Radar device and transmission / reception method thereof

Abstract

A radar device includes: a first radar circuit having a plurality of first transmission antennas and a plurality of first reception antennas; and a second radar circuit having a plurality of second transmission antennas and a plurality of second reception antennas, the plurality of first transmission antennas transmitting a first transmission signal having a predetermined center frequency, and the plurality of second transmission antennas transmitting a second transmission signal having a predetermined center frequency. A plurality of first receiving antennas receive a first reflected wave signal corresponding to a first transmission signal and / or a second reflected wave signal corresponding to a second transmission signal, and a plurality of second receiving antennas receive the first reflected wave signal and / or the second reflected wave signal. The minimum interval between the plurality of first transmission antennas and the plurality of second reception antennas is equal to or greater than one wavelength of the first transmission signal and the second transmission signal and is different from each other, and the minimum interval between the plurality of first reception antennas and the plurality of second transmission antennas is equal to or greater than one wavelength of the first transmission signal and the second transmission signal and is different from each other.

Description

Technical Field

[0001] The present disclosure relates to a radar device and a transmitting and receiving method of the radar device. Background Art

[0002] In recent years, research has been progressing on radar devices that use short-wavelength radar transmission signals (hereinafter also referred to as "TxSig") including microwaves or millimeter waves that can achieve high resolution. For example, as a radar device, the following structure (sometimes also referred to as "MIMO (Multiple Input Multiple Output) radar") has been proposed, which includes multiple antennas (array antennas) in the transmitting part in addition to multiple antennas (array antennas) in the receiving part, and performs beam scanning by signal processing using the transmitting and receiving array antenna (for example, refer to non-patent document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: U.S. Patent Publication No. 2020 / 0300965

[0006] Patent Document 2: U.S. Patent Publication No. 2022 / 0244370

[0007] Patent Document 3: Japanese Patent Application Publication No. 2020-148754

[0008] Patent Document 4: Japanese Patent Application Publication No. 2020-204603

[0009] Non-patent literature

[0010] Non-patent document 1: J. Li, and P. Stoica, "MIMO Radar with Colocated Antennas", Signal Processing Magazine, IEEE Vol. 24, Issue: 5, pp. 106-114, 2007

[0011] Non-patent document 2: E. Fishler, A. Haimovich, R. Blum, D. Chizhik, L. Cimini and R. Valenzuela, "MIMO radar: an idea whose time has come," Proceedings of the 2004 IEEE Radar Conference, 2004, pp. 71-78.

[0012] Non-patent document 3: B. Meinecke, D. Werbunat, Q. Haidari, M. Linder and C. Waldschmidt, "Near-Field Compensation for Coherent Radar Networks," IEEE Microwave and Wireless Components Letters, vol. 32, no. 10, pp. 1251-1254.

[0013] Non-patent document 4: M. Kronauge, H. Rohling, "Fast two-dimensional CFAR procedure", IEEE Trans. Aerosp. Electron. Syst., 2013, 49, (3), pp. 1817-1823

[0014] Non-patent document 5: Direction-of-arrival estimation using signal subspace modeling Cadzow, JA; Aerospace and Electronic Systems, IEEE Transactions on Volume: 28, Issue: 1, 1992, pp. 64-79

[0015] Non-patent document 6: H.Yan, J.Li and G.Liao, "Multitarget Identification and Localization Using Bistatic MIMO Radar Systems," EURASIP Journal on Advances in Signal Processing, vol.2008. Summary of the invention

[0016] However, methods for detecting targets (or objects) using a radar device (eg, MIMO radar) have not been fully studied.

[0017] The non-limiting embodiments of the present disclosure are helpful to provide a radar device and a transmitting and receiving method of the radar device that can efficiently detect a target object.

[0018] A radar device according to an embodiment of the present disclosure includes: a first radar circuit having a plurality of first transmitting antennas and a plurality of first receiving antennas; and a second radar circuit having a plurality of second transmitting antennas and a plurality of second receiving antennas, wherein the plurality of first transmitting antennas transmit a first transmitting signal having a predetermined center frequency, and the plurality of second transmitting antennas transmit a second transmitting signal having the predetermined center frequency, the plurality of first receiving antennas receive at least one of a first reflected wave signal corresponding to the first transmitting signal and a second reflected wave signal corresponding to the second transmitting signal, and the plurality of second receiving antennas receive at least one of the first reflected wave signal and the second reflected wave signal, and the minimum interval among the intervals between the plurality of first transmitting antennas in a first direction and the minimum interval among the intervals between the plurality of second receiving antennas in the first direction are greater than 0.5 wavelengths and less than 1 wavelength of the first transmitting signal and the second transmitting signal.

[0019] It should be noted that these broad or specific embodiments may be implemented by systems, devices, methods, integrated circuits, computer programs or recording media, or by any combination of systems, devices, methods, integrated circuits, computer programs and recording media.

[0020] According to an embodiment of the present disclosure, a radar device can efficiently detect a target object.

[0021] More advantages and effects of an embodiment of the present disclosure will be explained through the description and drawings. These advantages and / or effects are provided by several embodiments, and the features described in the description and drawings, but not necessarily all of them need to be provided in order to obtain one or more of the same features. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a diagram showing an example of a radar device having a monostatic structure and a multi-static structure.

[0023] Figure 2 This is a diagram showing an example of positioning by a radar device using a multi-static structure.

[0024] Figure 3 This is a block diagram showing a configuration example of a radar device.

[0025] Figure 4 This is a block diagram showing a configuration example of a radar device.

[0026] Figure 5 This is a diagram showing an example of a transmission signal.

[0027] Figure 6 This is a diagram showing an example of a chirp signal.

[0028] Figure 7It is a diagram showing an example of arrangement of MIMO antennas.

[0029] Figure 8 It is a diagram showing an example of arrangement of virtual receiving antennas.

[0030] Fig. 9 It is a diagram showing an example of arrangement of MIMO antennas.

[0031] Fig.10 It is a diagram showing an example of arrangement of virtual receiving antennas.

[0032] Fig.11 It is a diagram showing an example of arrangement of MIMO antennas.

[0033] Fig.12 It is a diagram showing an example of arrangement of virtual receiving antennas.

[0034] Fig.13 It is a diagram showing an example of arrangement of MIMO antennas.

[0035] Fig.14 It is a diagram showing an example of arrangement of virtual receiving antennas.

[0036] Fig.15 It is a diagram showing an example of arrangement of MIMO antennas.

[0037] Fig.16 It is a diagram showing an example of arrangement of MIMO antennas.

[0038] Fig.17 It is a diagram showing an example of arrangement of MIMO antennas.

[0039] Fig.18 It is a diagram showing an example of arrangement of MIMO antennas.

[0040] Fig.19 It is a diagram showing an example of arrangement of MIMO antennas.

[0041] Fig. 20 It is a diagram showing an example of arrangement of MIMO antennas.

[0042] Fig.21 It is a diagram showing an example of arrangement of MIMO antennas.

[0043] Description of Reference Numerals

[0044] 1 Radar device

[0045] 10 Radar Department

[0046] 20, 20a Synchronization unit

[0047] 30 Integration Department

[0048] 100 Sending Department

[0049] 101 Switching Department

[0050] 102 Doppler shift unit

[0051] 103 Transmitting Antenna

[0052] 200, 200a receiving unit

[0053] 201 System Processing Department

[0054] 202 Receiving Antenna

[0055] 203 Receiving wireless unit

[0056] 204 Mixer Section

[0057] 205 LPF

[0058] 206 Analysis Department

[0059] 207 A / D conversion unit

[0060] 208 Beat Analysis Department

[0061] 209 Doppler Analysis Department

[0062] 210 CFAR Department

[0063] 211 Separation Department

[0064] 212 Angle measurement unit

[0065] 301 Generation Department

[0066] 302 Modulation signal generation unit

[0067] 303 VCO

[0068] 304 Control Department DETAILED DESCRIPTION

[0069] MIMO radars are roughly classified into, for example, a "monostatic structure" and a bistatic structure or a multistatic structure (hereinafter referred to as a "bistatic / multistatic structure"). Hereinafter, the monostatic structure is referred to as an "MNS structure" and the bistatic / multistatic structure is referred to as a "BMS structure".

[0070] The MNS structure may be a structure including, for example, a transmitting unit (including, for example, a plurality of transmitting antennas and a high-frequency wireless unit) and a receiving unit (including, for example, a plurality of receiving antennas and a high-frequency wireless unit) in the same housing.

[0071] In addition, the BMS structure may be, for example, a structure in which the transmitting unit and the receiving unit are respectively contained in different frames. For example, the BMS structure is a structure in which each frame is provided at a distance apart, and the transmitting unit and the receiving unit are connected to a control unit that performs synchronous control. In a dual-static structure, for example, the transmitting unit and the receiving unit are paired, and the transmitting unit and the receiving unit are respectively configured at a distance apart. A multi-static structure is, for example, a structure in which at least one of the transmitting unit and the receiving unit or both of them are multiple. The multi-static structure is disclosed, for example, in non-patent document 2.

[0072] In the following, the non-limiting embodiments of the present disclosure focus on the BMS structure. For example, in the non-limiting embodiments of the present disclosure, the BMS structure of the MIMO radar using multiple MNS structures is described. Sometimes, the BMS structure of the MIMO radar using multiple MNS structures is also referred to as "single static and multi-static structure".

[0073] Figure 1 An example of a radar device having a monostatic structure and a multistatic structure in the case of using radar #1 and radar #2 which are MIMO radars having an MNS structure is shown.

[0074] Radar #1 is, for example, a "MIMO radar of the first MNS structure", which outputs a radar transmission wave (also called "TxSig") from the radar transmission antenna group Tx#1, and receives the reflected wave signal from target object #1 (for example, path (1)) by the radar reception antenna group Rx#1 in the same frame.

[0075] Similarly, radar #2 is, for example, a "MIMO radar of the second MNS structure", which outputs a radar transmission wave from radar transmitting antenna group Tx#2 and receives a reflected wave signal from target object #3 (for example, path (2)) by radar receiving antenna group Rx#2 in the same frame.

[0076] in addition, Figure 1 The radar device shown can also perform the following operation, that is, the radar transmission wave is transmitted from the transmission antenna group Tx#1 of radar #1, and the reflected wave signal from the target object #2 is received by the receiving antenna group Rx#2 of radar #2. The radar device performing this operation can be regarded as a "MIMO radar of the first BMS structure" (for example, path (3)).

[0077] Similarly, the following operation can be performed, that is, the radar transmission wave is transmitted from the transmission antenna group Tx#2 of radar #2, and the reflected wave signal from the target object #2 is received by the reception antenna group Rx#1 of radar #1. The radar device performing this operation can be regarded as a "MIMO radar of the second BMS structure" (for example, path (4)).

[0078] In order to use it as a radar of BMS structure in addition to the radar of MNS structure, for example, a synchronization unit can be used, which performs synchronization control between a plurality of radars of MNS structure installed at separate positions. Figure 1 In the case where a frequency modulated FMCW (Frequency modulated continuous wave) signal (e.g., a "chirp signal") is used as a radar transmission wave, the synchronization unit can generate a chirp signal and supply the chirp signal to radar #1 and radar #2 in common. Thus, it can be used as a MIMO radar of the first MNS structure and a MIMO radar of the second MNS structure, and can also be used as a MIMO radar of the first BMS structure and a MIMO radar of the second BMS structure.

[0079] Figure 1 The radar device shown can generate TxSig in the synchronization unit and supply TxSig to radar #1 and radar #2 in common.

[0080] For example, if the radars of the first MNS structure and the second MNS structure use the same radar transmission wave and operate at the same time, they may interfere with each other, so that false detection or missed detection is likely to occur, and the positioning accuracy or detection performance of the radar may be deteriorated. Therefore, for example, regarding the transmission of the radar of the BMS structure using the radars of the first MNS structure and the second MNS structure, multiplexed transmission may be applied, and the multiplexed transmission applies time division (TDM: Time Division Multiplexing, time division multiplexing) or code division (CDM: Code Division Multiplexing, code division multiplexing).

[0081] It should be noted that the radar device of one embodiment of the present disclosure can be mounted on a mobile object such as a vehicle. For example, the radar device can be mounted near a corner of at least one of the front and rear of the vehicle, or can be mounted near the center or from the center to the corner of at least one of the front and rear of the vehicle.

[0082] The positioning output (information related to the estimation result) of the radar device mounted on the mobile body can also be output to a control ECU (Electronic Control Unit) (not shown) such as an advanced driver assistance system (ADAS) or an automatic driving system that improves collision safety, for vehicle drive control or alarm control.

[0083] In addition, the radar device of an embodiment of the present disclosure can be installed on a higher structure such as a roadside electric pole or a traffic light (not shown). Such a radar device can be used as an auxiliary system for improving the safety of passing vehicles or pedestrians or a sensor in a system to prevent suspicious people from breaking into the system. In addition, the positioning output of the radar device can also be output to a control device (not shown) in an auxiliary system for improving safety or a system to prevent suspicious people from breaking into the system for alarm control or abnormality detection control.

[0084] In addition, the use of the radar device is not limited to these uses, and it can also be used for other uses.

[0085] The target object is an object to be detected by the radar device, and includes, for example, vehicles (including four-wheeled and two-wheeled vehicles), people, rocks, curbstones, and the like.

[0086] Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. In the embodiments, the same components are denoted by the same reference numerals, and their descriptions are omitted due to duplication.

[0087] For example, the MIMO radar of the MNS structure assumes that the far field approximation is established and performs angle measurement processing. In this case, the emission direction of the transmission wave in the target reflection wave (or the transmission direction, the wave departure direction (DOD: Direction of Departure)) and the arrival direction of the target reflection wave (or the receiving direction, the wave arrival direction (DOA: Direction of Arrival)) are in a consistent relationship, and the angle measurement method (or positioning method, direction estimation method) using a virtual receiving antenna (for example, refer to non-patent document 1) can be applied.

[0088] In the angle measurement processing of the MIMO radar with a BMS structure, for example, for an object that exists at a distance that is approximately equal to the far field (hereinafter referred to as a "distant object"), as with the MIMO radar with an MNS structure, the DOD and DOA are in a roughly consistent relationship, and an angle measurement method using a virtual receiving antenna can be applied.

[0089] On the other hand, in the angle measurement processing of the MIMO radar with a BMS structure, for a target object that exists at a distance closer than the distance at which the far field approximation is established (hereinafter referred to as a "nearby target object"), since the DOD and the DOA are inconsistent, if the angle measurement method using a virtual receiving antenna is applied, the angle measurement error is likely to become large. In the angle measurement processing of the MIMO radar with a BMS structure for a nearby target object, it is more ideal to estimate the angle measurement of the DOD and the DOA separately (or integratedly), or to obtain the target object position based on the distance between at least one of the DOD and the DOA and the target object.

[0090] For example, the distance at which the far-field approximation holds true depends on the distance between the MIMO radars in the BMS structure (hereinafter, represented as “D BMS ”) (for example, refer to Non-Patent Document 3). For example, according to dF=2D BMS 2 / λ, calculate the distance dF at which the far-field approximation holds. For example, when the center frequency of the chirp signal is 77 GHz, when D BMS When the distances are 0.1m, 0.25m and 0.5m respectively, dF is approximately 5.1m, 32m and 128m.

[0091] For example, according to the distance D between MIMO radars in the BMS structure BMS The relationship with the radar detection distance may include a case where a nearby target object exists within the radar detection distance, or a case where both nearby targets and distant targets are included within the radar detection distance.

[0092] Therefore, the MIMO radars of monostatic and multistatic structures that include nearby targets within the radar detection range expect the following MIMO antenna configuration, which takes into account both the angle measurement of nearby targets under the BMS structure and the angle measurement under the MNS structure. In addition, for example, when the radar detection range under the BMS structure includes distant targets, the MIMO antenna configuration that takes into account the angle measurement of distant targets under the BMS structure is expected.

[0093] Possible MIMO antenna configurations include the following configuration examples.

[0094] (Configuration Example 1)

[0095] For example, the configuration is as follows, that is, the transmitting antenna spacing (or, receiving antenna spacing) of radar #1 constituting the BMS is half the wavelength of the transmitted signal, and the receiving antenna spacing (or, transmitting antenna spacing) of radar #2 is more than 1 wavelength of the transmitted signal (for example, refer to patent document 1).

[0096] (Configuration Example 2)

[0097] For example, the configuration is as follows: the transmitting antenna spacing (or receiving antenna spacing) of radar #1 constituting the BMS is greater than one wavelength of the transmitted signal, the receiving antenna spacing (or transmitting antenna spacing) of radar #2 is greater than one wavelength of the transmitted signal, and the respective spacings are prime numbers to each other (for example, refer to patent document 2).

[0098] The angle measurement of nearby objects under the BMS structure is as follows: Figure 2As shown in FIG. 1 , when the transmission wave is directly irradiated from radar #1 to the target object P, and radar #2 directly receives the reflected wave of the target object P (hereinafter, the reflected wave of the target object P received by radar #2 is referred to as "target object direct wave"), the target object P exists on an ellipse satisfying the target object distance (for example, an ellipse with radars #1 and #2 as foci). In this case, the radar determines at least one of the DOD and the DOA to obtain the intersection point P with the ellipse determined by the determined directions in the DOD and the DOA, thereby being able to determine the target object position (x, y).

[0099] It should be noted that the "ellipse satisfying the target object distance" is, for example, an elliptic curve defined by a trajectory that uses two radars #1 and #2 as two foci and makes the sum of the distances between the two foci and the target object constant. In addition, when the transmission wave from radar #1 directly irradiates the target object P and radar #2 directly receives the reflected wave of the target object P, the target object distance can use the distance of the target object P measured by radar #2.

[0100] In addition, the above determination of the target object position is a case where the target object exists in a two-dimensional plane. When the target object exists in three dimensions, the radar can determine the target object position in three dimensions by using an ellipsoid and DOD or DOA having an azimuth component and an elevation component.

