) of a predetermined size and indicates the occupancy status of objects in units of grids. The occupancy status of an object is indicated by, for example, the presence, absence, or probability of presence of the object. The local map is also used for, for example, detection processing and recognition processing of the external conditions of the vehicle 100 by the recognition unit 73.

[0139] Note that the own position estimating unit 71 may estimate the own position of the vehicle 100 based on the position information acquired by the position information acquiring unit 24 and the sensor data from the vehicle sensor 27 .

[0140] The sensor fusion unit 72 combines a plurality of different types of sensor data (eg, image data supplied from the camera 51 and sensor data supplied from the radar 52), thereby performing sensor fusion processing to obtain new information. Examples of methods of combining different types of sensor data include integration, fusion, and correlation.

[0141] The recognition unit 73 performs a detection process of detecting the external condition of the vehicle 100 and a recognition process of recognizing the external condition of the vehicle 100 .

[0142] For example, the recognition unit 73 performs detection processing and recognition processing of the external condition of the vehicle 100 based on information from the external recognition sensor 25 , information from the own position estimation unit 71 , and information from the sensor fusion unit 72 .

[0143] Specifically, for example, the recognition unit 73 performs detection processing and recognition processing of objects around the vehicle 100, etc. The object detection processing refers to, for example, a process of detecting the presence, size, shape, position, and movement of an object. The object recognition processing refers to, for example, a process of recognizing an attribute such as a type of an object or recognizing a specific object. However, the detection processing and the recognition processing are not necessarily clearly separated and overlap in some cases.

[0144] For example, the recognition unit 73 performs clustering to classify point clouds based on sensor data from the radar 52 or LiDAR 53, etc., thereby detecting objects around the vehicle 100. Thus, the presence, size, shape, and position of objects around the vehicle 100 are detected.

[0145] For example, the recognition unit 73 performs tracking to follow the movement of the point group classified by clustering, thereby detecting the movement of the object around the vehicle 100. Thus, the speed and direction (motion vector) of travel of the object around the vehicle 100 are detected.

[0146] For example, the recognition unit 73 detects or recognizes vehicles, people, bicycles, obstacles, structures, roads, traffic lights, traffic signs, road markings, etc. based on the image data supplied from the camera 51. In addition, the recognition unit 73 can perform recognition processing such as semantic segmentation to recognize the type of objects around the vehicle 100.

[0147] For example, the recognition unit 73 may perform recognition processing of traffic regulations around the vehicle 100 based on the map accumulated in the map information accumulation unit 23, the result of the own position estimation performed by the own position estimation unit 71, and the recognition result of the object around the vehicle 100 performed by the recognition unit 73. Through this processing, the recognition unit 73 can recognize the position and state of traffic lights, the content of traffic signs and road markings, the content of traffic regulations and drivable lanes, and the like.

[0148] For example, the recognition unit 73 may perform recognition processing of the environment around the vehicle 100. As the surrounding environment recognized by the recognition unit 73, weather, temperature, humidity, brightness, road surface conditions, and the like are assumed.

[0149] The action planning unit 62 creates an action plan for the vehicle 100. For example, the action planning unit 62 performs route planning and route following processing to create the action plan.

[0150] Note that route planning (global path planning) refers to the process of planning a rough route from the starting point to the target. The route planning also includes so-called trajectory planning, which is a process of taking into account the motion characteristics of the vehicle 100 and generating a trajectory (local path planning) on ​​a planned route that allows safe and smooth travel near the vehicle 100.

[0151] Route following refers to the process of planning operations to travel safely and accurately along the route planned by the route plan within the planned time. Based on the result of this route following process, for example, the action planning unit 62 can calculate the target speed and target angular velocity of the vehicle 100.

[0152] The operation control unit 63 controls the operation of the vehicle 100 to implement the action plan created by the action planning unit 62 .

