Vehicle-mounted radar antenna linear array pitching plane FOV widening method and related equipment thereof

Abstract

The invention provides a vehicle-mounted radar antenna linear array pitching plane FOV widening method and related equipment thereof, and the method comprises the steps: carrying out the synthesis of amplitude and phase weights through employing a Fourier transform method, and calculating a first amplitude and phase weight of a pitching plane directional diagram width FOV; adjusting the second amplitude-phase weight of the output port of the power divider combination to be consistent with the first amplitude-phase weight obtained by the Fourier transform method so as to form the pitching beam wave of the antenna linear array; simulating each transmitting antenna and each receiving antenna, extracting gain directional diagrams generated by simulation of each transmitting antenna and each receiving antenna, and calculating a receiving-transmitting synthetic gain directional diagram of the radar; the power diagram of the whole radar can be calculated by utilizing the receiving and transmitting synthetic gain directional diagram and combining a radar equation, and whether the FOV of the pitching surface of the radar meets the requirement or not is judged. Based on an antenna shaping principle, amplitude-phase weight synthesis is carried out by adopting a Fourier transform method, and the FOV range of the pitching surface of the vehicle-mounted front radar is effectively expanded on the premise of ensuring high gain.

Description

Technical Field

[0001] The present invention relates to the field of automobile safety, and in particular to a method for widening the FOV of a vehicle-mounted radar antenna array pitch surface and related equipment. Background Art

[0003] The causes of traffic accidents include speeding, failure to pay attention to the state in front of the vehicle, negligence, illegal driving, etc. According to automobile accident data, more than 80% of accidents are caused by drivers' untimely response or misjudgment when facing emergencies. Daimler-Chrysler's research shows that if drivers have an additional warning time of 1 second, 90% of collision accidents can be avoided. However, people's reaction time and field of vision are limited, and simply improving the quality of drivers cannot significantly reduce the accident rate. With the development of modern science and technology, military radar technology has begun to be applied to civilian systems, and the application of radar technology in the automotive industry has received great attention.

[0004] As one of the important sensors of Advanced Driver Assistance System (ADAS), vehicle-mounted millimeter-wave radar has become an indispensable part of ADAS system, and with the continuous development of autonomous driving technology, millimeter-wave radar will have a huge market demand. Vehicle-mounted millimeter-wave front radar plays a vital role in the application of adaptive cruise control (ACC), forward collision warning (FCW), automatic emergency braking (AEB), and other scenarios. The vehicle-mounted millimeter-wave front radar is installed on the front bumper. It has a FOV (Field of View) in the horizontal plane and the pitch plane. With the ability to distinguish pitches, it can distinguish obstacles that are lower than the bumper and difficult for the driver to see from the car, and alarm, such as flower beds, playing children, etc. It can also distinguish those high obstacles to determine whether the vehicle can pass smoothly.

[0005] In order to more stably identify low and high targets, a wider pitch FOV is needed to increase the time to see the target and reduce blind spots, while the front radar needs a higher gain. In the design process, what technical means are used to expand the pitch beam width of the antenna while ensuring high gain is still an important technical difficulty in the current millimeter wave radar antenna design. Summary of the invention

[0006] In view of this, an embodiment of the present invention provides a vehicle-mounted radar antenna array with a pitch plane FOV widening, aiming to solve the technical problem that the existing vehicle-mounted radar has a large blind spot while maintaining a high gain.

[0007] In a first aspect, an embodiment of the present invention provides a method for widening the FOV of a vehicle-mounted radar antenna array pitch plane, comprising:

[0008] The Fourier transform method is used to synthesize the amplitude and phase weights, and the first amplitude and phase weight of the elevation plane pattern width FOV is calculated;

[0009] A plurality of one-to-two power dividers are combined to obtain a power divider combination, and a second phase weight value of an output port of the power divider combination is adjusted to be consistent with a first phase weight value synthesized by a Fourier transform method, so as to shape the elevation beam wave of the antenna array to achieve a preset directivity pattern;

[0010] The radar contains multiple antenna arrays. The transmitting antenna and receiving antenna of the radar both use the same antenna array. Each transmitting antenna and each receiving antenna are simulated, the gain pattern generated by the simulation of each transmitting antenna and receiving antenna is extracted, and the radar's transmit-receive composite gain pattern is calculated.

[0011] By using the synthetic gain pattern of transmission and reception and combining it with the radar equation, the power diagram of the radar can be calculated and the FOV of the radar elevation plane can be judged to see whether it meets the requirements.