[0101] Thus, for example, by using a MIMO antenna configuration such as configuration example 1, positioning of nearby target objects under a BMS structure can be achieved. In addition, even when grating occurs on DOD and DOA, the radar selects an angle that can obtain an intersection point P on an ellipse that satisfies the target distance from a combination of candidate angles of DOD and DOA including the grating direction, thereby determining the target position. Thus, for example, by using a MIMO antenna configuration such as configuration example 2, positioning of nearby target objects under a BMS structure can be achieved.

[0102] On the other hand, when the reflected wave received by the radar is not a direct wave of the target object (hereinafter, the reflected wave received by such radar is referred to as "indirect wave of the target object"), for example, when the reflection path of the radar transmission wave includes a reflection path other than the direct wave of the target object (for example, a path reflected by a wall or a road surface, etc.), there is no object on the ellipse with radars #1 and #2 as the focus that satisfies the target object distance. Therefore, when the radar receives the indirect wave of the target object, it is difficult to accurately locate the target position of the nearby target object.

[0103] In the case of the configuration example 1 of the target indirect wave application for the nearby target under such a BMS structure, the radar may output an erroneous positioning result because one of the DOD and the DOA is used. In addition, in the case of the configuration example 2 of the target indirect wave application for the nearby target under the BMS structure, for example, when the DOD or DOA of the target indirect wave is consistent with the grating direction, the radar may output an erroneous positioning result.

[0104] In a non-limiting embodiment of the present disclosure, the following antenna configuration is described, which enables multiple MIMO radars with monostatic and multi-static structures to remove indirect target waves of nearby targets under the BMS structure, and also improves the angle measurement performance of the MNS structure and the BMS structure.

[0105] The following describes a structure (for example, a MIMO radar structure) in which a radar device simultaneously sends out different multiplexed transmission signals from a plurality of transmission antennas in a transmission branch, and separates each transmission signal in a reception branch to perform reception processing.

[0106] In addition, as an example, the following describes a radar method using a frequency-modulated pulse wave such as a chirp pulse (for example, also referred to as "fast chirp modulation"). However, the modulation method is not limited to frequency modulation. For example, one embodiment of the present disclosure may also apply a radar method that uses a pulse compression radar that transmits a pulse train by phase modulation or amplitude modulation.

[0107] (Implementation Method)

[0108] [Structure of radar device]

[0109] The radar device of this embodiment (or referred to as a "radar system") may include, for example, a plurality of radar units (corresponding to radar circuits, such as MIMO radars). In addition, the radar device of this embodiment may include, for example, a synchronization unit that performs synchronization control between the plurality of radar units, and an integration unit that integrates the positioning outputs of the plurality of radar units (e.g., corresponding to a control circuit).

[0110] For example, Figure 3 The radar device 1 shown is a radar system including a first radar unit 10 (or, represented as "radar unit 10-1") having multiple transmitting and receiving antennas (not shown), and a second radar unit 10 (or, represented as "radar unit 10-2") having multiple transmitting and receiving antennas (not shown).

[0111] exist Figure 3In the radar device 1 shown, the synchronization unit 20 performs synchronization control between the first radar unit 10 and the second radar unit 10. For example, the synchronization unit 20 can generate a chirp signal or a reference clock signal (or, also referred to as a "reference signal") as a synchronization control signal sent to the first radar unit 10 and the second radar unit 10 to perform synchronization control.

[0112] Here, the reference signal is, for example, a reference signal of a VCO (Voltage Controlled Oscillator) that generates a chirp signal, and is a high-frequency signal of about tens to hundreds of MHz. When the synchronization unit 20 uses the reference signal as a synchronization control signal, the system cost can be reduced compared to the case of using a chirp signal (for example, GHz level). In addition, when the synchronization unit 20 uses the reference signal, since the chirp signal is generated separately for the first radar unit 10 and the second radar unit 10, respectively, the phase consistency between the first radar unit 10 and the second radar unit 10 cannot be guaranteed, and sometimes a phase deviation of the degree of drift and shift may occur. For example, the radar device 1 can also measure the drift component of the phase between the first radar unit 10 and the second radar unit 10 in advance and correct it.

[0113] For example, the radar device 1 may transmit the transmission signal from the multiple transmission antennas of the transmission unit 100-1 of the first radar unit 10. For example, the radar device 1 may receive the transmission signal of the first radar unit 10 through the target object #1 (equivalent to Figure 1 The reflected wave signal is reflected by the target object #1, and the positioning processing of the target object #1 is performed (for example, radar positioning using the MNS structure).

[0114] Furthermore, the radar device 1 can receive the transmission signal of the first radar unit 10 through the target object #2 (equivalent to Figure 1 The reflected wave signal is reflected by the object #2) and the positioning processing of the object #2 is performed (for example, radar positioning using the BMS structure).

[0115] Similarly, for example, the radar device 1 may transmit the transmission signal from the multiple transmission antennas of the radar transmission unit 100-2 of the second radar unit 10. For example, the radar device 1 may receive the transmission signal of the second radar unit 10 via the target object #3 (equivalent to Figure 1 The reflected wave signal is reflected by the object #3) and the positioning processing of the object #3 is performed (for example, radar positioning using the MNS structure).

[0116] Furthermore, the radar device 1 can receive the transmission signal of the second radar unit 10 through the target object #2 (equivalent to Figure 1 The reflected wave signal is reflected by the object #2) and the positioning processing of the object #2 is performed (for example, radar positioning using the BMS structure).

[0117] Furthermore, for example, the reception processing in the first radar unit 10 and the second radar unit 10 may be performed using a MIMO virtual antenna.

[0118] In addition, in this embodiment, the radar device 1 can perform time division multiplexing, Doppler multiplexing or code multiplexing on the transmission signal sent from the first radar unit 10 and the transmission signal sent from the second radar unit 10. Regardless of which multiplexing is used, the same effect can be obtained.

[0119] For example, the first radar unit 10 and the second radar unit 10 may each include a separation unit that separates a reflected wave signal corresponding to a transmission signal from the transmission unit 100 of the relevant radar unit from the received signal, and separates a reflected wave signal corresponding to a transmission signal from the transmission unit 100 of another radar unit.

[0120] In addition, for example, the first radar unit 10 and the second radar unit 10 can each have: a first angle measuring unit that uses a reflected wave signal of a transmission signal from the transmitting unit 100 of the radar unit separated in the separation unit to measure the angle; and a second angle measuring unit that uses a reflected wave signal of a transmission signal from the transmitting unit 100 of another radar unit separated in the separation unit to measure the angle.

[0121] In addition, Figure 3 In the embodiment, the integration unit 30 can integrate the positioning output (e.g., the first positioning output and the second positioning output) from the first radar unit 10 and the positioning output (e.g., the first positioning output and the second positioning output) from the second radar unit 10 to locate the target object. In addition, the positioning is information including direction, distance, and Doppler frequency.

[0122] According to this structure, the radar device 1 can receive the reflected wave signal in the receiving unit 200-1 and the receiving unit 200-2, separate the received signal according to whether it is a reflected wave signal generated by the transmission signal from its own radar unit or a reflected wave signal generated by the transmission signal from other radar units, and appropriately perform positioning processing based on the position information of the first radar unit 10 and the second radar unit 10.

[0123] For example, in Figure 3 In the embodiment, the first radar unit 10 and the second radar unit 10 may be provided in places separated from each other. In this case, the radar device 1 may be used as a so-called BMS structure.

[0124] also, Figure 3 The first radar unit 10 and the second radar unit 10 shown include the same structure.

[0125] Therefore, hereinafter, they are collectively described and explained as “the radar unit 10 ”, and different operations between the first radar unit 10 and the second radar unit 10 are described separately.

[0126] Figure 4 A configuration example of a radar device 1 using a frequency-modulated chirp signal as a radar transmission wave is shown.

[0127] Figure 4 The radar device 1 indicates Figure 3 The first radar unit 10-1 and the synchronization unit 20 are described in detail. For example, the first radar unit 10-1 corresponds to the radar unit 10. Figure 4 In addition to Figure 3 The configuration examples corresponding to radars other than the first radar unit 10-1 and the second radar unit 10-2 are shown, and descriptions of other radar units 10 are omitted.

[0128] In addition, as an example, the following structure is shown, that is, Figure 4 In the radar device 1, a transmission signal transmitted from the first radar unit 10 and a transmission signal transmitted from the second radar unit 10 are transmitted by time division multiplexing.

[0129] In addition, the following structure is shown, that is, Figure 4 In the radar device 1, the transmission signals transmitted from the plurality of transmission antennas in each radar unit 10 are subjected to Doppler multiplexing transmission (DDM) structure. In addition, the multiplexing transmission in each radar unit 10 is not limited to DDM, and can also be time division multiplexing transmission or code division transmission, and the same effect can be obtained.

[0130] The radar unit 10 includes, for example, a transmitting unit (corresponding to a transmitting branch or a radar transmitting circuit) 100 and a receiving unit (corresponding to a receiving branch or a radar receiving circuit) 200 .

[0131] For example, the transmission unit 100 transmits TxSig generated by the synchronization unit 20 at a predetermined transmission cycle using a transmission array antenna including a plurality of transmission antennas 103 - 1 to 103 -Nt.

[0132] The receiving unit 200 uses, for example, a receiving array antenna including a plurality of receiving antennas 202-1 to 202-Na to receive a signal received by a target object (equivalent to a target). Figure 1The receiving unit 200 performs signal processing on the reflected wave signals received by each receiving antenna 202, for example, detecting the presence of a target object or locating the target object.

[0133] The synchronization unit 20 generates a predetermined frequency modulated wave (eg, a frequency chirp signal or a chirp signal), for example, and supplies it to the plurality of radar units 10. The synchronization unit 20 may output a reference signal and generate a predetermined frequency modulated wave in the radar unit 10.

[0134] [Configuration Example of Synchronization Unit 20]

[0135] The synchronization unit 20 includes, for example, a generation unit 301 and a control unit 304 .

[0136] The generation unit 301 generates TxSig, for example, based on the control of the control unit 304. The generation unit 301 outputs the generated TxSig to the plurality of radar units 10 (for example, the transmission unit 100). Therefore, each of the plurality of radar units 10 transmits a transmission signal based on TxSig.

[0137] The generation unit 301 includes, for example, a modulation signal generation unit 302 and a VCO 303. Hereinafter, each component in the generation unit 301 will be described.

[0138] The modulation signal generation unit 302 periodically generates a sawtooth-shaped modulation signal, for example. Here, the transmission period of TxSig is Tr.

[0139] The VCO 303 generates a chirp signal based on the modulation signal output from the modulation signal generator 302, and outputs it to the transmitter 100 (e.g., Doppler shifters 102-1 to 102-Nt) and receiver 200 (mixer 204 described later) of the radar unit 10. Hereinafter, the Doppler shifter is also referred to as a "DS unit".

[0140] The control unit 304 controls the generation unit 301 (e.g., the modulation signal generation unit 302 and the VCO 303) to generate TxSig. For example, the control unit 304 may set parameters related to the chirp signal (e.g., modulation parameters) so as to transmit the chirp signal N times according to the transmission period Tr for each radar positioning. c Second-rate.

[0141] Figure 5 (a) shows an example of a chirp signal transmitted from the first radar unit 10. Figure 5 (b) shows an example of a chirp signal transmitted from the second radar unit 10 . Figure 5 (a) and Figure 5 The chirp signals in (b) are respectively set to the same center frequency.

[0142] The chirp signal generated by the generator 301 of the synchronization unit 20 is output to the transmitter 100 and the receiver 200 of the radar unit 10. Figure 5 In the example, the control unit 304 outputs a transmission switching control signal to the switching (SW) unit 101 of the transmitting unit 100 of each radar unit 10, so that the transmission signal sent from the first radar unit 10 and the transmission signal sent from the second radar unit 10 are alternately switched according to the transmission period Tr.

[0143] Hereinafter, the transmission period of the transmission signal output from each radar unit 10 by the control unit 304 is expressed as “N sw ×T r "N sw is a specified integer value greater than 2. Figure 5 In the example, N sw =2.

[0144] For example, the radar device 1 sends a chirp signal N c times, and measure the reflected wave signal formed by the chirp signal reflected by the target N c times, thereby, the temporal fluctuation of the positioning result of the target object can be detected as the Doppler frequency. c The sending cycle T r Here, m = 1 to N c An integer.

[0145] like Figure 6 As shown, the modulation parameters related to the chirp signal may include, for example, the center frequency f c , Frequency scanning bandwidth B w , Scan start frequency f cstart , scan end frequency f cend , frequency scanning time T sw And the frequency sweep rate D m It should be noted that D m =B w / T sw Moreover, B w =f cend -f cstart and f c =(f cstart +f cend ) / 2.

[0146] In addition, the frequency sweep time T sw For example, it corresponds to the time range (or “range gate”) for acquiring A / D sample data in the A / D (Analog / Digital) converter 207 of the receiver 200 described later. sw For example, it can also be set to Figure 6 The entire interval of the chirp signal shown in (a), or Figure 6 (b) is a section of a part of the chirp signal.

[0147] In addition, although Figure 5 and Figure 6 , an example of an up-chirp waveform in which the modulation frequency gradually increases with the passage of time is shown, but a down-chirp may also be applied. In either case, the present disclosure can achieve the same effect.

[0148] Each chirp signal output from the synchronization unit 20 is input to each mixer unit 204 and Nt DS units 102 of the reception unit 200, for example.

[0149] [Configuration Example of Transmitting Unit 100]

[0150] exist Figure 4 In the embodiment, the transmitting unit 100 of the radar unit 10 includes, for example, a SW unit 101, DS units 102-1 to 102-Nt, and transmitting antennas 103-1 to 103-Nt (for example, Tx#1 to Tx#Nt). It should be noted that each transmitting antenna 103 may be connected to a separate DS unit 102. Figure 4 The radar unit 10 of 1 corresponds to the first radar unit 10, but below, the radar units after the second radar unit 10 are included and expressed as the qth radar unit 10. Here, q represents an index for identifying the plurality of radar units 10 included in the radar device 1, and for example, q=1 or 2 may be used. In the following description, each element included in the qth radar unit 10 is described by adding "-q".

[0151] The SW unit 101 of the qth radar unit 10 outputs the chirp signal input from the VCO 303 to the DS unit 102 at the timing (transmission cycle) when the transmission signal is transmitted from the qth radar unit 10 , based on the transmission switching control signal input from the control unit 304 .

[0152] The DS unit 102 of the qth radar unit 10 transmits the chirp signal at a transmission period T r , a phase rotation Φ is added to the chirp signal input from the SW unit 101. n，q , with the additional Doppler shift amount (hereinafter also referred to as "DS amount") DOP n (q), and outputs the Doppler-shifted signal to the transmitting antenna 103.

[0153] In addition, for example, the number of transmission antennas 103 in each q-th radar unit 10 may be the same or different. Hereinafter, the number of transmission antennas in the q-th radar unit 10 is expressed as "Nt(q)" (or simply expressed as "Nt"). Here, Nt(q)≧1. In addition, n=1 to Nt(q).

[0154] For example, the qth radar unit 10 may add a predetermined phase rotation Φ n，q (m) and output, the prescribed phase rotation Φ n，q (m) A Doppler shift that differs for each transmission antenna 103 used for multiplexing transmission in the MNS structure is added.

[0155] In addition, the qth radar unit 10 may add a predetermined phase rotation Φ, for example. n，q (m) and output, the prescribed phase rotation Φ n，q (m) Adding a Doppler shift so that the pattern of the DS amount is different between the radar units 10 that perform multiplexing transmission under the BMS structure. For example, the pattern of each DS amount (or, also referred to as a "Doppler shift pattern") added to the TxSig transmitted from the multiple transmitting antennas 103 of the first radar unit 10 can be different from the pattern of each DS amount in the second radar unit 10. For example, the pattern of the DS amount can also be set based on at least one of the Doppler multiplexing interval (or, also referred to as the "Doppler shift interval", "Doppler interval". Also expressed as "DDM interval") and the Doppler multiplexing number (hereinafter, also expressed as "DDM number"). Alternatively, the qth radar unit 10 can, for example, add a prescribed phase rotation Φ n，q (m) and output, the prescribed phase rotation Φ n，q (m) A Doppler shift is added so that the pattern of the DS amount becomes the same (for example, the DDM interval becomes the same) among the radar units 10 performing multiplex transmission in the BMS configuration (an operation example will be described later).

[0156] The output signal of the DS unit 102 is amplified to a predetermined transmission power and radiated into space from each transmission antenna 103 (for example, Tx#1 to Tx#Nt).

[0157] [Configuration Example of the Receiving Unit 200]

[0158] exist Figure 4 In the embodiment, the receiving unit 200 includes Na receiving antennas 202 (eg, Rx#1 to Rx#Na) to form an array antenna. In addition, the receiving unit 200 includes Na system processing units 201, a CFAR (Constant False Alarm Rate) unit 210, a separation unit 211, and an angle measurement unit 212.

[0159] Here, the number of receiving antennas 202 in each q-th radar unit 10 may be the same or different. Hereinafter, the number of receiving antennas in the q-th radar unit 10 is expressed as "Na(q)" (or simply expressed as "Na"). Here, Na(q)≧1.

[0160] For example, the system processing unit 201 may be provided corresponding to each of the Na(q) receiving antennas 202. Also, for example, the CFAR unit 210, the separation unit 211, and the angle measurement unit 212 may be provided corresponding to each of the q radar units 10.

[0161] Na(q) receiving antennas 202 each receive a reflected wave signal TxSig transmitted from a plurality of radar units 10 and reflected by a target object (eg, a reflecting object including a radar measurement target), and output the reflected wave signal as a received signal to the corresponding system processing unit 201 .

[0162] Each system processing unit 201 includes a wireless reception unit 203 and an analysis unit 206 .

[0163] The receiving wireless unit 203 includes a mixer unit 204 and an LPF (low pass filter) 205. In the receiving wireless unit 203, the mixer unit 204 mixes the received reflected wave signal (received signal) with the transmitted signal, i.e., the chirp signal. In addition, the output of the mixer unit 204 is passed through the LPF 205, thereby extracting a beat signal of a frequency corresponding to the delay time of the reflected wave signal. For example, the differential frequency between the frequency of the transmitted signal (transmitted frequency modulated wave) and the frequency of the received signal (received frequency modulated wave) is obtained as the beat frequency (or, the beat signal). In addition, the beat frequency is within the passband of the LPF 205.