[0153] For example, the operation control unit 63 controls the steering control unit 81, the braking control unit 82, and the driving control unit 83 included in the vehicle control unit 32 described later to perform acceleration / deceleration control and direction control so that the vehicle 100 travels along the trajectory calculated by the trajectory plan. For example, the operation control unit 63 performs cooperative control for the purpose of realizing ADAS functions such as collision avoidance or collision mitigation, following driving, speed keeping driving, own vehicle collision warning, and own vehicle lane departure warning. For example, the operation control unit 63 performs cooperative control for the purpose of automatic driving, such as allowing the vehicle to travel autonomously independent of the driver's operation.

[0154] The DMS 30 performs a driver authentication process and a driver status recognition process based on sensor data from the in-vehicle sensor 26 and input data to the HMI 31 described later, etc. As the driver's status to be recognized, for example, the driver's physical condition, alertness level, concentration level, fatigue level, sight direction, drunkenness level, driving operation and posture, etc. are assumed.

[0155] Note that the DMS 30 may perform authentication processing of passengers other than the driver and recognition processing of the status of the passengers. In addition, for example, the DMS 30 may perform recognition processing of the vehicle interior condition based on sensor data from the in-vehicle sensor 26. As the vehicle interior condition to be recognized, for example, temperature, humidity, brightness, and smell are assumed.

[0156] The HMI 31 performs input of various types of data, instructions, and the like, and presentation of various types of information to a driver and the like.

[0157] Data input through the HMI 31 is briefly described. The HMI 31 includes an input device for a person to input data. The HMI 31 generates an input signal based on the data and instructions input by the input device, and supplies the input signal to each unit of the vehicle control system 11. The HMI 31 includes operating elements such as a touch panel, a button, a switch, and a lever as an input device. The HMI 31 is not limited to this, and may also include an input device that supports inputting information by a method other than manual operation (such as voice or gesture). In addition, the HMI 31 may use, for example, a remote control device using infrared or radio waves, or an external connection device such as a mobile device or a wearable device that is compatible with the operation of the vehicle control system 11, as an input device.

[0158] The data presentation by the HMI 31 is briefly described. The HMI 31 generates visual information, auditory information, and tactile information about the passenger or the outside of the vehicle. In addition, the HMI 31 performs output control to control the output, output content, output timing, output method, etc. of each piece of generated information. The HMI 31 generates and outputs information indicated by an image or light, such as an operation screen, a state display of the vehicle 100, a warning display, and a monitor image indicating the situation around the vehicle 100, as visual information. In addition, the HMI 31 generates and outputs information indicated by sound, such as voice guidance, warning sound, and warning message, as auditory information. In addition, the HMI 31 generates and outputs information that gives a sense of touch to the passenger, such as by force, vibration, or motion, as tactile information.

[0159] As an output device for HMI 31 to output visual information, for example, a display device configured to present visual information by displaying an image by itself, or a projector device configured to present visual information by projecting an image can be applied. Note that in addition to a display device with a normal display, the display device can be, for example, a device configured to display visual information within the field of vision of a passenger, such as a head-up display, a transmissive display, or a wearable device with an AR (augmented reality) function. In addition, HMI 31 can also use a display device included in a navigation device, an instrument panel, a CMS (camera monitoring system), an electronic mirror, or a lamp, etc., which is provided in the vehicle 100, as an output device configured to output visual information.

[0160] As an output device for the HMI 31 to output auditory information, for example, an audio speaker, a headphone, an earphone, or the like can be applied.

[0161] As an output device for the HMI 31 to output tactile information, for example, a tactile element using tactile technology may be applied. The tactile element is provided in a portion of the vehicle 100 that contacts a passenger, such as a steering wheel and a seat.

[0162] The vehicle control unit 32 controls each unit of the vehicle 100. The vehicle control unit 32 includes a steering control unit 81, a brake control unit 82, a drive control unit 83, a body control unit 84, a light control unit 85, and a horn control unit 86.