[0012] If yes, then end the simulation.

[0013] Preferably, the step of combining a plurality of one-to-two power splitters to obtain a power splitter combination comprises:

[0014] Combine three 1-to-2 power splitters to create a 1-to-4 power splitter.

[0015] Preferably, the step of adjusting the second amplitude and phase weight value of the output port of the power divider combination to be consistent with the first amplitude and phase weight value synthesized by the Fourier transform method to shape the elevation beam wave of the antenna array to achieve a preset directional pattern includes:

[0016] Changing the length of the waveguide feed line of the one-to-two power splitter can change the input phase of each radiator, and changing the size of the waveguide feed line of the one-to-two power splitter can change the input amplitude of each radiator, so that the second amplitude-phase weight value of the power splitter combination is consistent with the first amplitude-phase weight value synthesized by the Fourier transform method.

[0017] In a second aspect, an embodiment of the present invention provides a radar, which is applied to the method for widening the FOV of the above-mentioned vehicle-mounted radar antenna array pitch plane, including:

[0018] PCBA RF board, used to generate, transmit and receive RF signals;

[0019] Antenna linear array, used to shape the elevation beam to achieve the desired directional pattern;

[0020] Dummy element, used to improve the large-angle gain of the radiating antenna;

[0021] Among them, multiple antenna arrays are arranged on the PCBA radio frequency board, and the antenna array includes a one-to-four power divider, and the one-to-four power divider is composed of three one-to-two power dividers.

[0022] Preferably, the antenna array includes a first one-to-two power divider, a second one-to-two power divider and a third one-to-two power divider;

[0023] The first one-to-two power divider and the second one-to-two power divider are respectively vertically arranged on the third one-to-two power divider.

[0024] Preferably, the vehicle-mounted radar further includes a radome.

[0025] In a third aspect, the embodiments of the present invention provide

[0026] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, which, when executed by the processor, implement the methods of the first and second aspects of the above-mentioned embodiments.

[0027] In summary, the beneficial effects of the present invention are as follows:

[0028] A method for widening the FOV of the elevation plane of a vehicle-mounted radar antenna array provided in an embodiment of the present invention is based on the antenna shaping principle and adopts the Fourier transform method to integrate the amplitude and phase weights to design a high-gain elevation wide-beam waveguide speaker array. While ensuring high gain, the FOV range of the elevation plane of the vehicle-mounted front radar is effectively expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the embodiment of the present invention will be briefly introduced below. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work, and these are all within the protection scope of the present invention.

[0030] Figure 1 The present invention is a flowchart of a first embodiment of widening the FOV of a vehicle-mounted radar antenna array pitch plane.

[0031] Figure 2 The combined transmitting and receiving pattern of the radar device according to one embodiment of the present invention.

[0032] Figure 3 for Figure 2 A radar elevation power diagram of an embodiment.

[0033] Figure 4 Schematic diagram of the structure of a radar according to an embodiment of the present invention.

[0034] Figure 5yes Figure 4 Schematic diagram of a receiving antenna and a transmitting antenna of an embodiment.

[0035] Figure 6 yes Figure 4 A cross-sectional schematic diagram of a power divider assembly according to an embodiment. DETAILED DESCRIPTION

[0036] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and Examples. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0038] Reference Figures 1 to 5 The present invention provides a method for widening the FOV of a vehicle-mounted radar antenna array pitch plane, comprising:

[0039] S1: Fourier transform method is used to integrate the amplitude and phase weights to calculate the first amplitude and phase weight of the elevation plane pattern width FOV;

[0040] S2: combining a plurality of one-to-two power dividers to obtain a power divider combination, adjusting the second phase weight value of the output port of the power divider combination to be consistent with the first phase weight value obtained by Fourier transform method, so as to shape the elevation beam wave of the antenna array 2 to achieve a preset directivity pattern;

[0041] S3: The radar includes multiple antenna arrays 2. The transmitting antenna and receiving antenna of the radar both use the same antenna array 2. Each transmitting antenna and each receiving antenna are simulated, and the gain pattern generated by the simulation of each transmitting antenna and receiving antenna is extracted, and the radar's transmit-receive composite gain pattern is calculated.

[0042] S4: Using the synthetic gain pattern of transmission and reception, combined with the radar equation, the power diagram of the radar can be calculated, and it can be determined whether the FOV of the radar's pitch plane meets the requirements;

[0043] S5: If yes, then end the simulation.