[0164] exist Figure 4 In the example, the analysis unit 206 of each system processing unit 201 - z (where z=one of 1 to Na(q)) includes an A / D conversion unit 207 , a beat analysis unit 208 , and a Doppler analysis unit 209 (also referred to as a “DA unit”).

[0165] The signal (for example, the beat signal) output from the LPF 205 is converted into discrete sample data obtained by discrete sampling by the A / D converter 207 in the analyzer 206 .

[0166] The beat analysis unit 208 analyzes the transmission period T r N obtained within the specified time range (range gate) data The discrete sample data is processed by FFT (Fast Fourier Transform). Here, the frequency scanning time T can also be set. sw As a range gate. Thus, the analysis unit 206 outputs a spectrum with a peak at the beat frequency corresponding to the delay time of the reflected wave signal (radar reflected wave). In addition, during FFT processing, the beat analysis unit 208 may also multiply the window function coefficients such as the Han window or the Hamming window. By using the window function coefficients, the side lobes generated around the beat frequency peak can be suppressed.

[0167] Here, the beat frequency response (hereinafter also referred to as “BF response”) obtained by transmitting the mth chirp pulse of the chirp signal and outputted from the beat analysis unit 208 in the zth analysis unit 206 is represented as “RFT z (f b , m)". Here, f b represents the beat frequency index, which corresponds to the index (binary number) of the FFT. b =0, ~, N data / 2-1, z=1~Na integer, m=1~N C An integer. The beat frequency index f b The smaller the beat frequency, the smaller the delay time of the reflected wave signal (for example, the closer the distance to the target object).

[0168] Alternatively, the beat frequency index f b In the case of the MNS structure, it is converted into distance information R(f b ), in the case of the BMS structure, it is converted into distance information R(f b ). Therefore, in the following, the beat frequency index f b It is called the “distance index f b ”. The distance index is also recorded as “R-Index”.

[0169] [Mathematical formula 1]

[0170]

[0171] [Mathematical formula 2]

[0172]

[0173] Here, B w represents the frequency scanning bandwidth of the chirp signal within the range gate, C 0 Represents the speed of light.

[0174] The DA unit 209 of the z-th analysis unit 206 uses the N chirp signal. C The BF response RFT is obtained by sending chirped pulses z (f b , m), perform Doppler analysis according to R index (for example, m = 1 ~ N C ).

[0175] In addition, the following Figure 5 As shown in FIG. 1 , with respect to the BMS structure, the transmission signal transmitted from the first radar unit 10 and the transmission signal transmitted from the second radar unit 10 are described according to the transmission cycle T rThis is an example of the operation of the DA unit 209 when switching alternately.

[0176] In the qth radar unit 10, the zth DA unit 209 uses the N C The BF response RFT is obtained by sending chirped pulses z (f b , m), based on the BF response obtained when the qth radar unit 10 outputs the transmission signal (for example, for the first radar unit 10, it is the BF response when m is an odd number, and for the second radar unit 10, it is the BF response when m is an even number), Doppler analysis is performed according to the R index. Figure 4 The Doppler analysis unit 209 - 1 in the figure is referred to as a “first Doppler analysis (DA) unit 209 ” or a “single-reception Doppler analysis (DA) unit”.

[0177] In addition, in the q-th radar unit 10, the DA unit 209 performs Doppler analysis according to the R index using a BF response obtained based on a reception signal when a radar unit 10 different from the q-th radar unit 10 outputs a transmission signal (for example, for the first radar unit 10, it is a BF response when m is an even number, and for the second radar unit 10, it is a BF response when m is an odd number). Hereinafter, the DA unit 209 (in Figure 4 The Doppler analysis unit 209 - 2 in the figure is referred to as the “second Doppler analysis (DA) unit 209 ” or the “multi-reception Doppler analysis (DA) unit”.

[0178] For example, in N VFT =N c / N sw When the value is a power of 2, the DA unit 209 of the qth radar unit 10 can apply FFT processing to the Doppler analysis. In this case, the FFT size of the single-receiving DA unit and the multi-receiving DA unit is N VFT According to the sampling theorem, the maximum Doppler frequency (hereinafter also referred to as "DFreq") that does not cause folding is ±1 / (2N sw T r In addition, the DFReq index (also called the DF-Index) s The DFreq interval is 1 / (N c ×T r ), f s The range is f s =-N VFT / 2,~,0,~,N VFT / 2-1.

[0179] For example, the following equations (3) and (4) represent the output VFT of the single-receive DA unit in the DA unit 209 of the z-th analysis unit 206 of the q-th radar unit 10: z，q Mono (f b , f s ) and the output VFT of the multi-receive DA section z，q Mul (f b , f s ). In addition, j is an imaginary unit, z=1 to an integer of Na(q), and q=1, 2. In addition, the BF response output from the beat analysis unit 208 in the qth radar unit 10 is represented as "RFT z，q (f b , m)". The same applies to the following.

[0180] [Mathematical formula 3]

[0181]

[0182] [Formula 4]

[0183]

[0184] The above describes the processing in each component of the analysis unit 206 .

[0185] exist Figure 4 In the figure, the CFAR unit 210 of the qth radar unit 10 may include, for example, a first CFAR unit 210-q (or, represented as "CFAR unit 210-1-q") corresponding to the MNS structure, and a second CFAR unit 210-q (or, represented as "CFAR unit 210-2-q") corresponding to the multi-static structure.

[0186] The first CFAR unit 210-q performs CFAR processing (e.g., adaptive threshold determination) using the outputs of the first DA units 209 (single-receive DA units) from the first to Na(q)th analysis units 206, and extracts the R index (hereinafter, also referred to as “f bp Mono ”) and DF index (hereinafter, also referred to as “f sp Mono ”).

[0187] Similarly, the second CFAR unit 210-q performs CFAR processing using the outputs of the second DA units 209 (multi-receiving DA units) from the first to Na(q)th analysis units 206, and extracts the R index (hereinafter, also referred to as “f bp Mul ”) and DF index (hereinafter, also referred to as “fsp Mul ”). In addition, in f sp Mono and f sp Mul In, several DF indices for Doppler multiplexing may be included.

[0188] For example, the first CFAR unit 210-q selectively extracts the local peak of the reflected wave signal (referred to as "received signal" or "reflected wave signal under MNS structure") generated by TxSig from the qth radar unit 10 as an MNS structure using the output of the first DA unit 209 of the first analysis unit 206 to the Na(q)th analysis unit 206. For example, the first CFAR unit 210-q can perform CFAR processing after adding the power at an interval consistent with the DDM interval set for TxSig from the qth radar unit 10, and extract f bp Mono and f sp Mono , and output to the first separation unit 211, in which an adaptive threshold determination is performed (an example of the operation will be described below).

[0189] It should be noted that the transmitting unit of the MNS structure in the qth radar unit 10 is the transmitting unit 100 of the qth radar unit 10. Similarly, the transmitting unit of the MNS structure in the qeth radar unit 10 is the transmitting unit 100 of the qeth radar unit 10. It should be noted that the qth radar unit 10 and the qeth radar unit 10 are different radar units, for example, when q=1, qe=2.

[0190] In addition, for example, the second CFAR unit 210-q uses the output of the second DA unit 209 of the first analysis unit 206 to the Na(q)th analysis unit 206 to selectively extract the local peak of the reflected wave signal (hereinafter referred to as "the reflected wave signal under the BMS structure") generated by TxSig from the qeth radar unit 10 as a BMS structure.

[0191] For example, the second CFAR unit 210-q may perform CFAR processing after adding the power at an interval consistent with the DDM interval set for TxSig from the qe-th radar unit 10 different from the q-th radar unit 10, and extract f bp Mul and f sp Mul , and output to the second separation unit 211, in which an adaptive threshold determination is performed (an example of the operation will be described below).

[0192] The transmission unit of the BMS structure in the first radar unit 10 is the transmission unit 100 of the second radar unit 10 . Similarly, the transmission unit 100 of the BMS structure in the second radar unit 10 is the transmission unit 100 of the first radar unit 10 .

[0193] The separation unit 211 of the qth radar unit 10 may include a first separation unit 211-q (or, represented as "separation unit 211-1") that performs Doppler multiplexing separation (hereinafter also referred to as "DDM separation") processing using the outputs of the first DA unit 209 and the first CFAR unit 210-q, and a second separation unit 211-q (or, represented as "separation unit 211-2") that performs DDM separation processing using the outputs of the second DA unit 209 and the second CFAR unit 210-q.

[0194] For example, the first separation unit 211-q of the qth radar unit 10 uses the output of the first CFAR unit 210-q to perform DDM separation of the reflected wave signal in the MNS structure. In addition, the second separation unit 211-q of the qth radar unit 10 uses the output of the second CFAR unit 210-q to perform DDM separation of the reflected wave signal in the BMS structure.

[0195] The first separation unit 211 - q outputs information related to the separated signal to the first angle measuring unit 212 - 1 , for example. The output of the first separation unit 211 - q may include the output from the first DA unit 209 , for example.

[0196] In addition, the second separation unit 211 - q outputs information related to the signal obtained by separating the reflected wave signal in the BMS structure to the second angle measuring unit 212 - 2 . The output of the second separation unit 211 - q may include the output from the second DA unit 209 .

[0197] The information related to the separated signal may include, for example, an R index and a DF index corresponding to the separated signal (hereinafter sometimes referred to as "separation index information").

[0198] Hereinafter, an operation example of the qth separation unit 211 will be described together with an operation example of the Doppler frequency shift unit 102 and the qth CFAR unit 210. For example, q=1 or 2 may be used.

[0199] The operation of the Nu-th separation unit 211-q is associated with the operation of the DS unit 102 of the transmission unit 100-q. Similarly, the operation of the Nu-th CFAR unit 210-q is associated with the operation of the DS unit 102 of the transmission unit 100-q. For example, Nu=1 or 2 may be sufficient.

[0200] Next, an operation example of the DS unit 102 will be described, and then an operation example of the Nu-th CFAR unit 210 - q and an operation example of the Nu-th separation unit 211 - q will be described.

[0201] [DS amount setting method]

[0202] First, an example of a method of setting the DS amount added by the DS unit 102 will be described.

[0203] The first DS unit 102 to the Nt(q)th DS unit 102 of the qth radar unit 10 each add different DS amounts DOP of a predetermined DDM interval Δfd(q) to the chirp signal input from the synchronization unit 20. n (q) and Doppler multiplexing transmission (hereinafter also referred to as "DDM transmission"). In this case, the DDM interval Δfd(q) may satisfy the following setting condition (1) or setting condition (2).

[0204] Setting conditions (1):

[0205] The DDM intervals between the multiple radar units 10 may be set to the same interval. For example, the intervals between the DS amounts added to the TxSigs transmitted from the multiple transmission antennas 103 of the first radar unit 10 and the intervals between the DS amounts added to the TxSigs transmitted from the multiple transmission antennas 103 of the second radar unit 10 may be the same (for example, Δfd(1)=Δfd(2)).

[0206] Setting conditions (2):

[0207] The DDM intervals between the multiple radar units 10 may be set to different intervals. For example, the intervals of the DS amounts added to the TxSigs transmitted from the multiple transmission antennas 103 of the first radar unit 10 and the intervals of the DS amounts added to the TxSigs transmitted from the multiple transmission antennas 103 of the second radar unit 10 may be different from each other (for example, Δfd(1)≠Δfd(2)).

[0208] It should be noted that, in setting condition (2), for example, the ratio of Δfd(1) to Δfd(2) may be set to be different from an integer. For example, the ratio of the large DDM interval to the small DDM interval in Δfd(1) and Δfd(2) may be different from an integer. For example, Δfd(1) / Δfd(2) or Δfd(2) / Δfd(1) may be set to be different from an integer (different from an integer).

[0209] Next, a setting example of the DDM interval Δfd(q) will be described.

[0210] It should be noted that, although the DDM number of the qth radar unit 10 is represented as “N DM(q)", and explain N DM (q) = Nt(q), but the present invention is not limited to this. For example, the radar unit 10 may bundle some of the plurality of transmission antennas 103 to form a transmission beam and perform DDM transmission. In this case, N DM (q)<Nt(q). In addition, for example, the DS amount DOP n The index n of (q) represents the index of the DDM signal, n=1 to N DM (q) is an integer. In addition, N DM (q)>1, q=1 or 2. In addition, when Nt(q)=1, Doppler shift multiplexing may not be used, and the q-th radar unit 10 may not include the DS unit 102 .

[0211] This embodiment is a structure in which the transmission signal transmitted from the first radar unit 10 and the transmission signal transmitted from the second radar unit 10 are time-division multiplexed and transmitted. For example, the control unit 304 outputs a transmission switching control signal to the SW unit 101 of each transmission unit 100 so that the transmission signal transmitted from the first radar unit 10 and the transmission signal transmitted from the second radar unit 10 are transmitted at a transmission period T r Therefore, for example, the DS unit 102 switches the chirp signal according to the time division transmission cycle (for example, N sw ×Tr), a phase rotation equal to a predetermined DS amount is added to the chirp signal (for example, N sw =2).

[0212] Here, in the DA unit 209 (single-receiver DA unit or multi-receiver DA unit), the D Freq f which does not cause folding is derived according to the sampling theorem. d The range is -1 / (2N sw T r )≦f d <1 / (2N sw T r ). For example, beyond which no folding occurs, DFreqf d In the case of the range of -1 / (2N sw T r )≦f d <1 / (2N sw T r ) range, the folded frequency is observed. Even beyond -1 / (2N sw T r )≦fd<1 / (2N sw T r ) is set within the range of -1 / (2N sw T r)≦fd<1 / (2N sw T r ) range.

[0213] Therefore, for example, when the DS unit 102 is at -1 / (2N sw T r )≦f d <1 / (2N sw T r ), the maximum DDM interval (e.g., represented by "Δfdmax") for Nt(q) transmitting antennas 103 (e.g., the number equal to the number of DDMs) becomes Δfdmax=1 / (T r N sw Nt(q))=1 / (T r N sw N DM (q)). The DS unit 102 can set Δfd(1) and Δfd(2) within the range of Δfdmax, for example. Thus, the DS unit 102 can set the Doppler shift within the range of 0 to 2π, which is the phase rotation for adding the Doppler shift.

[0214] As an example, the DDM intervals of the first radar unit 10 and the second radar unit 10 may be set as shown in the following equation (5).

[0215] [Mathematical formula 5]

[0216] Δfd(q)=1 / (N sw T r ×(N DM (q)+δ q )) (5)

[0217] For example, δ q is the parameter that determines the DDM interval. It can be set to δ 1 =δ 2 ≧0, and N DM (1) = N DM (2) With this setting, the DDM intervals between the plurality of radar units 10 (for example, between the first radar unit 10 and the second radar unit 10) become the same interval, satisfying the setting condition (1) (Δfd(1)=Δfd(2)).

[0218] Alternatively, you can press δ 1 ,δ 2 ≧0, satisfying N DM (1)+δ 1 ≠N DM (2)+δ 2 And N DM (1)+δ 1 With NDM (2)+δ 2 If the ratio does not coincide with an integer, set δ 1 and δ 2 With this setting, the DDM intervals between the plurality of radar units 10 (for example, between the first radar unit 10 and the second radar unit 10 ) become different intervals, satisfying the setting condition (2).

[0219] It should be noted that δ 1 and δ 2 Each can be a positive integer or a positive real number. For example, by 1 and δ 2 Setting δ to a positive integer can simplify the processing in the first CFAR unit 210 and the second CFAR unit 210 described later. 1 and δ 2 Although each is set to zero or a positive integer, the present invention is not limited thereto and each may be set to a positive real number.

[0220] In the above, the setting example of the DS amount is described.

[0221] For example, the DS unit 102 may set the DS amount corresponding to each transmission antenna 103 using the DDM interval set as described above, and add a phase rotation to the chirp signal at each transmission cycle, the phase rotation adding the DS amount.

[0222] For example, the n-th DS unit 102 of the q-th radar unit 10 applies a phase rotation φ to the input m-th chirp signal. n，q (m) and output, the phase rotation Φ n，q (m) A different DS amount DOP is added to each n-th transmission antenna 103 n (q) As a result, different Doppler shifts are added to the transmission signals transmitted from the plurality of transmission antennas 103 .

[0223] Here, n=an integer from 1 to Nt(q), m=an integer from 1 to N c An integer, q is 1 or 2.

[0224] For example, for Nt(q) (eg, Nt(q)=N DM DS amount DOP of the TxSig additional DDM interval Δfd(q) of the (q) transmitting antennas 103 n The phase rotation Φ of (q) n，q (m) is expressed by the following equation (6). In addition, equation (7) expresses the DS amount DOP of the DDM interval Δfd(q) n (q).

[0225] [Mathematical formula 6]

[0226]

[0227] [Mathematical formula 7]

[0228] DOP n (q) = Δf d (q)(n-α) (7)

[0229] Here, Φ 0 is the initial phase, ΔΦ 0 is the reference Doppler shift phase. In addition, α is a coefficient for shifting the DS amount of each DDM signal, and a real value can be used. For example, when α=1, the DS amount of the first DDM signal is zero.

[0230] As an example, suppose Nt(1)=Nt(2)=3, ΔΦ 0 =0,Φ 0 =0,δ 1 =1,δ 2 = 2, the DDM interval is set to Δfd(1) = 1 / (4N sw T r ), Δfd(2)=1 / (5N sw T r ). In addition, for example, the DS amount DOP corresponding to the n-th transmitting antenna 103 n (q) For example, when α=1, it is expressed by the following equation (8).

[0231] [Mathematical formula 8]

[0232] DOP n (q) = Δf d (q)(n-1) (8)

[0233] For example, a different DS amount DOP is added to each n-th (n=1, 2, 3) transmission antenna 103 to the input m-th chirp signal. n The phase rotation Φ of (q) n，q (m) is represented by the following formula (9).