[0163] The steering control unit 81 detects and controls, for example, the state of a steering system of the vehicle 100. The steering system includes, for example, a steering mechanism including a steering wheel, etc. and electric steering. The steering control unit 81 includes, for example, a steering ECU configured to control the steering system and an actuator configured to drive the steering system.

[0164] The brake control unit 82 detects and controls the state of the brake system of the vehicle 100, for example. The brake system includes, for example, a brake mechanism including a brake pedal, etc., an ABS (anti-lock brake system), and a regenerative brake mechanism. The brake control unit 82 includes, for example, a brake ECU configured to control the brake system and an actuator configured to drive the brake system.

[0165] The drive control unit 83 detects and controls the state of the drive system of the vehicle 100, for example. The drive system includes, for example, an accelerator pedal, a drive force generating device (such as an internal combustion engine or a drive motor) for generating a drive force, and a drive force transmitting mechanism for transmitting the drive force to the wheels. The drive control unit 83 includes, for example, a drive ECU configured to control the drive system and an actuator configured to drive the drive system.

[0166] The body control unit 84 detects and controls the state of the body system of the vehicle 100, for example. The body system includes, for example, a keyless entry system, a smart key system, a power window device, a power seat, an air conditioning device, an air bag, a seat belt, and a shift lever. The body control unit 84 includes, for example, a body system ECU configured to control the body system and an actuator configured to drive the body system.

[0167] The light control unit 85 detects and controls the states of various lights of the vehicle 100, for example. As lights to be controlled, for example, headlights, backlights, fog lights, turn signals, brake lights, projections, and bumper displays are assumed. The light control unit 85 includes a light ECU configured to control the lights and an actuator configured to drive the lights, etc.

[0168] The horn control unit 86 detects and controls, for example, the state of a car horn of the vehicle 100. The horn control unit 86 includes, for example, a horn ECU configured to control the car horn and an actuator configured to drive the car horn.

[0169] Fig.24 It is shown Fig.23 25, the radar 52, the LiDAR 53, the ultrasonic sensor 54, and the like. Note that Fig.24 The vehicle 100 is schematically shown as viewed from above, with the left end side corresponding to the front end (front) side of the vehicle 100 and the right end side corresponding to the rear end (rear) side of the vehicle 100 .

[0170] The sensing area 101F and the sensing area 101B represent examples of sensing areas of the ultrasonic sensors 54. The sensing area 101F covers an area around the front end of the vehicle 100 by multiple ultrasonic sensors 54. The sensing area 101B covers an area around the rear end of the vehicle 100 by multiple ultrasonic sensors 54.

[0171] The sensing results in the sensing area 101F and the sensing area 101B are used for parking assistance of the vehicle 100 , for example.

[0172] Sensing areas 102F to 102B represent examples of sensing areas of the radar 52 for short-range or medium-range. In front of the vehicle 100, the sensing area 102F covers a position farther than the sensing area 101F. In the rear of the vehicle 100, the sensing area 102B covers a position farther than the sensing area 101B. The sensing area 102L covers an area around the rear of the left side surface of the vehicle 100. The sensing area 102R covers an area around the rear of the right side surface of the vehicle 100.

[0173] The sensing result in the sensing area 102F is used, for example, to detect vehicles and pedestrians located in front of the vehicle 100. The sensing result in the sensing area 102B is used, for example, for a function of preventing a rear collision of the vehicle 100. The sensing results in the sensing area 102L and the sensing area 102R are used, for example, to detect objects in the side blind spots of the vehicle 100.

[0174] Sensing areas 103F to 103B represent examples of sensing areas of the camera 51. In front of the vehicle 100, the sensing area 103F covers a position farther than the sensing area 102F. In the rear of the vehicle 100, the sensing area 103B covers a position farther than the sensing area 102B. The sensing area 103L covers an area around the left side surface of the vehicle 100. The sensing area 103R covers an area around the right side surface of the vehicle 100.