[0044] In the embodiment of the present invention, in the antenna array design, the Fourier transform method can be used to calculate and design the amplitude and phase weights of each antenna array 2 to achieve the desired beam shape. Amplitude and phase are two basic properties of the signal. The amplitude and phase weight refers to the adjustment of the signal amplitude and phase of each antenna array 2 to achieve a specific beam shape. Therefore, the Fourier transform method is used to synthesize the amplitude and phase weights, and the first amplitude and phase weight of the elevation plane pattern width FOV is calculated. In the embodiment of the present invention, the antenna array 2 adopts a speaker array, in which each radiating speaker in the array is fed by a waveguide power divider. Through the combination of three one-to-two power dividers, changing the length of the waveguide feed line of the power divider can change the input phase of each radiator, and changing the size of the waveguide feed line of the power divider can change the input amplitude of each radiator, so that the amplitude and phase weight of the power divider combination is consistent with the amplitude and phase weight synthesized by the Fourier transform method, thereby shaping the elevation beam of the antenna array 2 to achieve the expected directional pattern. Among them, the directional pattern is a graph that describes the directional characteristics of the antenna radiation or reception signal. By shaping, a directional pattern that meets specific requirements can be designed, such as a narrower beam or a specific coverage area. The radar includes multiple antenna arrays 2. In the embodiment of the present invention, Figure 5 As shown, the four antenna arrays 2 in area A are receiving antennas, and the four antenna arrays 2 in area B are transmitting antennas. The transmitting antenna and receiving antenna of the radar both use the same antenna array 2. Each transmitting antenna and each receiving antenna are simulated, and the gain pattern generated by the simulation of each transmitting antenna and receiving antenna is extracted. The radar's transmit-receive composite gain pattern is calculated, as shown in Figure 2 As shown. Figure 2 In the figure, the horizontal axis represents the angle, and the vertical axis represents the gain of the combined transmit and receive directional pattern. Figure 2As shown in the figure, the FOV of the radar in the elevation plane can reach ±30°, while the antenna gain can still be maintained at 15.9dB. That is, the amplitude and phase weights obtained by the Fourier transform method are realized by the power divider combination. Under the premise of maintaining high gain, the FOV of the radar in the elevation plane is greatly improved, reducing the elevation blind area of ​​the vehicle-mounted radar. Using the synthetic gain pattern of transmission and reception, combined with the radar equation, the power diagram of the radar can be calculated, and it can be judged whether the FOV of the radar in the elevation plane meets the requirements, such as Figure 3 As shown in the figure, the horizontal axis represents the angle and the vertical axis represents the distance. Figure 3 We can conclude that when the elevation plane is ±30°, the detection distance of the radar can still reach 24 meters. We use the power diagram of the whole radar to evaluate the performance of the antenna array 2. This parameter has met our requirements for effectively expanding the FOV range of the radar elevation plane while ensuring high gain. If the simulation results meet the requirements, the simulation ends. In summary, based on the antenna shaping principle, the Fourier transform method is used to synthesize the amplitude and phase weights, and a high-gain elevation wide-beam waveguide speaker array is designed. While ensuring high gain, the FOV range of the vehicle-mounted front radar elevation plane is effectively expanded.

[0045] Further, the step S2 of combining a plurality of one-to-two power splitters to obtain a power splitter combination includes:

[0046] Three of the one-to-two power splitters are combined to generate a one-to-four power splitter.

[0047] Further, the second amplitude and phase weight value of the output port of the power divider combination is adjusted to be consistent with the first amplitude and phase weight value synthesized by the Fourier transform method to shape the elevation beam wave of the antenna array 2 to achieve a preset directional pattern, including:

[0048] Changing the length of the waveguide feed line of the one-to-two power splitter can change the input phase of each radiator, and changing the size of the waveguide feed line of the one-to-two power splitter can change the input amplitude of each radiator, so that the second amplitude-phase weight value of the power splitter combination is consistent with the first amplitude-phase weight value synthesized by the Fourier transform method.

[0049] Further, the radar equation includes at least one of: a basic radar equation, a search radar equation, a low pulse repetition frequency radar equation, a high pulse repetition frequency radar equation, a bistatic radar equation, a surveillance radar equation, and a synthetic aperture radar equation.