[0234] [Mathematical formula 9]

[0235]

[0236]

[0237] For example, when the first radar unit 10 performs DDM transmission using the number of transmission antennas Nt=3, the first DS unit 102 in the first radar unit 10 adds a phase rotation Φ to the chirp signal input from the synchronization unit 20 in each odd-numbered transmission period Tr as shown in the following equation (10):1，1 (m) The output of the first DS unit 102 is output from, for example, the first transmission antenna 103 (Tx#1). Here, cp(t) represents a chirp signal per transmission cycle.

[0238] [Formula 10]

[0239] exp{jφ 1，1 (1)}cp(t),exp{jφ 1，1 (3))cp(t),...,exp{jφ 1，1 (N c -1)}cp(t)(10)

[0240] In addition, for example, when the second radar unit 10 uses the number of transmission antennas Nt=3 to perform DDM transmission, the first DS unit 102 in the second radar unit 10 receives the chirp signal input from the synchronization unit 20 at every even-numbered transmission period T r , add a phase rotation Φ in the following way (11) 1，2 (m) The output of the first DS unit 102 is output from the first transmission antenna 103 (Tx#1), ​​for example.

[0241] [Mathematical formula 11]

[0242] exp{jφ 1，2 (2)}cp(t),exp{jφ 1，2 (4)}cp(t),...,exp{jφ 1，2 (N c )}cp(t) (11)

[0243] In the above, the setting example of the DS amount is described.

[0244] Next, an operation example of the first CFAR unit 210 , the second CFAR unit 210 , the first separation unit 211 , and the second separation unit 211 in the q-th radar unit 10 corresponding to the operation of the DS unit 102 will be described.

[0245] [Operation Example of the First CFAR Unit 210]

[0246] For example, the first CFAR unit 210 of the qth radar unit 10 may perform the following operation to receive the reflected wave signal corresponding to the MNS structure.

[0247] For example, the first CFAR unit 210 can perform peak detection by searching for a power peak that matches the DDM interval set for TxSig of the qth radar unit 10 according to the R index for the power sum of the outputs of the first DA unit 209 from the first analysis unit 206 to the Na(q)th analysis unit 206, and performing adaptive threshold processing (CFAR processing). For example, in peak detection, the first CFAR unit 210 performs a two-dimensional CFAR processing composed of a distance axis and a D Freq axis (equivalent to a relative speed), or a CFAR processing combined with a one-dimensional CFAR processing (for example, the processing disclosed in non-patent document 4 can be applied).

[0248] Here, for example, in the DS unit 102, δ shown in equation (5) q When it is set to a positive integer, the interval of Δfd(q) or the interval of an integer multiple of Δfd(q) is used as the interval of the DS amount. Here, q=1 or 2. Therefore, each signal subjected to DDM may be detected as being folded at intervals of Δfd(q) in the DForeq region of the output of the first DA unit 209. By utilizing this property, the operation of the first CFAR unit 210 can be simplified, for example, as follows.

[0249] The first CFAR unit 210 of the qth radar unit 10 detects the Doppler peak using a threshold value for, for example, a power addition value obtained by adding the received powers of reflected wave signals in each range (for example, the range of Δfd(q)) corresponding to each interval of the DS amount added to TxSig in the DForeq range output from the first DA unit 209 as a CFAR processing object.

[0250] For example, the first CFAR unit 210 calculates the following power addition value PowerDDM for the outputs of the first DA unit 209 from the first analysis unit 206 to the Na(q)th analysis unit 206: q (f b , f sdc ) and CFAR processing is performed, and the power addition value PowerDDM q (f b , f sdc ) is as shown in the following equations (12) and (13), with intervals of Δfd(q) (for example, corresponding to N Δfd(q) ) q FT(f b , f s ) is added. This type of CFAR processing is called "Doppler region compression CFAR processing" and is recorded as "DC-CFAR". In addition, DC-CFAR is described in Patent Document 4, for example, and its detailed description is omitted.

[0251] [Mathematical formula 12]

[0252]

[0253] [Mathematical formula 13]

[0254]

[0255] Here, f sdc =-N VFT / 2,~,-N VFT / 2+N Δfd(q) -1, N Δfd(q) =round(Δfd(q) / (1 / (T r N c )). In addition, round(x) is an operator that rounds off the real number x and outputs an integer value.

[0256] Thus, the range of DForeq to be processed by the first CFAR unit 210 can be set to (for example, narrowed down to) the entire range (for example, -N VFT / 2~N VFT / 2-1) 1 / (Nt(q)+δ q )=1 / (N DM (q)+δ q ), therefore, the amount of computation required for CFAR processing can be reduced.

[0257] The first CFAR unit 210 adaptively sets a threshold, for example, and outputs f to the first separation unit 211 as a signal having a received power greater than the threshold. bp Mono 、f sp Mono f bp mono 、f sdcp mono , and received power information (PowerFT q mono (f bp mono , f sdcp mono +(ndm-1)×N Δfd(q) )). Here, ndm = 1 to N DM (q)+δ q An integer.

[0258] [Operation Example of the First Separating Unit 211]

[0259] The first separation unit 211 of the q-th radar unit 10 is based on, for example, the f input from the first CFAR unit 210. bpmono 、f sp mono And the received power information, using the output of the first DA unit 209, DDM separation of the first reflected wave signal under the MNS structure is performed.

[0260] <δ q =0: >

[0261] The first separation unit 211 can be assumed to be, for example, q = 0, the D Freq of the target object is -1 / (2T r N sw N DM (q))≦f d <1 / (2T r N sw N DM (q)) to make a judgment.

[0262] <δq>0:>

[0263] For example, the first separation unit 211 may assume that the DFreq of the target object is -1 / (2T r N sw )≦f d <1 / (2T r N sw ) to make a decision. In addition, the upper N of the received power can be used DM The received levels of (q) DF indices and the upper N DM DFs with different indexes q The principle that the difference in the reception level of each DF index is greatly different (for example, the difference reaches a threshold value or more). For example, the first separation unit 211 compares the reception power information input from the first CFAR unit 210 and determines D Freq. It should be noted that the operation example of the first separation unit 211 has been disclosed in Patent Document 3, so the description of the operation example is omitted here.

[0264] For example, the first separation unit 211 outputs information related to the separated signal to the first angle measuring unit 212. The information related to the separated signal may include the R index corresponding to the separated received signal and the separation index information of the DDM signal. In addition, the output of the first separation unit 211 may include the output from the first DA unit 209. The separation index information of the DDM signal is based on the δ q DF index and the upper N with high receiving power DM The relationship between the DF indexes is such that the transmitted data to the transmitting antennas Tx#1 to Tx#N of the qth radar unit 10 is DM (q) The DS amount of the added DDM signal and f sdcpmono +(ndm-1)×N Δfd(q) The first separation unit 211 uses the corresponding information as the separation index information f of the DDM signal. Tx (q)=(f dmlTx#1 (q), ~, f dmlTx#NDM (q)) is output to the first angle measuring unit 212.

[0265] Here, f dmlTx#n (q) represents the DF index of the reflected wave signal generated by TxSig from the n-th transmission antenna 103 (Tx#n) of the q-th radar unit 10 .

[0266] [Operation Example of the Second CFAR Unit 210]

[0267] For example, the second CFAR unit 210 of the qth radar unit 10 may perform the following operation to receive the reflected wave signal generated by TxSig from the qeth radar unit 10 .

[0268] Here, qe represents the radar number of the radar unit 10 different from the qth radar unit 10. For example, in the case of the first radar unit 10 (q=1), qe=2 may be used, and in the case of the second radar unit 10 (q=2), qe=1 may be used.

[0269] For example, the second CFAR unit 210 of the qth radar unit 10 can search for the power peak that matches the DDM interval set for TxSig of the qeth radar unit 10 according to the R index for the power sum value of the outputs of the second DA unit 209 from the first analysis unit 206 to the Na(q)th analysis unit 206, and perform adaptive threshold processing (CFAR processing) to thereby perform peak detection.

[0270] The operation of the second CFAR unit 210 of the qth radar unit 10 is different in that the output from the second DA unit 209 is used instead of the output from the first DA unit 209 in the operation of the first CFAR unit 210, and the DDM interval set for TxSig of the qeth radar unit 10 is used instead of the DDM interval set for TxSig of the qth radar unit 10. Other than this, the operation is the same as that of the first CFAR unit 210, and therefore, the detailed description of the operation is omitted.

[0271] The second CFAR unit 210 adaptively sets a threshold, for example, and outputs the R index f that reaches a received power greater than the threshold to the second separation unit 211. bp mul ,DFreq index f sdcp mul , and received power information (PowerFT qmul (f bp mul , f sdcp mul +(ndm-1)×N Δfd(qe) )). Here, ndm = 1 to N DM (qe)+δ qe Integer. In addition, the CFAR processing in the second CFAR unit 210 is also referred to as "multi-reception CFAR" below.

[0272] [Operation Example of the Second Separating Unit 211]

[0273] The second separation unit 211 of the q-th radar unit 10 is based on, for example, the f input from the second CFAR unit 210. bp mul 、f sp mul And the received power information, using the output of the second DA unit 209, performs DDM separation of the second reflected wave signal under the BMS structure.

[0274] The second separation unit 211 operates differently in that it uses the f input from the second CFAR unit 210. bp mul 、f sp mul The received power information replaces the f input from the first CFAR unit 210 in the operation of the first separation unit 211. bp mono 、f sp mono And the received power information, and the output of the second DA unit 209 is used instead of the output of the first DA unit 209. Except for this, the operation is the same as that of the first separation unit 211, so the description is omitted.

[0275] For example, the second separation unit 211 is based on the δ with a small reception level. qe DF index and the upper N with high receiving power DM The relationship between the (qe) DF indexes is such that the DS amount of the DDM signal sent from the qe-th radar unit 10 is equal to f sdcp mul +(ndm-1)×N Δfd(qe) Corresponding to, and used as the separation index information f of the DDM signal Tx (qe) is output to the second angle measuring unit 212. Here, f Tx (qe) represents the DF index of the reflected wave signal generated by TxSig from each transmitting antenna 103 of the qe-th radar unit 10.

[0276] In addition, the second separation unit 211 outputs information related to the separated signal to the second angle measuring unit 212, for example. The information related to the separated signal may include, for example, the R index corresponding to the separated received signal and the separation index information of the DDM signal. In addition, the output of the second separation unit 211 may include the output from the second DA unit 209. In addition, the detectable D Freq range is ±1 / (2TrN sw ).

[0277] [Operation Example of the First Angle Measuring Unit 212]

[0278] The first angle measuring unit 212 of the qth radar unit 10 is based on, for example, the information input from the first separation unit 211 (for example, the R index f bp mono (q), and the separation index information f of the DDM signal Tx (q)), perform angle measurement processing on the first reflected wave signal under the MNS structure.

[0279] For example, the first angle measuring unit 212 is based on f bp mono (q) and the separation index information f of the DDM signal Tx (q), extract the output from the first DA unit 209, and generate the qth virtual receiving array correlation vector h of the first angle measuring unit 212 as shown in the following equation (14): q (f bp mono (q), f Tx Here, for example, q=1, 2.

[0280] The qth virtual receiving array correlation vector h of the first angle measuring unit 212 q (f bp mono (q), f Tx (q)) is shown in equation (14), which contains the product of the number of transmitting antennas Nt(q) and the number of receiving antennas Na(q), that is, Nt(q)×Na(q) elements. The qth virtual receiving array correlation vector h q (f bp mono (q), f Tx (q)) The reflected wave signal from the target is used for angle measurement based on the phase difference between the transmitting and receiving antennas 202. Here, z=an integer from 1 to Na(q).

[0281] [Formula 14]

[0282]

[0283] In formula (14), h cal[b]b is an array correction value for correcting the phase deviation and amplitude deviation between the transmission array antennas and the reception array antennas. b = an integer from 1 to (Nt(q)×Na(q)).

[0284] The first angle measuring unit 212 of the qth radar unit 10 uses, for example, the qth virtual receiving array correlation vector h q (f bp mono (q), f Tx (q)) and change the angle measurement evaluation function P within the specified angle range H (θ u , f bp mono (q), f Tx (q)) in the azimuth direction θ u , calculate the spatial distribution.

[0285] The first angle measuring unit 212 may extract a predetermined number of the maximum peaks of the calculated spatial distribution in descending order, and output the azimuth direction of the maximum peak as an angle measurement value (eg, positioning output).

[0286] In addition, there are various methods for angle measurement algorithms (beamforming, Capon, MUSIC (Multiple Signal Classification), etc.). For example, the estimation method using an array antenna disclosed in non-patent document 5 can also be used. For example, when the number of virtual receiving antennas is Nt×Na and they are spaced at equal intervals d H When arranged in a straight line, the beamforming method can be expressed as in the following equation (15). In addition to the beamforming method, methods such as Capon and MUSIC can also be applied in the same manner.

[0287] [Mathematical formula 15]

[0288]

[0289] In equation (15), the superscript H is the Hermitian transposition operator. In addition, in equation (15), a(θ u ) represents the center frequency f of the radar signal c The azimuth direction θ u The direction vector of the virtual receiving array of the incoming wave is a column vector with Nt×Na elements as shown in equation (16). In equation (16), λ is the center frequency f c The wavelength of the radar transmission signal (e.g., chirp signal) in the case of λ = C 0 / f c .

[0290] [Formula 16]

[0291]

[0292] In addition, the azimuth direction θ u It is the specified azimuth interval β within the azimuth range for arrival direction estimation. 1 Vector of change.

[0293] Through the above operation, the first angle measuring unit 212 of the qth radar unit 10 can, for example, bp mono (q), and the separation index information f of the DDM signal Tx The estimated arrival direction value in (q) is output as a positioning output to the integration unit 30. In addition, the first angle measuring unit 212 can also output the distance index f bp mono , separation index information of DDM signal f Tx (q) is used as the positioning output.

[0294] In addition, the distance index f bp mono (q) can also be converted into distance information using equation (1) and output.

[0295] In addition, the distance index f can also be output bp mono (q) Doppler frequency of the target object. Since the amount of DS added by the DS unit 102 at the time of transmission is known for each transmitting antenna 103, the first angle measuring unit 212 can output the Doppler frequency of the target object based on the separation index information of the DDM signal.

[0296] [Operation Example of the Second Angle Measuring Unit 212]

[0297] The second angle measuring unit 212 of the qth radar unit 10 is based on, for example, the information input from the second separation unit 211 (for example, the distance index f bp mul (q), and the separation index information f of the DDM signal Tx (qe)), the angle measurement processing of the second reflected wave signal under the BMS structure is performed. Here, for example, when q=1, qe=2, and when q=2, qe=1.

[0298] The second angle measuring unit 212 is based on, for example, the distance index f bp mul (q) and the separation index information f of the DDM signal Tx (qe), extract the output of the second DA unit 209, and generate the qth receiving array correlation matrix H of the second angle measuring unit 212 as shown in equation (17) q (f bp mul(q), f Tx (qe)). The second angle measuring unit 212 is, for example, at a distance index f bp mul When the distance shown in (q) is regarded as a nearby object, the angle measurement of the nearby object is performed. bp mul When the distance shown by (q) is regarded as a distant object, the distant object angle measurement processing is performed.

[0299] The qth receiving array correlation matrix H of the second angle measuring unit 212 q (f bp mul (q), f Tx As shown in equation (17), it is a matrix of order Na(q)×Nt(qe) consisting of columns of the number of transmitting antennas Nt(qe) of the qe-th radar unit 10 and rows of the number of receiving antennas Na(q) of the q-th radar unit 10. The q-th receiving array correlation matrix H q (f bp mul (q), f Tx (qe)) For the reflected wave signal from the target, the direction is estimated based on the phase difference between each transmitting and receiving antenna 202. Here, z=1 to Na(q).

[0300] [Mathematical formula 17]

[0301]

[0302] In formula (17), h cal[b] b is an array correction value for correcting the phase deviation and amplitude deviation between the transmission array antennas and the reception array antennas. b = an integer from 1 to (Nt(qe)×Na(q)).

[0303] <Angle measurement processing of nearby objects>

[0304] At the distance index f bp mul When the distance shown by (q) is regarded as a nearby object, the second angle measuring unit 212 calculates the qeth receiving array correlation matrix H as shown in equation (17): q (f bp mul (q), f Tx (qe)) to estimate the sending direction of orientation (DOD) and the receiving direction of orientation (DOA) of nearby objects.

[0305] The second angle measuring unit 212 of the qth radar unit 10 can output, for example, the transmission direction of azimuth (DOD) as an angle estimation value (for example, positioning output) to the integration unit 30. In addition, the second angle measuring unit 212 of the qth radar unit 10 can output, for example, the reception direction of azimuth (DOA) as an angle estimation value (for example, positioning output) to the integration unit 30.

[0306] The second angle measurement unit 212 of the qth radar unit 10 changes the DOD angle measurement evaluation function P within a predetermined angle range, for example. TxH (θ u , f bp mul (q), f Tx (qe)) in the azimuth direction θ u The second angle measuring unit 212 can extract a predetermined number of the maximum peak directions of the calculated spatial distribution in descending order, and output the DOD of the maximum peak as an angle measurement estimation value (eg, positioning output) to the integration unit 30.

[0307] In addition, the DOD angle measurement evaluation function P TxH，q (θ u , f bp mul (q), f Tx (qe)) Various angle estimation algorithms can be used. For example, the angle measurement processing can use the angle measurement processing in the BMS structure described in non-patent document 2 or non-patent document 6. In addition, the estimation method using an array antenna disclosed in non-patent document 5 can also be used. For example, the beamforming method can be expressed as in the following equation (18). In addition to the beamforming method, methods such as Capon and MUSIC can also be applied in the same way. In addition, in the following equation (18), the superscript H is the Hermitian transpose operator.