[0175] The sensing results in the sensing area 103F can be used, for example, for the recognition of traffic lights and traffic signs, lane departure prevention assistance systems, and automatic headlight control systems. The sensing results in the sensing area 103B can be used, for example, for parking assistance and surround view systems. The sensing results in the sensing areas 103L and 103R can be used, for example, for surround view systems.

[0176] The sensing area 104 represents an example of the sensing area of ​​the LiDAR 53. The sensing area 104 covers a position farther than the sensing area 103F in front of the vehicle 100. On the other hand, the range of the sensing area 104 in the left-right direction is narrower than that of the sensing area 103F.

[0177] The sensing results in the sensing area 104 are used, for example, to detect objects such as surrounding vehicles.

[0178] The sensing area 105 represents an example of the sensing area of ​​the long-range radar 52. The sensing area 105 covers a position farther in front of the vehicle 100 than the sensing area 104. On the other hand, the sensing area 105 is narrower than the sensing area 104 in the left-right direction.

[0179] The sensing result in the sensing area 105 is used for, for example, ACC (Adaptive Cruise Control), emergency braking, and collision avoidance.

[0180] Note that the sensing area of ​​each sensor including the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54 included in the exterior recognition sensor 25 may have a range other than Fig.24 Specifically, the ultrasonic sensor 54 can also sense the side of the vehicle 100, and the LiDAR 53 can sense the rear of the vehicle 100. In addition, the installation position of each sensor is not limited to the above-mentioned examples. In addition, the number of each sensor can be one or more.

[0181] (in conclusion)

[0182] Although some embodiments of the present disclosure have been described, these embodiments are presented only as examples and are not intended to limit the scope of the present disclosure. These embodiments can be implemented in various other forms, and various omissions, substitutions, changes and combinations can be made without departing from the main idea of ​​the present disclosure. These embodiments and modifications thereof fall within the scope and gist of the present disclosure, as well as within the scope of the present disclosure described in the claims and their equivalents.

[0183] Furthermore, the effects of the present disclosure described here are merely exemplary, and there may be other effects.

[0184] It should be noted that the present disclosure can also adopt the following configurations.

[0185] [Item 1] (Examples 1 to 9)

[0186] A radar device, comprising:

[0187] a substrate having an antenna structure in which a radiation portion for radio waves is provided on a first surface;

[0188] a radome arranged to face the first surface of the substrate; and

[0189] A radio wave absorbing member is arranged between the substrate and the radome, has an opening formed in a portion corresponding to the radiating portion, and includes an insulator configured to absorb radio waves.

[0190] [Item 2] (Examples 1 to 9)

[0191] The radar apparatus according to item 1, wherein a thickness of a portion of the radome other than a portion facing the radiating portion is less than a half of a waveguide wavelength of a radio wave propagating within the radome.

[0192] [Item 3] (Examples 1 to 9)

[0193] The radar device according to item 1 or 2, wherein a thickness of a portion of the radome facing the radiating portion includes an integral multiple of half a waveguide wavelength of a radio wave propagating within the radome.

[0194] [Item 4] (Examples 1 to 9)

[0195] The radar device according to any one of items 1 to 3, wherein the thickness of the radio wave absorbing member includes a thickness such that the intensity of radio waves leaking from the radio wave absorbing member is equal to or smaller than a predetermined threshold value.

[0196] [Item 5] (Examples 1 to 9)

[0197] The radar device according to any one of items 1 to 4, wherein:

[0198] The radiation portion is arranged to protrude on the first surface of the substrate,

[0199] A portion of the radome facing the radiating portion is arranged to protrude toward the first surface of the substrate, and

[0200] The radiating portion and a portion of the radome facing the radiating portion are fitted in the opening of the radio wave absorbing member.

[0201] [Item 6] (Examples 1 to 9)

[0202] The radar device according to any one of items 1 to 5, wherein the radio wave absorbing member and the radome are arranged in contact with each other.