[0050] In the embodiment of the present invention, in the radar system, the radar equation is a series of equations used to describe the radar's ability to detect targets. The basic radar equation is the basic equation for the detection capability of the radar system, which takes into account factors such as radar transmit power, antenna gain, target radar cross section (RCS), operating frequency, target distance, and system loss. The search radar equation is used to calculate the ability of the search radar to detect targets in a certain airspace, which takes into account the average transmit power of the radar, the effective area of ​​the antenna, the scanning time, the search airspace, and the system loss. The low pulse repetition frequency radar equation is used to process the working conditions of the radar at a low repetition frequency, which takes into account the influence of the pulse repetition frequency on the radar detection capability. The high pulse repetition frequency radar equation corresponds to the low PRF radar equation, and this equation takes into account the working performance of the radar at a high repetition frequency. The bistatic radar equation, in this configuration, the transmitting and receiving sites are separated, and this equation is used to describe the ability of the bistatic radar system to detect targets. The surveillance radar equation, the surveillance radar needs to search and track targets in a larger airspace, and this equation takes into account the performance of the radar in the search and tracking state. Radar equations in the presence of interference. This equation takes into account the effect of interference on the radar's detection capability in the presence of external interference (such as electronic jamming). Synthetic aperture radar equations. This equation is used to analyze the imaging capability and resolution of synthetic aperture radars. It takes into account the radar's transmit power, antenna characteristics, pulse width, operating frequency, and target distance. These equations are important tools in radar system design and analysis. They help engineers understand and optimize the performance of radars. Through these equations, key parameters such as radar range, detection probability, resolution, and anti-interference ability can be predicted.

[0051] refer to Figures 4 to 6 The present invention also provides a radar, which is applied to the method for widening the FOV of the above-mentioned vehicle-mounted radar antenna array pitch plane, comprising:

[0052] PCBA radio frequency board 1, used for generating, transmitting and receiving radio frequency signals;

[0053] Antenna linear array 2, used to shape the elevation beam to achieve a desired directional pattern;

[0054] Dummy element 3 is used to improve the large-angle gain of the radiating antenna;

[0055] Among them, multiple antenna arrays 2 are arranged on the PCBA radio frequency board 1, and the antenna array 2 includes a one-to-four power divider, and the one-to-four power divider is composed of three one-to-two power dividers.

[0056] In the embodiment of the present invention, Figure 4 As shown, the radar includes a PCBA radio frequency board 1, an antenna array 2 and a dummy element 3. The radar includes multiple antenna arrays 2. In the embodiment of the present invention, Figure 5As shown, the four antenna arrays 2 in area A are receiving antennas, and the four antenna arrays 2 in area B are transmitting antennas. The antenna array 2 uses a horn array, in which each radiating horn is fed by a waveguide power divider. Through the combination of three one-to-two power dividers, changing the length of the waveguide feed line of the power divider can change the input phase of each radiator, and changing the size of the waveguide feed line of the power divider can change the input amplitude of each radiator, so that the amplitude and phase weights of the power divider combination are consistent with the amplitude and phase weights synthesized by the Fourier transform method, thereby shaping the pitch beam of the antenna array 2 to achieve the expected radiation pattern. The radar includes multiple antenna arrays 2. The transmitting antenna and receiving antenna of the radar both use the same antenna array 2. Each transmitting antenna and each receiving antenna are simulated, and the gain radiation pattern generated by the simulation of each transmitting antenna and receiving antenna is extracted, and the radar's transmit and receive composite gain radiation pattern is calculated. As shown Figure 5 As shown, the antenna array 2 in area A is a receiving antenna, and the antenna array 2 in area B is a transmitting antenna. Figure 4 As shown in the figure, the left and right sides of the partial antenna array 2 are loaded with dummy elements 3, which are open circuit designs. By adjusting the distance between the dummy element 3 and the radiating antenna and the horizontal angle of the dummy element 3 speaker, the large-angle gain of the radiating antenna can be improved. Using the transmit-receive composite gain pattern and combining it with the radar equation, the power diagram of the radar can be calculated, and it can be determined whether the radar's pitch plane FOV meets the requirements, such as Figure 3 As shown in the figure, the horizontal axis represents the angle and the vertical axis represents the distance. Figure 3 We can conclude that when the elevation plane is ±30°, the detection distance of the radar can still reach 24 meters. We use the power diagram of the whole radar to evaluate the performance of the antenna array 2. This parameter has met our requirements for effectively expanding the FOV range of the radar elevation plane while ensuring high gain. If the simulation results meet the requirements, the simulation ends. In summary, based on the antenna shaping principle, the Fourier transform method is used to synthesize the amplitude and phase weights, and a high-gain elevation wide-beam waveguide speaker array is designed. While ensuring high gain, the FOV range of the vehicle-mounted front radar elevation plane is effectively expanded.