[0308] [Mathematical formula 18]

[0309]

[0310] In formula (18), a Tx(qe) (θ u ) represents the azimuth direction θ of the transmitting antenna in the qe-th radar unit 10 relative to the center frequency fc u The sending array direction vector of the incoming wave.

[0311] In addition, the second angle measurement unit 212 of the qth radar unit 10 changes the DOA angle measurement evaluation function P within a predetermined angle range for the reception azimuth direction (DOA). RxH，q (θ u , f bp mul (q), f Tx(qe)) in the azimuth direction θ Rx The second angle measuring unit 212 can extract a predetermined number of the maximum peak directions of the calculated spatial distribution in descending order, and output the DOA of the maximum peak as a direction estimation value (eg, positioning output) to the integration unit 30.

[0312] In addition, the DOA angle measurement evaluation function P RxH，q (θ u , f bp mul (q), f Tx (qe)) Various angle estimation algorithms can be used. For example, the beamforming method can be expressed as the following equation (19).

[0313] [Mathematical formula 19]

[0314]

[0315] In formula (19), a Rx(q) (θ u ) represents the azimuth direction θ of the receiving antenna in the qth radar unit 10 relative to the center frequency fc u The receiving array direction vector of the incoming wave. In addition, the azimuth direction θ u The azimuth interval β is specified. 1 , a vector that varies within the range of azimuths over which the direction is estimated.

[0316] <Distant object angle measurement processing>

[0317] At the distance index f bp mul When the distance indicated by (q) is regarded as a distant object, the second angle measuring unit 212 calculates the qth receiving array correlation matrix H as shown in equation (17): q (f bp mul (q), f Tx (qe)), as shown in the following equation (20), generates the qth virtual receiving array correlation vector h in the BMS structure q BMS (f bp mul (q), f Tx (qe)) to perform angle measurement. Here, Vec[H] is an operator that connects the column vectors of the matrix H in sequence along the column direction to generate a column vector. According to the following formula (20), Nt(qe)×Na(q) column vectors are generated. In addition, when q=1, qe=2, and when q=2, qe=1.

[0318] [Mathematical formula 20]

[0319]

[0320] The second angle measuring unit 212 of the qth radar unit 10 uses, for example, the qth virtual receiving array correlation vector h in the BMS structure. q BMS (f bp mul (q), f Tx (qe)), change the BMS structure angle measurement evaluation function P within the specified angle range H BMS (θ u , f bp mul , f Tx (qe)) in the azimuth direction θ u , and calculate the spatial distribution. The second angle measuring unit 212 can, for example, extract a predetermined number of the maximum peaks of the calculated spatial distribution in descending order, and output the azimuth direction of the maximum peak as the angle measurement value (for example, positioning output). In addition, the angle measurement algorithm can also use various methods (beamforming, Capon, MUSIC, etc.).

[0321] For example, the number of qth virtual receiving antennas in the BMS structure is Nt(qe)×Na(q), and they are spaced at equal intervals d H When arranged in a straight line, the MS structure angle measurement evaluation function using the beamforming method can be expressed as the following equation (21).

[0322] In formula (21), the superscript H is the Hermitian transposition operator. In addition, in formula (21), a BMS，q (θ u ) represents the azimuth direction θ relative to the center frequency fc of the radar signal u The direction vector of the qth virtual receiving antenna in the BMS structure of the incoming wave is a column vector with Nt(qe)×Na(q) elements as shown in equation (22). In equation (22), λ is the center frequency f c The wavelength of the radar transmission signal (e.g., chirp signal) in the case of λ = C 0 / f c In addition, the azimuth direction θ u The azimuth interval β is specified. 1 , a vector that changes within the azimuth range for which the direction of arrival is estimated.

[0323] [Mathematical formula 21]

[0324]

[0325] [Mathematical formula 22]

[0326]

[0327] In addition, although the example in which the first angle measuring unit 212 and the second angle measuring unit 212 calculate the azimuth direction as the angle measurement estimation value is described, the present invention is not limited thereto, and the direction estimation of the elevation direction may be realized, or the angle measurement estimation of the azimuth direction and the elevation direction may be realized by using MIMO antennas arranged in a rectangular grid. For example, the second angle measuring unit 212 may also calculate the azimuth and the elevation angle as the angle measurement estimation values ​​and output them as positioning.

[0328] Through the above operation, the second angle measuring unit 212 of the qth radar unit 10 can, for example, bp mul When the distance shown in (q) is regarded as 1) a nearby object, the separation index information f of the DDM signal is output. Tx The estimated value of the transmission direction of orientation (DOD) and the estimated value of the reception direction of orientation (DOA) in (qe) are used as positioning outputs. In addition, the estimated value of the transmission direction of orientation (DOD) and the estimated value of the reception direction of orientation (DOA) can be used as positioning outputs. bp mul When the distance shown in (q) is regarded as 2) a distant object, the output uses the BMS structure angle measurement evaluation function P H，q BMS (θ u , f bp mul (q), f Tx The angle measurement value of (qe)) is used as the positioning output when the sending azimuth direction (DOD) is equal to the receiving azimuth direction (DOA).

[0329] In addition, the second angle measuring unit 212 can also output f bp mul (q), separation index information f of DDM signal Tx (qe) as positioning output.

[0330] In addition, the distance index f bp mul (q) can also be converted into distance information using equation (2) and output.

[0331] At the transmitting antenna 103 of each qe-th radar unit 10, the DS amount added by the DS unit 102 when the qe-th radar unit 10 transmits is known. Therefore, the second angle measuring unit 212 can separate the DDM signal based on the index information f Tx (qe), output the Doppler frequency of the target object.

[0332] Here, in the radar device 1, the positions of the first radar unit 10 and the second radar unit 10 are known in advance. For example, there may be an object on an elliptic curve having the positions of the first radar unit 10 and the second radar unit 10 as foci, and the sum of the distances to the two foci is the output of the second angle measuring unit 212, that is, the distance index f bp mul (q) shows the distance for BMS. Moreover, since the transmission direction of the qe-th radar unit 10 (DOD) and the reception direction of the q-th radar unit 10 (DOA) are estimated, the second angle measuring unit 212 can determine the position of the target object using the angle measurement result. For example, the second angle measuring unit 212 can also output the estimation result of the target object position in the radar with such a BMS structure as positioning.

[0333] In addition, when there is no intersection of two straight lines based on DOD and DOA on the above-mentioned elliptical curve, the second angle measuring unit 212 can also be judged as an indirect wave of the target object. Since the possibility of the target object positioning result being wrong is high, the positioning result may not be used as a positioning output, or the positioning result may be used as a positioning output and the result judged as an indirect wave of the target object may be output.

[0334] In addition, the identification of such indirect waves of target objects can also be processed in the subsequent integration unit 30 .

[0335] In addition, a method for estimating the position of a target object in a radar having a BMS structure is described in, for example, Non-Patent Document 6, and therefore a detailed description of the estimation method is omitted.

[0336] The operation example of the second angle measuring unit 212 has been described above.

[0337] [Operation Example of Integration Unit 30]

[0338] exist Figure 4 In the embodiment, the integration unit 30 integrates the positioning outputs from the first angle measuring unit 212 and the second angle measuring unit 212 of the first radar unit 10 and the positioning outputs from the first angle measuring unit 212 and the second angle measuring unit 212 of the second radar unit 10 to locate the target object.

[0339] The integration unit 30 performs a process of distinguishing target object indirect waves based on the output of the second angle measuring unit 212 in each radar unit 10 .

[0340] For example, when the first radar unit 10 receives a reflected wave signal (e.g., a second reflected wave signal) corresponding to a radar transmission signal (e.g., a second transmission signal) transmitted from the second radar unit 10, the integration unit 30 determines whether the second reflected wave signal is a direct wave from the target object (or whether it is a target direct wave or a target indirect wave) based on the DOD of the second transmission signal transmitted from the second radar unit 10, the DOA of the second reflected wave signal received by the first radar unit 10, and the distance between the first radar unit 10 and the target object (the target object that reflected the second transmission signal). It should be noted that when the second radar unit 10 receives a reflected wave signal (e.g., a first reflected wave signal) corresponding to a radar transmission signal (e.g., a first transmission signal) transmitted from the first radar unit 10, the integration unit 30 can also similarly determine whether it is a target direct wave or a target indirect wave.

[0341] For example, when there is no intersection point of two straight lines based on the transmission direction of azimuth (DOD) of the qe-th radar unit 10 and the reception direction of azimuth (DOA) of the q-th radar unit 10 output from the second angle measuring unit 212 in the q-th radar unit 10 on the following elliptic curve, it can also be determined that it is an indirect wave of the target object. The elliptic curve is a distance index f, which is the output of the second angle measuring unit 212, that is, the sum of the distances from the positions of the first radar unit 10 and the second radar unit 10 as the focus. bp mul In this case, for example, because the target object positioning result is likely to be erroneous, the integration unit 30 may not output the positioning result as positioning, or may output the positioning result as positioning output and determine the result as a target object indirect wave.

[0342] When it is determined as an indirect wave of a target object in the above manner, the integration unit 30 may exclude the positioning output determined as the indirect wave of the target object from the positioning of the target object and perform processing. Alternatively, when there is a wide target object such as a wall or a vehicle, for example, the integration unit 30 may estimate the target object position when the indirect wave of the target object is regarded as a reflection wave of the wide target object and output it. Alternatively, when there is a road surface, for example, the integration unit 30 may estimate the target object position when the indirect wave of the target object is regarded as a reflection wave of the road surface and output it.

[0343] It should be noted that the same applies when the positioning output of the second angle measuring unit 212 outputs a result determined as an indirect wave of a target object.

[0344] In addition, for example, the integrated unit 30 can determine the type of the target object based on the consistency between the positioning result of the BMS structure, that is, the positioning result of the second angle measuring unit 212 of the first radar unit 10 and the positioning result of the second angle measuring unit 212 of the second radar unit 10. For example, the integrated unit 30 can use the following principle, that is, the consistency will increase in the case of a pillar (metal pillar), and the consistency of the reflection point will decrease in the case of a wide target object such as a wall.

[0345] In addition, for example, for the positioning result of the MNS structure, that is, the positioning output of the first angle measuring unit 212 of the first radar unit 10 and the positioning output of the first angle measuring unit 212 of the second radar unit 10, when the detection areas overlap, the integration unit 30 may output a component with high consistency in the estimation results of the two. For example, the integration unit 30 may not output a component with low consistency in the estimation results of the two.

[0346] By operating as described above, the integration unit 30 can remove indirect waves of target objects and multipath reflections that become virtual images.

[0347] It should be noted that the integration unit 30 may also output the positioning output (or positioning result) to a device not shown, such as a vehicle control device (ECU, etc.) of a vehicle-mounted radar or an infrastructure control device of an infrastructure radar.

[0348] [Antenna Arrangement Example of Radar 10]

[0349] Next, the arrangement of the transmission antenna 103 and the reception antenna 202 in the first radar unit 10 and the second radar unit 10 and an operation example of the angle measuring unit 212 when using the antenna arrangement example will be described.

[0350] It should be noted that, hereinafter, the transmitting antenna 103 and the receiving antenna 202 in the first radar unit 10 and the second radar unit 10 are also collectively referred to as a “MIMO antenna”.

[0351] In addition, in the following description, each antenna constituting the MIMO antenna may also be set to a subarray structure formed by arranging multiple antenna elements (e.g., planar patch antennas) longitudinally and transversely, for example, it may also be set to a subarray structure composed of multiple planar patch antennas that satisfies the desired beam width. Alternatively, the MIMO antenna may also be set to a subarray structure formed by arranging planar patch antennas in one of the longitudinal and transverse directions. The more planar patch antennas in the horizontal (or vertical) direction constituting the subarray, the sharper the directional beam in the horizontal (or vertical) direction can be formed.

[0352] In addition, the Nt(q) transmitting antennas 103 in the q-th radar unit 10 are expressed as “Tx(q)#1, ∼, #Nt(q)”, and the Na(q) receiving antennas 202 are expressed as “Rx(q)#1, ∼, #Na(q)”. Here, q is, for example, q=1 or 2.

[0353] Hereinafter, MIMO antenna configurations A, B, and C are described as configuration examples of MIMO antennas. According to these MIMO antenna configurations, the radar device 1 can improve the radar detection performance by reducing the misjudgment of indirect waves of the target object. In addition, the MIMO antenna configurations A, B, and C are antenna configurations that enlarge the aperture length of the virtual receiving antenna during the angle measurement of the MNS structure and the far-field angle measurement of the BMS structure, and can improve the angle measurement performance during the angle measurement of the MNS structure and the far-field angle measurement of the BMS structure.

[0354] This is also true even if the first radar unit 10 and the second radar unit 10 described in the configuration conditions of the MIMO antenna configurations A, B, and C are replaced (for example, swapped) with the second radar unit 10 and the first radar unit 10, respectively.

[0355] [MIMO antenna configuration A]

[0356] The MIMO antenna arrangement in the first radar unit 10 and the second radar unit 10 satisfies the following arrangement condition A, for example.

[0357] <Configuration Condition A>

[0358] A-1)

[0359] The minimum antenna spacing MinAS(Tx(1)) among the antenna spacings (e.g., the spacings between adjacent antennas) of the plurality of transmitting antennas 103 of the first radar unit 10 and the minimum antenna spacing MinAS(Rx(2)) among the antenna spacings of the plurality of receiving antennas 202 of the second radar unit 10 each include a spacing Da of 0.5 wavelength or more and less than 1 wavelength. For example, MinAS(Tx(1))<λ, MinAS(Rx(2))<λ. Here, Da may be the maximum value of MinAS(Tx(1)) and MinAS(Rx(2)).

[0360] Furthermore, the minimum antenna spacing MinAS(Rx(1)) of the plurality of receiving antennas 202 of the first radar unit 10 and the minimum antenna spacing MinAS(Tx(2)) of the plurality of transmitting antennas 103 of the second radar unit 10 are greater than the spacing Da. For example, MinAS(Rx(1))>Da, MinAS(Tx(2))>Da.

[0361] A-2)

[0362] The receiving antenna spacing of the first radar unit 10 includes a spacing larger than the aperture length ApTx(1) of the transmitting antenna of the first radar unit 10, and

[0363] The transmission antenna interval of the second radar unit 10 includes an interval larger than the aperture length ApRx( 2 ) of the reception antenna of the second radar unit 10 .

[0364] A-3)

[0365] The receiving antenna spacing of the second radar unit 10 includes a spacing larger than the aperture length ApTx(1) of the transmitting antenna of the first radar unit 10, or,

[0366] The transmission antenna interval of the first radar unit 10 includes an interval larger than the aperture length ApRx( 2 ) of the reception antenna of the second radar unit 10 .

[0367] Here, configuration condition A-1 has a grating suppression effect when positioning nearby target objects for angle measurement under the BMS structure. For example, the radar device 1 can locate DOD and DOA without a grating. In addition, when the target distance is satisfied and there is no intersection of two straight lines based on DOD and DOA on the ellipse with the transmitting antenna positions of the first radar unit 10 and the second radar unit 10 (for example, the transmitting antenna positions of the first transmitting antenna Tx(1)#1 and Tx(2)#1) as the focus, the radar device 1 can determine that the received reflected wave signal is an indirect wave of the target object and will not output an erroneous positioning result. Therefore, the indirect wave of the target object can be removed.

[0368] It should be noted that configuration condition A-1 is a condition that the MIMO antenna configurations in the first radar unit 10 and the second radar unit 10 are not configured in the same way (or a condition that the BMS structure is asymmetric). For example, when the number of transmitting antennas and the number of receiving antennas are small (for example, when the number of transmitting antennas and the number of receiving antennas are below a threshold), the degree of freedom of antenna configuration between radars of the BMS structure can be increased. As a result, compared with the case where the MIMO antenna configurations in the first radar unit 10 and the second radar unit 10 are configured in the same way, the antenna aperture length can be further expanded, and the object angle measurement accuracy and angle measurement resolution when locating nearby objects under the BMS structure can be improved.

[0369] In addition, in addition to configuration condition A-1, at least one of configuration condition A-2 and configuration condition A-3 is added, thereby expanding the aperture length of the virtual receiving array under the MNS structure, thereby improving the object angle measurement accuracy and angle measurement resolution under the MNS structure.

[0370] In addition, configuration condition A-3 has the effect of increasing the aperture length of the virtual receiving array when locating a distant target object in the BMS structure, thereby improving the target object angle measurement accuracy and angle measurement resolution when locating a distant target object in the BMS structure.

[0371] the following, Figure 7 , a configuration example is shown in the figure where the number of transmitting antennas Nt(1)=Nt(2)=2 and the number of receiving antennas Na(1)=Na(2)=3, as an example of the MIMO antenna configuration in the first radar unit 10 and the second radar unit 10 satisfying the configuration condition A.

[0372] exist Figure 7 In FIG. 1 , the minimum antenna spacing MinAS(Tx(1)) of the transmitting antenna of the first radar unit 10 is the spacing (also called “pitch”) between Tx(1)#1 and Tx(1)#2, which is 0.5 wavelength (=0.5λ=Da). Figure 7 In the example, the minimum antenna spacing MinAS(Rx(2)) of the receiving antenna of the second radar unit 10 is the spacing between Rx(2)#2 and Rx(2)#3, which is 0.5 wavelengths (=0.5λ=Da). Therefore, MinAS(Tx(1))<λ, MinAS(Rx(2))<λ. In addition, Figure 7 For example, the minimum antenna spacing MinAS(Rx(1)) of the receiving antenna of the first radar unit 10 is the spacing between Rx(1)#1 and Rx(1)#2, which is 1 wavelength (λ). Figure 7 In the figure, the minimum antenna spacing MinAS(Tx(2)) of the transmitting antenna of the second radar unit 10 is the spacing between Tx(2)#1 and Tx(2)#2, which is 2 wavelengths (2λ). Therefore, MinAS(Rx(1))>Da, MinAS(Tx(2))>Da. Based on the above, Figure 7 The MIMO antenna configuration shown satisfies configuration condition A-1.