[0203] [Item 7] (Examples 2 and 3)

[0204] The radar device according to any one of items 1 to 6, wherein a recessed portion or a protruding portion is formed on the first surface of the radome.

[0205] [Item 8] (Examples 4 and 5)

[0206] The radar device according to any one of items 1 to 6, wherein the radio wave absorbing member is arranged at the periphery of the radiating portion.

[0207] [Item 9] (Examples 4 and 5)

[0208] The radar apparatus according to Item 8, wherein the radio wave absorbing member is arranged in one or more ring shapes on the periphery of the radiating portion.

[0209] [Item 10] (Examples 4 and 5)

[0210] The radar device according to Item 9, wherein a buffer member is arranged at a portion between the substrate and the radome other than a portion where the radio wave absorbing member is arranged.

[0211] [Item 11] (Examples 6 and 7)

[0212] The radar device according to any one of items 1 to 9, wherein the radio wave absorption member includes a plurality of layers of radio wave absorption members having different materials.

[0213] [Item 12] (Example 7)

[0214] The radar device according to item 11, wherein one layer of the plurality of radio wave absorbing members having different materials includes an air layer.

[0215] [Item 13] (Example 8)

[0216] The radar device according to any one of items 1 to 12, wherein a plurality of radiation portions are provided on the first surface of the substrate.

[0217] [Item 14] (Examples 1 to 9)

[0218] The radar device according to any one of Items 1 to 13, wherein the insulator included in the radio wave absorbing member includes polyethylene carbonate.

[0219] [Item 15] (Example of Change)

[0220] The radar device according to any one of items 1 to 14, wherein the antenna structure includes any one of a slot antenna, a microstrip antenna, or a horn antenna.

[0221] [Item 16] (Example of Change)

[0222] The radar device according to any one of items 1 to 15, wherein a frequency selective surface and a metasurface are arranged on a first surface of the radome.

[0223] [Item 17] (Examples 1 to 9)

[0224] The radar apparatus according to any one of items 1 to 16, wherein the radio waves radiated from the radiating portion include millimeter waves.

[0225] [Item 18] (Examples 1 to 9)

[0226] The radar device according to any one of items 1 to 17, wherein the radar device includes a vehicle-mounted radar device.

[0227] [Item 19]

[0228] The radar device according to any one of items 1 to 18, wherein the radiation portion includes a space provided on the first surface of the substrate.

[0229] [Item 20] (Examples 1 to 9)

[0230] The radar device according to item 1, wherein the substrate includes a metal member.

[0231] [Item 21] (Example 9)

[0232] The radar apparatus according to any one of items 1 to 20, wherein a feed line configured to feed the antenna structure is provided on a second surface of the substrate opposite to the first surface.

[0233] [Item 22] (Example 9)

[0234] The radar device according to item 20, wherein the electronic components are arranged on the second surface of the substrate.

[0235] [Item 23] (Example 9)

[0236] The radar device according to item 21, wherein no electronic components are arranged on the first surface of the substrate.

[0237] [Item 24] (Example 9)

[0238] The radar device according to item 21, wherein the heat dissipation member is provided to face the second surface of the substrate.

[0239] [Item 25]

[0240] A vehicle-mounted sensing system, comprising:

[0241] A radar device, the radar device comprising:

[0242] a substrate having an antenna structure in which a radiation portion for radio waves is provided on a first surface;

[0243] a radome arranged to face the first surface of the substrate; and

[0244] a radio wave absorbing member disposed between the substrate and the radome, having an opening formed in a portion corresponding to the radiating portion, and including an insulator configured to absorb radio waves;

[0245] an object recognition processing device configured to perform object recognition processing based on an output of the radar device; and

[0246] A vehicle control device is configured to control a vehicle based on a recognition result of the object recognition processing device.