[0057] like Figure 6 As shown, the antenna array 2 includes a first one-to-two power divider 41, a second one-to-two power divider 42 and a third one-to-two power divider 43;

[0058] The first one-to-two power divider 41 and the second one-to-two power divider 42 are respectively vertically disposed on the third one-to-two power divider 43 .

[0059] like Figure 4 As shown, the vehicle-mounted radar further includes a radome 5, wherein the radome 5 is used for waterproofing and protecting the antenna.

[0060] In addition, in combination with the method for widening the FOV of the pitch plane of the vehicle-mounted radar antenna array 2 in the above embodiment, the embodiment of the present invention can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any method for widening the FOV of the pitch plane of the vehicle-mounted radar antenna array 2 in the above embodiment is implemented.

[0061] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory may include a removable or non-removable (or fixed) medium. Where appropriate, the memory may be inside or outside a data processing device. In a particular embodiment, the memory is a non-volatile solid-state memory. In a particular embodiment, the memory includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or a flash memory or a combination of two or more of these.

[0062] The processor implements any one of the methods for widening the FOV of the elevation plane of the vehicle-mounted radar antenna array 2 in the above-mentioned embodiments by reading and executing computer program instructions stored in the memory.

[0063] In summary, the embodiments of the present invention provide a method for widening the FOV of a vehicle-mounted radar antenna array in the pitch plane and related equipment.

[0064] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0065] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0066] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0067] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A method for widening the FOV of a vehicle-mounted radar antenna array pitch plane, characterized in that: include: The Fourier transform method is used to synthesize the amplitude and phase weights, and the first amplitude and phase weight of the elevation plane pattern width FOV is calculated; Combining a plurality of one-to-two power dividers to obtain a power divider combination, adjusting the second amplitude and phase weight value of the output port of the power divider combination to be consistent with the first amplitude and phase weight value obtained by Fourier transform method, so as to shape the elevation beam wave of the antenna array to achieve a preset directivity pattern; The radar comprises a plurality of antenna arrays, the transmitting antenna and the receiving antenna of the radar both use the same antenna array, each transmitting antenna and each receiving antenna are simulated, the gain pattern generated by the simulation of each transmitting antenna and the receiving antenna is extracted, and the synthetic gain pattern of transmission and reception of the radar is calculated; By using the synthetic gain pattern of transmission and reception and combining it with the radar equation, the power diagram of the whole radar can be calculated, and it can be judged whether the pitch plane FOV of the radar meets the requirements; If yes, then end the simulation.

2. The method for widening the FOV of the vehicle-mounted radar antenna array pitch plane according to claim 1, characterized in that: The step of combining a plurality of one-to-two power dividers to obtain a power divider combination comprises: Three of the one-to-two power splitters are combined to generate a one-to-four power splitter.

3. The method for widening the FOV of the vehicle-mounted radar antenna array pitch plane according to claim 1 or 2, characterized in that: The step of adjusting the second amplitude and phase weight value of the output port of the power divider combination to be consistent with the first amplitude and phase weight value synthesized by the Fourier transform method to shape the elevation beam wave of the antenna array to achieve a preset directional pattern includes: Changing the length of the waveguide feed line of the one-to-two power splitter can change the input phase of each radiator, and changing the size of the waveguide feed line of the one-to-two power splitter can change the input amplitude of each radiator, so that the second amplitude-phase weight value of the power splitter combination is consistent with the first amplitude-phase weight value synthesized by the Fourier transform method.

4. A radar, applied to the method for widening the FOV of the pitch plane of the vehicle-mounted radar antenna array according to any one of claims 1 to 3, comprising: PCBA RF board, used to generate, transmit and receive RF signals; Antenna linear array, used to shape the elevation beam to achieve the desired directional pattern; Dummy element, used to improve the large-angle gain of the radiating antenna; Among them, multiple antenna arrays are arranged on the PCBA radio frequency board, and the antenna array includes a one-to-four power divider, and the one-to-four power divider is composed of three one-to-two power dividers.

5. The vehicle-mounted radar according to claim 4, characterized in that: The antenna array includes a first one-to-two power divider, a second one-to-two power divider and a third one-to-two power divider; The first one-to-two power divider and the second one-to-two power divider are respectively vertically arranged on the third one-to-two power divider.

6. The vehicle-mounted radar according to claim 5, characterized in that: Also includes a radome.

7. A storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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