[0373] In addition, the receiving antenna spacing of the first radar unit 10 includes a spacing larger than the aperture length ApTx(1) (=0.5λ) of the transmitting antenna of the first radar unit 10 (for example, the spacing λ between Rx(1)#1 and Rx(1)#2), and the transmitting antenna spacing of the second radar unit 10 includes a spacing larger than the aperture length ApRx(2) (=1.5λ) of the receiving antenna of the second radar unit 10 (the spacing 2λ between Tx(2)#1 and Tx(2)#2). Based on the above, Figure 7 The MIMO antenna configuration shown satisfies configuration condition A-2.

[0374] In addition, the receiving antenna spacing of the second radar unit 10 includes a spacing (the spacing λ between Rx(2)#1 and Rx(2)#2) that is larger than the aperture length ApTx(1) (=0.5λ) of the transmitting antenna of the first radar unit 10. Based on the above, Figure 7 The MIMO antenna configuration shown satisfies configuration condition A-3.

[0375] Figure 7 The MIMO antenna configuration shown is a configuration that satisfies configuration condition A.

[0376] For example, according to the MIMO antenna configuration in the qth radar unit 10, the configuration VA of the virtual receiving antenna (or MIMO virtual antenna) under the MNS structure in the qth radar unit 10 is constructed. MN(q) #1~VA MN(q) #(Na(q)×Nt(q)).

[0377] In addition, according to the transmission antenna configuration in the qe-th radar unit 10 and the reception antenna configuration in the q-th radar unit 10, a configuration VA of a virtual reception antenna (or a MIMO virtual antenna) for a distant target under the BMS structure in the q-th radar unit 10 is formed. BM(q) #1~VA BM(q) #(Na(q)×Nt(qe)).

[0378] Here, for example, based on the position of the transmitting antenna (for example, the position of the power supply point) and the position of the receiving antenna (for example, the position of the power supply point) in the MNS structure, the configuration of the virtual receiving antenna (virtual receiving array) in the qth radar unit 10 under the MNS structure can be expressed as follows:

[0379] [Mathematical formula 23]

[0380]

[0381] It should be noted that the position coordinates of the transmission antenna (for example, Tx(q)#n) of the qth radar unit 10 are represented as “(X Tx(q)#n , Y Tx(q)#n )(for example, n=1, ~, Nt(q))”, the position coordinates of the receiving antenna (for example, Rx(q)#z) are expressed as “(X Rx(q)#z , Y Rx(q)_#z )(for example, z = 1, ~, Na(q))”, the virtual antenna VA constituting the virtual receiving array antenna MN(q) #b's position coordinates are expressed as "(X VMN(q)#b , Y VMN(q)#b )(for example, b=1, ~, Nt(q)×Na(q))”.

[0382] It should be noted that in formula (23), for example, VA MN(q) #1 is used as the position reference (0, 0) of the virtual receiving array. Tx(q)#n Indicates the horizontal position coordinate, Y Tx(q)#n Indicates the position coordinates in the vertical direction, but is not limited to this. Here, mod(x, y) is a modulo operator that outputs the remainder obtained by dividing the integer x by the integer y. ceil(x) is an operator that outputs the smallest integer greater than the argument x.

[0383] In addition, for example, based on the position of the transmitting antenna (e.g., the position of the power supply point) and the position of the receiving antenna (e.g., the position of the power supply point) in the BMS structure, the configuration of the virtual receiving antenna (virtual receiving array) for the distant target in the BMS structure in the qth radar unit 10 is determined. For example, if the position coordinates of the transmitting antenna (e.g., Tx(qe)#n) in the qeth radar unit 10 are expressed as “(X Tx(qe)#n , Y Tx(qe)#n )(for example, n=1, ∼, Nt(qe))”, the position coordinates of the receiving antenna (for example, Rx(q)#z) in the qth radar unit 10 are expressed as “(X Rx(q)#z , Y Rx(q)#z )(for example, z = 1, ~, Na(q))", then the virtual antenna VA constituting the virtual receiving array antenna BM(q) #b's position coordinates (X VBM(q)#b , Y VBM(q)#b )(For example, b=1, ~, Nt(qe)×Na(q)) can be shown as formula (24).

[0384] [Mathematical formula 24]

[0385]

[0386] Figure 8 (a) Figure 8 (b) shows that according to Figure 7 The MIMO antenna arrangement shown is an example of arrangement of virtual receiving antennas of the MNS structure and the BMS structure in each radar unit 10.

[0387] For example, in Figure 7 The arrangement of the transmission antennas Tx#1(1) and Tx#2(1) of the first radar unit 10 is shown in FIG. Tx(1)#1 , Y Tx(1)#1 )=(0,0)、(X Tx(1)#2 , Y Tx(1)#2 )=(0.5λ, 0), and the arrangement of receiving antennas Rx#1 to Rx#3 (X Rx(1)#1 , Y Rx(1)#1 )=(ax,ay),(XRx(1)#2 , Y Rx(1)#2 )=(ax+λ,ay),(X Rx(1)#3 , Y Rx(1)#3 )=(ax+2λ,ay), the position coordinates of the virtual antenna constituting the virtual receiving antenna in the MNS structure are calculated according to equation (23). Here, ax and ay are arbitrary constants. For example, the virtual antenna VA MN(1) #1~VA MN(1) The position coordinates of #6 are as follows Figure 8 As shown in (a), it does not depend on ax and ay and becomes (X VMN(1)#1 , Y VMN(1)#1 )=(0,0)、(X VMN(1)#4 , Y VMN(1)#4 )=(0.5λ,0)、(X VMN(1)#2 , Y VMN(1)#2 )=(λ,0)、(X VMN(1)#5 , Y VMN(1)#5 )=(1.5λ,0)、(X VMN(1)#3 , Y VMN(1)#3 )=(2λ,0)、(X VMN(1)#6 , Y VMN(1)#6 )=(2.5λ,0).

[0388] In addition, if Figure 8 As shown in (b), according to formula (24), the virtual receiving antenna VA for the distant target under the BMS structure in the qth radar unit 10 is calculated in the same way. BM(q) #1~VA BM(q) #6's location coordinates.

[0389] For example, the first angle measuring unit 212 of the qth radar unit 10 is based on f bp mono (q) and the separation index information f of the DDM signal Tx (q), extract the output from the first DA unit 209, and generate the qth virtual receiving array correlation vector h of the first angle measuring unit 212 as shown in equation (14) q (f bp mono (q), f Tx (q)) and perform angle measurement processing (the same applies to MIMO antenna configurations B and C described later). Here, the bth virtual antenna VA MN(q) The received signal of #b is represented by the virtual receiving array correlation vector h q (f bp mono (q), f Tx (q)) is represented by the bth element. In addition, the first angle measuring unit 212 uses, for example, Figure 8The direction vector generated by the arrangement of the MIMO virtual receiving antennas shown in (a) is used as the direction vector of the qth virtual receiving antenna in the MNS structure and the angle measurement process is performed.

[0390] For example, the second angle measuring unit 212 of the qth radar unit 10 is based on f bp mul (q) and the separation index information f of the DDM signal Tx (qe), extract the output of the second DA unit 209, and generate the qth receiving array correlation matrix H of the second angle measuring unit 212 as shown in equation (17) q (f bp mul (q), f Tx (qe)), the angle measurement of nearby objects in the BMS structure is performed. Here, the correlation matrix H of the qth receiving array is q (f bp mul (q), f Tx The elements in the zth row and ndm column of (qe)) correspond to the received signals of the receiving antenna Rx(q)#z for the transmitting antenna Tx(qe)#ndm (the same also applies to the MIMO antenna configuration B and configuration C described later). In addition, the second angle measuring unit 212 uses the transmission antenna configuration in the qe radar unit 10 (for example, Figure 7 The vector generated by the configuration of the transmitting antenna is used as the transmitting array direction vector a Tx(qe) (θ u ), and performs angle measurement processing of the transmission azimuth direction (DOD). In addition, the second angle measurement unit 212 uses the receiving antenna configuration in the q-th radar unit 10 (for example, Figure 7 The vector generated by the configuration of the receiving antenna is used as the receiving array direction vector a Rx(q) (θ u ) to perform angle measurement processing of the receiving azimuth direction (DOA).

[0391] In addition, in the angle measurement process of nearby objects in the BMS structure, the bth virtual antenna VA BM #b's received signal is related to the virtual receiving array vector h in the BMS structure q BMS (f bp mono , f Tx (q)) corresponds to the bth element (the same also applies to MIMO antenna configuration B and configuration C described later). In addition, the second angle measuring unit 212 uses the Figure 8 The direction vector generated by the arrangement of the MIMO virtual receiving antennas shown in (b) is used as the direction vector of the qth virtual receiving antenna in the BMS structure and angle measurement processing is performed.

[0392] [MIMO antenna configuration B]

[0393] In the MIMO antenna arrangement B, the number of transmitting antennas Nt(q)≧3 and the number of receiving antennas Na(q)≧3 are set for the first radar unit 10 and the second radar unit 10. The MIMO antenna arrangement in the first radar unit 10 and the second radar unit 10 satisfies the following arrangement condition B, for example.

[0394] <Configuration Condition B>

[0395] The configuration that satisfies configuration condition B is a configuration in which the number of transmitting antennas Nt(q)≧3 and the number of receiving antennas Na(q)≧3, and the following conditions are satisfied.

[0396] B-1)

[0397] The minimum antenna spacing MinAS(Tx(1)) among the antenna spacings of the plurality of transmitting antennas 103 of the first radar unit 10 and the minimum antenna spacing MinAS(Rx(2)) among the antenna spacings of the plurality of receiving antennas 202 of the second radar unit 10 each include a spacing Da of 0.5 or more and less than 1 wavelength. For example, MinAS(Tx(1))<λ, MinAS(Rx(2))<λ.

[0398] Furthermore, the minimum antenna spacing MinAS(Rx(1)) among the antenna spacings of the plurality of receiving antennas 202 of the first radar unit 10 and the minimum antenna spacing MinAS(Tx(2)) among the antenna spacings of the plurality of transmitting antennas 103 of the second radar unit 10 each include a spacing Da of 0.5 or more and less than 1 wavelength. For example, MinAS(Rx(1))<λ, MinAS(Tx(2))<λ.

[0399] B-2)

[0400] The receiving antenna spacing of each radar unit 10 includes a spacing larger than the aperture length ApTx(1) of the transmitting antenna, or the transmitting antenna spacing of each radar unit 10 includes a spacing larger than the aperture length ApRx(2) of the receiving antenna.

[0401] Here, configuration condition B-1 has a grating suppression effect when positioning nearby target objects for angle measurement under the BMS structure. For example, the radar device 1 can locate DOD and DOA without a grating. In addition, when the target distance is satisfied and there is no intersection of two straight lines based on DOD and DOA on the ellipse with the transmitting antenna positions of the first radar unit 10 and the second radar unit 10 (for example, the transmitting antenna positions of the first transmitting antennas Tx(1)#1 and Tx(2)#1) as the focus, the radar device 1 can determine that it is an indirect wave of the target object and will not output an erroneous positioning result. Therefore, the indirect wave of the target object can be removed.

[0402] It should be noted that the configuration condition B-1 is a condition that can be satisfied even when the MIMO antennas in the first radar unit 10 and the second radar unit 10 are configured in the same configuration (or a condition that the BMS structure is symmetrical). For example, when the number of transmitting antennas and the number of receiving antennas are three or more, the effect of expanding the antenna aperture length can be obtained, and the object angle measurement accuracy and angle measurement resolution when locating nearby objects under the BMS structure can be improved. In addition, by making the MIMO antenna configurations in the first radar unit 10 and the second radar unit 10 the same, the effect of reducing the radar manufacturing cost can also be obtained.

[0403] In addition to configuration condition B-1, configuration condition B-2 is added, thereby increasing the aperture length of the virtual receiving array under the MNS structure, thereby improving the object angle measurement accuracy and angle measurement resolution under the MNS structure. For example, in configuration condition B-2, the antenna spacing of the multiple receiving antennas 202 of the first radar unit 10 may include a spacing larger than the aperture length of the multiple transmitting antennas 103 of the first radar unit 10, or the antenna spacing of the multiple transmitting antennas 103 of the second radar unit 10 may include a spacing larger than the aperture length of the receiving antenna 202 of the second radar unit 10. As a result, the aperture length of the MIMO virtual antenna when locating nearby objects under the MNS structure can be increased, thereby improving the object angle measurement accuracy and angle measurement resolution.

[0404] In addition, configuration condition B-2 has the effect of expanding the aperture length of the virtual receiving array when locating a distant target object for angle measurement under the BMS structure. As a result, the target object angle measurement accuracy and angle measurement resolution when locating a distant target object under the BMS structure can be improved. For example, in configuration condition B-2, the antenna spacing of the multiple receiving antennas 202 of the second radar unit 10 may include a spacing larger than the aperture length of the multiple transmitting antennas 103 of the first radar unit 10, or the antenna spacing of the multiple transmitting antennas 103 of the first radar unit 10 may include a spacing larger than the aperture length of the multiple receiving antennas 202 of the second radar unit 10. As a result, the aperture length of the MIMO virtual antenna when locating a nearby target object under the BMS structure can be expanded, thereby improving the target object angle measurement accuracy and angle measurement resolution.

[0405] the following, Fig. 9 , a configuration example in which the number of transmitting antennas Nt(1)=Nt(2)=3 and the number of receiving antennas Na(1)=Na(2)=3 is shown as an example of MIMO antenna configuration in the first radar unit 10 and the second radar unit 10 satisfying configuration condition B.

[0406] exist Fig. 9In FIG. 1 , the minimum antenna spacing MinAS(Tx(1)) of the transmitting antenna of the first radar unit 10 is the spacing between Tx(1)#1 and Tx(1)#2, which is 0.5 wavelength (=0.5λ). Fig. 9 In the example, the minimum antenna spacing MinAS(Rx(2)) of the receiving antenna of the second radar unit 10 is the spacing between Rx(2)#1 and Rx(2)#2, which is 0.5 wavelength (=0.5λ). Therefore, MinAS(Tx(1))<λ, MinAS(Rx(2))<λ. In addition, Fig. 9 For example, the minimum antenna spacing MinAS(Rx(1)) in the receiving antenna of the first radar unit 10 is the spacing between Rx(1)#1 and Rx(1)#2, which is 0.5 wavelength (0.5λ). Fig. 9 In the example, the minimum antenna spacing MinAS(Tx(2)) in the transmitting antenna of the second radar unit 10 is the spacing between Tx(2)#1 and Tx(2)#2, which is 0.5 wavelength (0.5λ). Therefore, MinAS(Rx(1))<λ, MinAS(Tx(2))<λ. Based on the above, Fig. 9 The MIMO antenna configuration shown satisfies configuration condition B-1.

[0407] In addition, the receiving antenna spacing of the first radar unit 10 includes a spacing larger than the aperture length ApTx(1) (=1.5λ) of the transmitting antenna of the first radar unit 10 (for example, the spacing 2λ between Rx(1)#2 and Rx(1)#3), and the receiving antenna spacing of the second radar unit 10 includes a spacing larger than the aperture length ApTx(2) (=1.5λ) of the transmitting antenna of the second radar unit 10 (the spacing 2λ between Rx(2)#2 and Rx(2)#3). Based on the above, Fig. 9 The MIMO antenna configuration shown satisfies configuration condition B-2.

[0408] Fig. 9 The MIMO antenna configuration shown is a configuration that satisfies configuration condition B.

[0409] For example, according to the MIMO antenna configuration in the first radar unit 10 and the second radar unit 10, the configuration VA of the virtual receiving antenna (or MIMO virtual antenna) under the MNS structure is formed. MN(1) #1~VA MN(1) #9 and VA MN(2) #1~VA MN(2) #9.

[0410] In addition, the configuration VA of the virtual receiving antenna (or MIMO virtual antenna) for the distant target in the BMS structure in the qth radar unit 10 is constituted. BM(q) #1~VABM(q) #9. q=1, 2.

[0411] according to Fig. 9 The MNS structure composed of the MIMO antenna configuration shown in the figure has the same configuration as the virtual receiving antenna in the BMS structure, for example, Fig.10 Configuration shown.

[0412] For example, the first angle measuring unit 212 of the qth radar unit 10 uses Fig.10 The direction vector generated by the arrangement of the MIMO virtual receiving antennas shown is subjected to angle measurement processing as the direction vector of the qth virtual receiving antenna in the MNS structure.

[0413] For example, the second angle measuring unit 212 of the qth radar unit 10 uses a transmission antenna configuration (for example, Fig. 9 The vector generated by the configuration of the transmitting antenna is used as the transmitting array direction vector a Tx(qe) (θ u ), and performs angle measurement processing of the transmission azimuth direction (DOD). In addition, the second angle measurement unit 212 uses the receiving antenna configuration in the q-th radar unit 10 (for example, Fig. 9 The vector generated by the configuration of the receiving antenna is used as the receiving array direction vector a Rx(q) (θ u ) to perform angle measurement processing of the receiving azimuth direction (DOA).

[0414] In addition, the second angle measuring unit 212 uses Fig.10 The direction vector generated by the configuration of the MIMO virtual receiving antenna is used as the direction vector of the qth virtual receiving antenna in the BMS structure and angle measurement processing is performed.

[0415] [MIMO Antenna Configuration C]

[0416] The MIMO antenna arrangement in the first radar unit 10 and the second radar unit 10 satisfies, for example, the following arrangement condition C.

[0417] <Configuration Condition C>

[0418] C-1)

[0419] The minimum antenna spacing MinAS(Tx(1)) among the antenna spacings of the plurality of transmitting antennas 103 of the first radar unit 10 and the minimum antenna spacing MinAS(Rx(2)) among the antenna spacings of the plurality of receiving antennas 202 of the second radar unit 10 are equal to or greater than one wavelength and are different from each other (not in an integer multiple relationship). For example, MinAS(Tx(1))≧λ, MinAS(Rx(2))≧λ, MinAS(Tx(1))≠MinAS(Rx(2)).