[0247] [reference numerals list]

[0248] 1: Antenna

[0249] 2: Metal components (substrate)

[0250] 2a: First surface

[0251] 2b: Second surface

[0252] 3: Radome

[0253] 3a: First surface

[0254] 3b: Second surface

[0255] 4: Radio wave absorbing components

[0256] 4a: First surface

[0257] 4c: Opening

[0258] 5: Radiation part

[0259] 5a: First surface

[0260] 6: Circuit board

[0261] 11: Vehicle control system (vehicle sensing system)

[0262] 21: Vehicle control ECU (Electronic Control Unit)

[0263] 22: Communication unit

[0264] 23: Map information accumulation unit

[0265] 24: Location information acquisition unit

[0266] 25: External recognition sensor

[0267] 26: In-car sensor

[0268] 27: Vehicle Sensors

[0269] 28: Storage unit

[0270] 29: Driving assistance and autonomous driving control unit

[0271] 30: Driver Monitoring System (DMS)

[0272] 31: Human Machine Interface (HMI)

[0273] 32: Vehicle control unit

[0274] 41: Communication Network

[0275] 51: Camera

[0276] 52: Radar

[0277] 53: LiDAR

[0278] 54: Ultrasonic sensor

[0279] 61: Analysis Unit

[0280] 62: Action Plan Unit

[0281] 63: Operation control unit

[0282] 71: Own position estimation unit

[0283] 72: Sensor fusion unit

[0284] 73: Identification unit

[0285] 81: Steering control unit

[0286] 82: Brake control unit

[0287] 83: Drive control unit

[0288] 84: Body control unit

[0289] 85: Light control unit

[0290] 86: Speaker control unit

[0291] 100: Vehicles

[0292] 201: Antenna

[0293] 203: Radome

[0294] 203a: First surface

[0295] 203c: Depression

[0296] 301: Antenna

[0297] 303: Radome

[0298] 303a: First surface

[0299] 303d: protrusion

[0300] 401: Antenna

[0301] 404: Radio wave absorbing member

[0302] 404c: Opening

[0303] 407: Buffering member

[0304] 501: Antenna

[0305] 504: Radio wave absorbing member

[0306] 507: Buffer component

[0307] 601: Antenna

[0308] 604: Radio wave absorbing member

[0309] 604a: Radio wave absorbing member

[0310] 604b: Radio wave absorbing member

[0311] 701: Antenna

[0312] 704: Radio wave absorbing member

[0313] 704a: Radio wave absorbing member

[0314] 704b: Air layer or buffer member

[0315] 801: Antenna

[0316] 802: Metal components

[0317] 803: Radome

[0318] 804: Radio wave absorbing member

[0319] 805: Radiation part

[0320] 801B: Antenna

[0321] 805B: Radiation part

[0322] 801B: Antenna

[0323] 805B: Radiation part

[0324] 901: Antenna

[0325] 902: Dielectric substrate (substrate)

[0326] 902a: First surface

[0327] 902b: Second surface

[0328] 903: Radome

[0329] 904: Radio wave absorbing member

[0330] 905: Radiation

[0331] 906: Circuit Board

[0332] 908: Feeding part

[0333] 909a: Ground plate

[0334] 909b: Ground plate

[0335] 909c: Ground plate

[0336] 910: Feeder

[0337] 911: Power circuit

[0338] 912: Signal line

[0339] 912a: End

[0340] 913: Waveguide

[0341] 914a: Passage

[0342] 914b: Passage

[0343] 915: Opening

[0344] 916: Opening

[0345] 920: Shell

[0346] 921: Heat dissipation components

[0347] 1201: Antenna

[0348] 1202: Metal components

[0349] 1203: Radome

[0350] 1203a: First surface

[0351] 1205: Radiation part

[0352] 1206: Substrate

[0353] L1: Layer

[0354] L2: Layer

[0355] L3: Layer

[0356] L4: Layer

[0357] L5: Layer

[0358] L6: Layer

[0359] L7: Layer

Claims

1. A radar device, comprising: a substrate having an antenna structure in which a radiation portion for radio waves is provided on a first surface; a radome arranged to face the first surface of the substrate; and A radio wave absorbing member is arranged between the substrate and the radome, has an opening formed in a portion corresponding to the radiating portion, and includes an insulator configured to absorb radio waves.