[0420] Furthermore, the minimum antenna spacing MinAS(Rx(1)) among the antenna spacings of the plurality of receiving antennas 202 of the first radar unit 10 and the minimum antenna spacing MinAS(Tx(2)) among the antenna spacings of the plurality of transmitting antennas 103 of the second radar unit 10 are equal to or longer than one wavelength and are different from each other (not in an integer multiple relationship), and at least one of the minimum antenna spacings of the transmitting antennas or the minimum antenna spacings of the receiving antennas is different between the radar units 10. For example, MinAS(Rx(1))≧λ, MinAS(Tx(2))≧λ, and at least one of MinAS(Rx(1))≠MinAS(Rx(2)) and MinAS(Tx(1))≠MinAS(Tx(2)) is satisfied.

[0421] C-2)

[0422] The transmission antenna spacing and the reception antenna spacing of the first radar unit 10 include the absolute value SD of the difference between the transmission antenna spacing and the reception antenna spacing of the first radar unit 10. MN1 is a distance not less than 0.5 wavelengths and not more than 0.8 wavelengths, and the absolute value SD of the difference between the transmission antenna distance and the reception antenna distance of the second radar unit 10 is included in the transmission antenna distance and the reception antenna distance of the second radar unit 10 MN2 The interval is greater than or equal to 0.5 wavelength and less than or equal to 0.8 wavelength.

[0423] C-3)

[0424] The transmission antenna spacing of the first radar unit 10 and the reception antenna spacing of the second radar unit 10 include the absolute value SD of the difference between the transmission antenna spacing of the first radar unit 10 and the reception antenna spacing of the second radar unit 10. BM12 is a distance not less than 0.5 wavelengths and not more than 0.8 wavelengths, and the transmission antenna distance of the second radar unit 10 and the reception antenna distance of the first radar unit 10 include the absolute value SD of the difference between the transmission antenna distance of the second radar unit 10 and the reception antenna distance of the first radar unit 10 BM21 The interval is greater than or equal to 0.5 wavelength and less than or equal to 0.8 wavelength.

[0425] Here, when the radar device 1 locates the nearby target object, it selects and determines the DOD / DOA on the ellipse (for example, the ellipse with the transmission antenna positions of the first transmission antennas Tx(1)#1 and Tx(2)#1 as the focus) from the combination of peak directions on DOD / DOA (for example, the peak direction including the grating) that satisfies the target object distance. In this case, for example, the DOD or DOA of the target object indirect wave may coincide with the grating direction caused by the transmission antenna interval of the first radar unit 10 or the reception antenna interval of the second radar unit 10. Even in this case, by satisfying the configuration condition C-1, the transmission antenna interval of the second radar unit 10 or the reception antenna interval of the first radar unit 10 is different from the transmission antenna interval of the first radar unit 10 and the reception antenna interval of the second radar unit 10, so the DOD or DOA of the target object indirect wave does not coincide with the grating direction of the transmission antenna interval of the second radar unit 10 or the reception antenna interval of the first radar unit 10. Thus, when locating nearby target objects under the BMS structure in the first radar unit 10 or the second radar unit 10 , the target object indirect wave can be detected by the subsequent integrated unit 30 and removed.

[0426] For example, the integrated unit 30 determines whether the first reflected wave signal and the second reflected wave signal are direct waves from the target object (or which one is the target object direct wave and the target object indirect wave) based on the comparison between the positioning result (e.g., DOD and DOA) using the reflected wave signal (e.g., the first reflected wave signal) corresponding to the transmission signal transmitted from the second radar unit 10 and received by the first radar unit 10 and the positioning result (e.g., DOD and DOA) using the reflected wave signal (e.g., the second reflected wave signal) corresponding to the transmission signal transmitted from the first radar unit 10 and received by the second radar unit 10. As described above, since the antenna configuration between the first radar unit 10 and the second radar unit 10 is asymmetric, the grating direction for the transmission signal transmitted from the first radar unit 10 to the second radar unit 10 constituting the BMS and the grating direction for the transmission signal transmitted from the second radar unit 10 constituting the BMS to the first radar unit 10 are different, and therefore, the radar device 1 can detect the target object indirect wave based on the comparison of the positioning results in each BMS structure, and can remove the target object indirect wave.

[0427] It should be noted that the configuration condition C-1 is a condition that the MIMO antenna configurations in the first radar unit 10 and the second radar unit 10 are not configured in the same way (or a condition that the BMS structure is asymmetric). For example, when the number of transmitting antennas and the number of receiving antennas are small (for example, when the number of transmitting antennas and the number of receiving antennas are below a threshold), the degree of freedom of antenna configuration between radars of the BMS structure can be increased. As a result, compared with the case where the MIMO antenna configurations in the first radar unit 10 and the second radar unit 10 are configured in the same way, the antenna aperture length can be further expanded, and the object angle measurement accuracy and angle measurement resolution when locating nearby objects under the BMS structure can be improved.

[0428] In addition, by satisfying configuration condition C-2, since the virtual receiving antenna interval includes the absolute value of the difference between the transmitting antenna interval and the receiving antenna interval, according to formula (23), the virtual receiving antenna interval includes an interval of 0.5 to 0.8 wavelengths. Therefore, the aperture length of the virtual receiving array under the MNS structure can be expanded, and the grating lobe can also be suppressed, thereby improving the object angle measurement accuracy and angle measurement resolution under the MNS structure.

[0429] In addition, similarly, by satisfying configuration condition C-3, according to formula (24), the virtual receiving antenna spacing during distant target object measurement under the BMS structure includes an interval of 0.5 to 0.8 wavelengths. Therefore, the aperture length of the virtual receiving array under the BMS structure can be expanded, and the grating lobes can also be suppressed, thereby improving the target object angle measurement accuracy and angle measurement resolution under the BMS structure.

[0430] It should be noted that, for example, SD can be set according to the viewing angle of the radar device 1. MN1 , SD MN2 , SD BM12 and SD BM21 , which can suppress grating lobes within the viewing angle. For example, when the transmitting and receiving antennas are arranged in the horizontal direction, the SD MN1 , SD MN2 , SD BM12 and SD BM21 Alternatively, when the horizontal viewing angle is a narrow viewing angle ranging from ±20 degrees to ±40 degrees, a larger interval such as SD MN1 , SD MN2 , SD BM12 and SD BM21 They may also be set to about 0.7λ. Here, λ represents the wavelength of the carrier frequency of the radar transmission signal. For example, when a chirp signal is used as the radar transmission signal, λ is the wavelength of the center frequency in the frequency sweep band of the chirp signal.

[0431] the following, Fig.11 , a configuration example in which the number of transmitting antennas Nt(1)=Nt(2)=2 and the number of receiving antennas Na(1)=Na(2)=3 is shown as an example of MIMO antenna configuration in the first radar unit 10 and the second radar unit 10 satisfying configuration condition C.

[0432] exist Fig.11 , the minimum antenna spacing between the transmitting and receiving antennas of the first radar unit 10 is MinAS(Tx(1))=λ, MinAS(Rx(1))=1.6λ, and the minimum antenna spacing between the transmitting and receiving antennas of the second radar unit 10 is MinAS(Tx(2))=2.1λ, MinAS(Rx(2))=1.6λ. Therefore, since MinAS(Tx(1))≠MinAS(Tx(2)), the configuration condition C-1 is satisfied.

[0433] In addition, the absolute value SD of the difference between the transmission antenna interval and the reception antenna interval in the first radar unit 10 is MN1 = 0.6λ, the absolute value SD of the difference between the transmission antenna spacing and the reception antenna spacing in the second radar unit 10 is MN2 The wavelength is 0.5λ, and includes intervals where the difference value is greater than or equal to 0.5 wavelengths and less than or equal to 0.8 wavelengths. Therefore, arrangement condition C-2 is satisfied.

[0434] In addition, the absolute value SD of the difference between the transmission antenna spacing of the first radar unit 10 and the reception antenna spacing of the second radar unit 10 is BM12 is 0.6λ, and the absolute value SD of the difference between the transmission antenna spacing of the second radar unit 10 and the reception antenna spacing of the first radar unit 10 BM21 It is 0.5λ, and includes intervals where the difference values ​​are all greater than or equal to 0.5 and less than or equal to 0.8 wavelengths, and therefore, arrangement condition C-3 is satisfied.

[0435] Fig.11 The MIMO antenna configuration shown is a configuration that satisfies configuration condition C.

[0436] For example, according to the MIMO antenna configuration in the first radar unit 10 and the second radar unit 10, the configuration VA of the virtual receiving antenna (or MIMO virtual antenna) under the MNS structure is formed. MN(q) #1~VA MN(q) #6.

[0437] In addition, the configuration VA of the virtual receiving antenna (or MIMO virtual antenna) for the distant target in the BMS structure in the qth radar unit 10 is constituted. BM(q) #1~VA BM(q) #6. q=1 or 2.

[0438] Fig.12 (a) Fig.12 (b) indicates that according to Fig.11 An example of configuring virtual receiving antennas in an MNS structure and a BMS structure composed of a MIMO antenna configuration.

[0439] For example, the first angle measuring unit 212 of the qth radar unit 10 uses, for example, Fig.12 The direction vector generated by the arrangement of the MIMO virtual receiving antennas shown in (a) is used as the direction vector of the qth virtual receiving antenna in the MNS structure and the angle measurement process is performed.

[0440] For example, the second angle measuring unit 212 of the qth radar unit 10 uses a transmission antenna configuration (for example, Fig.11 The vector generated by the configuration of the transmitting antenna is used as the transmitting array direction vector a Tx(qe) (θ u ), and performs angle measurement processing of the transmission azimuth direction (DOD). In addition, the second angle measurement unit 212 uses the receiving antenna configuration in the q-th radar unit 10 (for example, Fig.11 The vector generated by the configuration of the receiving antenna is used as the receiving array direction vector a Rx(q) (θ u ) to perform angle measurement processing of the receiving azimuth direction (DOA).

[0441] In addition, the second angle measuring unit 212 can use Fig.12 The direction vector generated by the arrangement of the MIMO virtual receiving antennas shown in (b) is used as the direction vector of the qth virtual receiving antenna in the BMS structure and angle measurement processing is performed.

[0442] In the above, an example of arrangement of MIMO antennas has been described.

[0443] As described above, in this embodiment, the radar device 1 can remove the target indirect wave of the nearby target in the BMS structure, and can improve the angle measurement performance of the MNS structure and the BMS structure. Therefore, according to this embodiment, the radar device 1 can efficiently detect the target object.

[0444] (Transformation 1)

[0445] The MIMO antenna configuration may be a configuration in which the following condition A-4 is further added to the configuration condition A described above.

[0446] A-4)

[0447] The antenna spacing among the plurality of transmitting antennas 103 of the second radar unit 10 and the antenna spacing among the plurality of receiving antennas 202 of the first radar unit 10 include the absolute value SD of the difference between the transmitting antenna spacing of the second radar unit 10 and the receiving antenna spacing of the first radar unit 10. BM21 The interval is greater than or equal to 0.5 wavelength and less than or equal to 0.8 wavelength.

[0448] By satisfying configuration condition A-4, according to formula (24), the virtual receiving antenna spacing during distant target object measurement under the BMS structure includes an interval of 0.5 to 0.8 wavelengths. Therefore, the aperture length of the virtual receiving array under the BMS structure can be expanded, and the grating lobes can be suppressed, thereby improving the target object angle measurement accuracy and angle measurement resolution under the BMS structure.

[0449] the following, Fig.13 , a configuration example is shown in the figure where the number of transmitting antennas Nt(1)=Nt(2)=2 and the number of receiving antennas Na(1)=Na(2)=3, as an example of the MIMO antenna configuration in the first radar unit 10 and the second radar unit 10 satisfying the configuration conditions A-1 to A-4.

[0450] Fig.13 is with Figure 7 The configuration is similar to the MIMO antenna configuration example shown in FIG. 1 , except that the interval between the receiving antennas Rx(1)#1 and Rx(1)#2 of the first radar unit 10 is changed from λ to 1.5λ. Figure 7 Same configuration. Fig.13 The MIMO antenna configuration shown is with Figure 7 The configurations that satisfy configuration conditions A-1, A-2, and A-3 are also the same. Fig.13 As shown, the interval between Rx(1)#1 and Rx(1)#2 is 1.5λ, and the interval between Tx(2)#1 and Tx(2)#2 is 2λ. Therefore, the absolute value SD of the difference between these intervals is BM21 The wavelength becomes 0.5, which is a configuration that satisfies configuration condition A-4.

[0451] Fig.14 (a) Fig.14 (b) indicates that according to Fig.13 The MIMO antenna arrangement shown is an example of arrangement of virtual receiving antennas of the MNS structure and the BMS structure in each radar unit 10.

[0452] For example, according to Fig.13 The MIMO antenna configuration in the first radar unit 10 and the second radar unit 10 is shown as follows. Fig.14 As shown in (a), the configuration VA of the virtual receiving antenna (or MIMO virtual antenna) under the MNS structure MN(1)#1~VA MN(1) #6 and VA MN(2) #1~VA MN(2) #6.

[0453] In addition, if Fig.14 As shown in (b), the configuration VA of the virtual receiving antenna (or MIMO virtual antenna) for the distant target under the BMS structure BM(q) #1~VA BM(q) #6. q=1, 2.

[0454] For example, in Figure 8 Configuration VA of the virtual receiving antenna for the distant target in the BMS structure in the first radar unit 10 shown in (b) BM(1) #1~VA BM(1) In #6, there is no interval narrower than 1 wavelength, which makes it difficult to suppress grating lobes. On the other hand, according to the configuration condition A-4, Fig.13 The MIMO antenna configuration shown, Fig.14 Configuration VA of the virtual receiving antenna for the distant target in the BMS structure in the first radar unit 10 shown in (b) BM(1) #1~VA BM(1) #6 contains a 0.5 wavelength interval narrower than 1 wavelength, and the aperture of the virtual receiving antenna is from Figure 8 By satisfying configuration condition A-4, the aperture length of the virtual receiving array under the BMS structure can be enlarged, and the grating lobe can be suppressed, thereby improving the angle measurement accuracy and angle measurement resolution of the target object under the BMS structure.

[0455] (Transformation 2)

[0456] The MIMO antenna configuration may be a configuration in which the following condition B-3 is further added to the configuration condition B described above.

[0457] B-3)

[0458] The transmission antenna spacing of the second radar unit 10 and the reception antenna spacing of the first radar unit 10 include the absolute value SD of the difference between the transmission antenna spacing of the second radar unit 10 and the reception antenna spacing of the first radar unit 10. BM21 Reach an interval of 0.5 to 0.8 wavelengths.

[0459] By satisfying configuration condition B-3, according to formula (24), the virtual receiving antenna spacing during distant target object measurement under the BMS structure includes an interval of 0.5 to 0.8 wavelengths. Therefore, the aperture length of the virtual receiving array under the BMS structure can be expanded, and the grating lobes can be suppressed, thereby improving the target object angle measurement accuracy and angle measurement resolution under the BMS structure.

[0460] (Transformation 3)

[0461] In the arrangement example satisfying the arrangement conditions A, B, and C, an arrangement in one-dimensional direction (for example, horizontal direction) is shown, and an example in which the angle measuring unit 212 measures the angle in the azimuth direction is described, but the present invention is not limited to this.

[0462] For example, each arrangement example may be an arrangement in the vertical direction. In this case, the angle measuring unit 212 may measure the angle in the elevation direction.

[0463] In addition, for example, the following two-dimensional configuration conditions (Ya, Yb or Yc) may be added to each configuration condition A, B, C, and the MIMO antenna may be configured two-dimensionally (for example, along the horizontal direction and the vertical direction). By configuring the two-dimensional MIMO antenna, the angle measuring unit 212 can perform angle measurement in the elevation direction in addition to the azimuth direction. Thus, the radar device 1 can detect the three-dimensional coordinates of the target object. Here, Y may be any one of A, B and C.

[0464] In addition, for example, a MIMO antenna configuration that satisfies configuration condition X and the two-dimensional configuration condition (Ya, Yb, or Yc) described below has the effect obtained by the configuration that satisfies configuration condition X, and when positioning nearby objects under the BMS structure, has a grating suppression effect in a direction different from the configuration direction that satisfies configuration condition X (for example, an orthogonal direction).

[0465] In the following arrangement conditions, X and Y are each one of arrangement conditions A, B, and C, and X and Y may be different combinations.

[0466] <Two-dimensional arrangement condition X-Ya>

[0467] In addition to satisfying the one-dimensional direction (for example, the horizontal direction) of the arrangement condition X, the arrangement condition Y-1 is also satisfied in the orthogonal direction (for example, the vertical direction).

[0468] <Two-dimensional arrangement condition X-Yb>

[0469] In addition to satisfying the one-dimensional direction (for example, the horizontal direction) of the arrangement condition X, arrangement conditions Y-1 and Y-2 are also satisfied in the orthogonal direction (for example, the vertical direction).

[0470] <Two-dimensional arrangement condition X-Yc>

[0471] In addition to satisfying the one-dimensional direction (e.g., horizontal direction) of configuration condition X, configuration conditions Y-1, Y-2, and Y-3 are also satisfied in the orthogonal direction (e.g., vertical direction) (but excluding the case where Y is configuration condition B).

[0472] For example, when the configuration direction satisfying the configuration condition X is the horizontal direction, there is a grating suppression effect in the direction (for example, a direction orthogonal to the horizontal direction) of the MIMO antenna configuration satisfying the two-dimensional configuration condition (Ya, Yb or Yc).

[0473] In addition, when the target object distance is satisfied and there is no intersection of two straight lines based on the two-dimensional DOD and the two-dimensional DOA on the ellipsoid with the transmitting antenna positions of the first radar unit 10 and the second radar unit 10 (for example, the transmitting antenna positions of the first transmitting antenna Tx(1)#1 and Tx(2)#1) as the focus, the radar device 1 can determine that the corresponding reflected wave is an indirect wave of the target object and will not output an erroneous positioning result. Therefore, the indirect wave of the target object can be removed.