2. The radar device according to claim 1, wherein: The thickness of a portion of the radome other than a portion facing the radiating portion is less than a half of a waveguide wavelength of a radio wave propagating within the radome.

3. The radar device according to claim 1, wherein: A thickness of a portion of the radome facing the radiating portion includes an integral multiple of a half of a waveguide wavelength of radio waves propagating within the radome.

4. The radar device according to claim 1, wherein: The thickness of the radio wave absorption member includes a thickness such that the intensity of radio waves leaking from the radio wave absorption member is equal to or smaller than a predetermined threshold value.

5. The radar device according to claim 1, wherein: The radiation portion is arranged to protrude on the first surface of the substrate, A portion of the radome facing the radiating portion is arranged to protrude toward the first surface of the substrate, and The radiating portion and a portion of the radome facing the radiating portion are fitted in the opening of the radio wave absorbing member.

6. The radar device according to claim 1, wherein: The radio wave absorbing member and the radome are arranged in contact with each other.

7. The radar device according to claim 1, wherein: A recessed portion or a protruding portion is formed on the first surface of the radome.

8. The radar device according to claim 1, wherein: The radio wave absorbing member is arranged at the periphery of the radiating portion.

9. The radar apparatus according to claim 8, wherein: The radio wave absorbing member is arranged in one or more ring shapes at the periphery of the radiating portion.

10. The radar device according to claim 9, wherein: A buffer member is arranged at a portion between the substrate and the radome except for a portion where the radio wave absorbing member is arranged.

11. The radar device according to claim 1, wherein: The radio wave absorption member includes a plurality of radio wave absorption members having different materials.

12. The radar device according to claim 11, wherein: One layer of the multi-layered radio wave absorbing members having different materials includes an air layer.

13. The radar device according to claim 1, wherein: A plurality of radiation portions are disposed on the first surface of the substrate.

14. The radar device according to claim 1, wherein: The insulator included in the radio wave absorbing member includes polyethylene carbonate.

15. The radar device according to claim 1, wherein: The antenna structure includes any one of a slot antenna, a microstrip antenna or a horn antenna.

16. The radar device according to claim 1, wherein: A frequency selective surface and a metasurface are disposed on a first surface of the radome.

17. The radar device according to claim 1, wherein: The radio waves radiated from the radiating portion include millimeter waves.

18. The radar device according to claim 1, wherein: The radar device includes a vehicle-mounted radar device.

19. The radar device according to claim 1, wherein: The radiation portion includes a space provided on the first surface of the substrate.

20. The radar device according to claim 1, wherein: The substrate includes a metal member.

21. The radar device according to claim 1, wherein: A feeding line configured to feed the antenna structure is disposed on a second surface of the substrate opposite to the first surface.

22. The radar device according to claim 21, wherein: Electronic components are arranged on the second surface of the substrate.

23. The radar device according to claim 21, wherein: No electronic components are arranged on the first surface of the substrate.

24. The radar apparatus according to claim 20, wherein: The heat dissipation member is disposed to face the second surface of the substrate.

25. A vehicle-mounted sensing system, comprising: A radar device, the radar device comprising: a substrate having an antenna structure in which a radiation portion for radio waves is provided on a first surface; a radome arranged to face the first surface of the substrate; and a radio wave absorbing member disposed between the substrate and the radome, having an opening formed in a portion corresponding to the radiating portion, and including an insulator configured to absorb radio waves; an object recognition processing device configured to perform object recognition processing based on an output of the radar device; and A vehicle control device is configured to control a vehicle based on a recognition result of the object recognition processing device.

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