[0474] In addition, the MIMO antenna configuration that satisfies the configuration condition X and the two-dimensional configuration condition (Yb or Yc), together with the effect obtained by the configuration that satisfies the configuration condition X, can expand the aperture length of the virtual receiving array under the MNS structure in a direction different from the configuration direction that satisfies the configuration condition X (for example, an orthogonal direction), thereby improving the object angle measurement accuracy and angle measurement resolution under the MNS structure. In addition, for example, the MIMO antenna configuration that satisfies the two-dimensional configuration condition (Yc) also has the effect of expanding the aperture length of the virtual receiving array when locating a distant object for angle measurement under the BMS structure, thereby improving the object angle measurement accuracy and angle measurement resolution when locating a distant object under the BMS structure.

[0475] It should be noted that each configuration condition is also established even if the first radar unit 10 and the second radar unit 10 are replaced (exchanged) by the second radar unit 10 and the first radar unit 10, respectively. In addition, even if the first radar unit 10 and the second radar unit 10 in the configuration condition X are replaced (exchanged) by the second radar unit 10 and the first radar unit 10, respectively, the configuration condition Y is also established.

[0476] An example of MIMO antenna arrangement that satisfies the two-dimensional arrangement condition is shown below.

[0477] For example, based on the position of the transmitting antenna (e.g., the position of the power supply point) and the position of the receiving antenna (e.g., the position of the power supply point) in the MNS structure, the configuration of the virtual receiving antenna in the qth radar unit 10 under the MNS structure can be expressed using equation (23) (figure omitted). Similarly, based on the position of the transmitting antenna (e.g., the position of the power supply point) and the position of the receiving antenna (e.g., the position of the power supply point) in the BMS structure, the configuration of the virtual receiving antenna for the distant target in the qth radar unit 10 under the BMS structure can be expressed using equation (24) (figure omitted).

[0478] Fig.15An example of a configuration is shown in FIG. 1 in which for the horizontal direction (eg, Fig.15 A MIMO antenna configuration satisfying configuration condition A in the horizontal direction (for example, Figure 7 configuration shown), along the vertical direction (e.g., Fig.15 In the longitudinal direction, the MIMO antennas in the first radar unit 10 and the second radar unit 10 are added to meet the two-dimensional configuration condition A-Ac. Fig.15 In the example, the number of transmitting antennas Nt(1)=Nt(2)=4, and the number of receiving antennas Na(1)=Na(2)=4.

[0479] The following, Fig.15 The newly added configuration section along the vertical direction is explained in.

[0480] Minimum antenna spacing MinAS in the vertical direction of the transmission antenna of the first radar unit 10 V (Tx(1)) is the interval between Tx(1)#1 and Tx(1)#3, which is 0.5 wavelength (=0.5λ=Da), and the minimum antenna interval MinAS in the vertical direction of the receiving antenna of the second radar unit 10 is V (Rx(2)) is the interval between Rx(2)#3 and Rx(2)#4, which is 0.5 wavelength (=0.5λ=Da). Thus, MinAS is satisfied. V (Tx(1))<λ,MinAS V (Rx(2))<λ.

[0481] In addition, the minimum antenna spacing MinAS in the vertical direction of the receiving antenna of the first radar unit 10 is V (Rx(1)) is, for example, the interval between Rx(1)#3 and Rx(1)#4, which is 2 wavelengths (2λ), and the minimum antenna interval MinAS in the vertical direction of the transmitting antenna of the second radar unit 10 V (Tx(2)) is, for example, the interval between Tx(2)#1 and Tx(2)#3, which is 1 wavelength (λ). V (Rx(1))>Da,MinAS V (Tx(2))>Da.

[0482] According to the above content, Fig.15 In the MIMO antenna configuration shown, the configuration portion in the vertical direction satisfies the configuration condition A-1.

[0483] In addition, the vertical receiving antenna spacing of the first radar unit 10 includes a spacing larger than the aperture length ApTxV(1) (=1.5λ) of the vertical transmitting antenna of the first radar unit 10 (for example, the spacing 2λ between Rx(1)#3 and Rx(1)#4). In addition, the vertical transmitting antenna spacing of the second radar unit 10 includes a spacing larger than the aperture length ApRxV(2) (=0.5λ) of the vertical receiving antenna of the second radar unit 10 (for example, the spacing λ between Tx(2)#1 and Tx(2)#3). Based on the above, Fig.15 In the MIMO antenna configuration shown, the configuration portion in the vertical direction satisfies configuration condition A-2.

[0484] In addition, the vertical transmission antenna spacing of the first radar unit 10 includes a spacing (the spacing λ between Tx(1)#3 and Tx(1)#4) that is larger than the aperture length ApRxV(2) (=0.5λ) of the vertical reception antenna of the second radar unit 10. Fig.15 In the MIMO antenna configuration shown, the configuration portion in the vertical direction satisfies configuration condition A-3.

[0485] Fig.15 The MIMO antenna configuration shown satisfies the two-dimensional configuration condition A-Ac. According to this configuration, the above-mentioned effects can be obtained.

[0486] It should be noted that although Fig.15 , a configuration example in which one column in the vertical direction satisfies the two-dimensional configuration condition A-Ac is shown, but it is not limited to this. For example, Fig.16 As shown, multiple columns in the vertical direction may be arranged to satisfy the two-dimensional arrangement condition A-Ac.

[0487] In addition, Fig.15 and Fig.16 The non-limiting embodiments of the present disclosure can also be applied to other two-dimensional configuration conditions as shown in the two-dimensional configuration conditions A-Ac.

[0488] Fig.17 An example of a configuration is shown in FIG. 1 in which for the horizontal direction (eg, Fig.17 A MIMO antenna configuration satisfying configuration condition A in the horizontal direction (for example, Figure 7 configuration shown), along the vertical direction (e.g., Fig.17 In the longitudinal direction, the MIMO antennas in the first radar unit 10 and the second radar unit 10 are added to meet the two-dimensional configuration conditions A-Ab. Fig.17 In the example, the number of transmitting antennas Nt(1)=Nt(2)=3, and the number of receiving antennas Na(1)=Na(2)=4.

[0489] The following, Fig.17 The newly added configuration section along the vertical direction is explained in.

[0490] Minimum antenna spacing MinAS in the vertical direction of the transmission antenna of the second radar unit 10 V (Tx(2)) is the interval between Tx(2)#1 and Tx(2)#3, which is 0.5 wavelength (=Da), and the minimum antenna interval MinAS in the vertical direction of the receiving antenna of the first radar unit 10 is V (Rx(1)) is the interval between Rx(1)#3 and Rx(2)#4, which is 0.5 wavelength (=Da). Thus, MinAS is satisfied. V (Tx(2))<λ,MinAS V (Rx(1))<λ.

[0491] In addition, the minimum antenna spacing MinAS in the vertical direction of the receiving antenna of the second radar unit 10 is V (Rx(2)) is, for example, the interval between Rx(2)#3 and Rx(2)#4, which is 1 wavelength (λ), and the minimum antenna interval MinAS in the vertical direction of the receiving antenna of the first radar unit 10 V (Tx(1)) is, for example, the interval between Tx(1)#1 and Tx(1)#3, which is 1.5 wavelengths (1.5λ). V (Rx(2))>Da,MinAS V (Tx(1))>Da.

[0492] According to the above content, Fig.17 In the MIMO antenna configuration shown, the configuration portion in the vertical direction satisfies the configuration condition A-1.

[0493] In addition, the vertical receiving antenna spacing of the second radar unit 10 includes a spacing larger than the aperture length ApTxV(2) (=0.5λ) of the vertical transmitting antenna of the second radar unit 10 (for example, the spacing λ between Rx(2)#3 and Rx(2)#4), and the vertical transmitting antenna spacing of the first radar unit 10 includes a spacing larger than the aperture length ApRxV(1) (=0.5λ) of the vertical receiving antenna of the first radar unit 10 (the spacing 1.5λ between Tx(2)#1 and Tx(2)#3). Based on the above, Fig.17 In the MIMO antenna configuration shown, the configuration portion in the vertical direction satisfies configuration condition A-2.

[0494] In addition, the vertical transmission antenna spacing of the second radar unit 10 does not include a spacing larger than the aperture length ApRxV(1) (=0.5λ) of the vertical reception antenna of the first radar unit 10. In addition, the vertical reception antenna spacing of the first radar unit 10 does not include a spacing larger than the aperture length ApTxV(2) (=0.5λ) of the vertical transmission antenna of the second radar unit 10. Based on the above, Fig.17 In the MIMO antenna configuration shown, the configuration portion in the vertical direction does not satisfy the configuration condition A-3.

[0495] Fig.17 The MIMO antenna configuration shown satisfies the two-dimensional configuration conditions A-Ab. According to this configuration, the effects produced by the above-mentioned two-dimensional configuration conditions A-Ab can be obtained.

[0496] In addition, although Figure 15 to Figure 17 The following situation is described in Figure 7 In the MIMO antenna configuration shown, the MIMO antennas newly added along the vertical direction are configured in a manner that their horizontal positions are consistent (in a manner that they are arranged along the vertical direction), but this is not limited to this. The MIMO antennas can also be configured in a manner that their horizontal positions are different (for example, along an upward or downward direction).

[0497] For example, Fig.18 An example of the following configuration is shown in Fig.17 The horizontal positions of the newly added MIMO antennas in the vertical direction are shifted in different ways. Fig.18 In the figure, the configuration of Tx(1)#3 is offset by 1.5λ relative to the horizontal position of Tx(1)#1, and the configuration of Rx(1)#4 is offset by 0.5λ relative to the horizontal position of Rx(1)#3. In addition, the configuration of Tx(2)#3 is offset by 0.5λ relative to the horizontal position of Tx(2)#1, and the configuration of Rx(2)#4 is offset by λ relative to the horizontal position of Rx(2)#3.

[0498] Fig.18 The vertical configuration relationship of the MIMO antenna configuration shown is also consistent with Fig.17 Similarly, the above-mentioned effects can be obtained by satisfying the two-dimensional configuration conditions A-Ab. In addition, similarly, the non-limiting embodiments of the present disclosure can also be applied to other two-dimensional configuration conditions.

[0499] Fig.19 The following configuration example is shown in Fig. 9The MIMO antenna configuration shown in FIG. 1 adds a MIMO antenna in the qth radar unit 10 along the vertical direction to meet the two-dimensional configuration condition B-Bb. Fig.19 In the example, the number of transmitting antennas Nt(1)=Nt(2)=5, and the number of receiving antennas Na(1)=Na(2)=5. It should be noted that the MIMO antenna configurations of the first radar unit 10 and the second radar unit 10 are the same. Fig.19 In the case of the first radar unit 10 , q=1, and in the case of the second radar unit 10 , q=2.

[0500] The following, Fig.19 The newly added configuration section along the vertical direction is explained in.

[0501] exist Fig.19 The minimum antenna spacing MinAS in the vertical direction of the transmitting antenna of the first radar unit 10 is V (Tx(1)) is the interval between Tx(1)#1 and Tx(1)#4, which is 0.5 wavelength (=0.5λ), and the minimum antenna interval MinAS in the vertical direction of the receiving antenna of the second radar unit 10 is V (Rx(2)) is the interval between Rx(2)#3 and Rx(2)#4, which is 0.5 wavelength (=0.5λ). Thus, MinAS is satisfied. V (Tx(1))<λ,MinAS V (Rx(2))<λ.

[0502] In addition, the minimum antenna spacing MinAS in the vertical direction of the receiving antenna of the first radar unit 10 is V (Rx(1)) is, for example, the interval between Rx(1)#3 and Rx(1)#4, which is 0.5 wavelength (0.5λ), and the minimum antenna interval MinAS in the vertical direction of the transmitting antenna of the second radar unit 10 V (Tx(2)) is, for example, the interval between Tx(2)#1 and Tx(2)#4, which is 0.5 wavelength (0.5

[0503] λ). Therefore, MinAS V (Rx(1))<λ,MinAS V (Tx(2))<λ.

[0504] According to the above content, Fig.19 In the MIMO antenna configuration shown, the configuration portion in the vertical direction satisfies the configuration condition B-1.

[0505] In addition, the vertical receiving antenna spacing of the qth radar unit 10 includes a spacing larger than the aperture length ApTxV(q) (=1.5λ) of the transmitting antenna of the qth radar unit 10 (for example, the spacing 2λ between Rx(q)#4 and Rx(q)#5) (where q=0 and 1). Fig.19 In the MIMO antenna configuration shown, the configuration portion in the vertical direction satisfies the configuration condition B-2.

[0506] According to the above content, Fig.19 In the MIMO antenna configuration shown, the configuration portion in the vertical direction meets configuration condition B. Fig.19 The MIMO antenna configuration shown satisfies the two-dimensional configuration condition B-Bc. According to this configuration, the effects produced by the above-mentioned two-dimensional configuration condition B-Bc can be obtained.

[0507] Fig. 20 The following configuration example is shown in Fig.11 The MIMO antenna configuration shown in FIG. 1 adds a MIMO antenna in the qth radar unit 10 along the vertical direction to satisfy the two-dimensional configuration condition C-Cc. Fig. 20 , the number of transmitting antennas Nt(1)=Nt(2)=3, and the number of receiving antennas Na(1)=Na(2)=4.

[0508] The following, Fig. 20 The newly added configuration section along the vertical direction is explained in.

[0509] exist Fig. 20 The minimum antenna spacing MinAS in the vertical direction of the transmitting and receiving antennas of the first radar unit 10 is V (Tx(1))=1.6λ,MinAS V (Rx(1))=λ, the minimum antenna spacing MinAS in the vertical direction of the transmitting and receiving antennas of the second radar unit 10 V (Tx(2))=1.6λ,MinAS V (Rx(2)) = 2.1λ. Therefore, because MinAS V (Rx(1))≠MinAS V (Rx(2)), so the configuration condition C-1 is satisfied.

[0510] The transmission and reception antenna spacings of the first radar unit 10 and the second radar unit 10 include a spacing in which the absolute value SD of the difference between the transmission antenna spacing and the reception antenna spacing in the vertical direction of the first radar unit 10 is MN1 is 0.6λ, and the absolute value SD of the difference between the vertical transmission antenna spacing and the receiving antenna spacing of the second radar unit 10 is MN2is 0.5λ, and the difference reaches 0.5 to 0.8 wavelengths, thus satisfying the configuration condition C-2.

[0511] In addition, the interval including the absolute value SD of the difference between the vertical transmission antenna interval of the first radar unit 10 and the vertical reception antenna interval of the second radar unit 10 is BM12 is 0.5λ, and the absolute value SD of the difference between the vertical transmission antenna spacing of the second radar unit 10 and the vertical reception antenna spacing of the first radar unit 10 is BM21 is 0.6λ, both reaching 0.5 to 0.8 wavelengths, thus satisfying the configuration condition C-3.

[0512] According to the above content, Fig. 20 In the MIMO antenna configuration shown, the configuration portion in the vertical direction satisfies configuration condition C. Fig. 20 The MIMO antenna configuration shown satisfies the two-dimensional configuration condition C-Cc. According to this configuration, the effect produced by the above-mentioned two-dimensional configuration condition C-Cc can be obtained.

[0513] It should be noted that although Fig. 20 The example of a configuration in which one column in the vertical direction satisfies the two-dimensional configuration condition C-Cc is described in FIG. 1 , but the present invention is not limited thereto. Fig.21 As shown, multiple columns in the vertical direction may be arranged to satisfy the two-dimensional arrangement condition C-Cc.

[0514] In addition, although Fig. 20 and Fig.21 The following example is shown, namely, an example of configuring in a manner that the horizontal positions of MIMO antennas configured (or newly added) along the vertical direction are consistent (arranged along the vertical direction), but it is not limited to this. The MIMO antennas can also be configured in a manner that the horizontal positions are different (for example, along an upward oblique direction or a downward oblique direction).

[0515] (Transformation 4)

[0516] Although the BMS structure using the first radar unit 10 and the second radar unit 10 (for example, two radar units 10) is described in the above embodiment, the number of radar units 10 constituting the radar device 1 is not limited to two. For example, a plurality of radar units 10 of three or more may be used in the BMS structure, and the same effect as the above embodiment can be obtained.

[0517] For example, when three radar units 10 (for example, the first radar unit 10 to the third radar unit 10 ) are used and applied to the above-mentioned embodiment, the following operation is performed.

[0518] For example, the control unit 304 outputs a transmission switching control signal to the transmitting unit 100 (SW unit 101) of each radar unit 10 so that the transmission signal sent from the first radar unit 10, the transmission signal sent from the second radar unit 10, and the transmission signal sent from the third radar unit 10 are alternately switched according to the transmission period Tr.

[0519] The receiving unit 200 of each radar unit 10 includes three DA units 209, a CFAR unit 210, and an angle measuring unit 212, which receive reflected wave signals of the transmission signals of each radar unit 10 transmitted in time division, and individually receive and process the reflected waves generated by the transmission signals from each radar unit 10, and output them to the integration unit 30. The operation of each part is the same as that of the above embodiment, and the same effect can be obtained.

[0520] It should be noted that, although the following example is described above, that is, the example of time-division switching and transmitting the transmission signal for two or more radar units 10, the present invention is not limited to this, and the radar device 1 may use other multiplexing transmission methods such as Doppler multiplexing or code division multiplexing to simultaneously multiplex and transmit the transmission signals from the plurality of radar units 10. Alternatively, the radar device 1 may combine a plurality of simultaneous multiplexing transmission methods such as a combination of time division transmission and Doppler multiplexing to transmit the transmission signal from the plurality of radar units 10. For example, the radar device 1 may perform simultaneous multiplexing transmission such as Doppler multiplexing from two of the plurality of radar units 10, and perform time-division switching and transmission on the combination of the simultaneously multiplexed radar units 10, and the configuration of three or more radar units 10 may also obtain the same effect as the non-limiting embodiment of the present disclosure.

[0521] (Transformation 5)

[0522] In addition, the MIMO antenna configuration described in this embodiment can be configured upside down, reversed left to right, or in an oblique direction when mounted on a vehicle, etc., and the same effect as the non-limiting embodiment of the present disclosure can be obtained. In addition, the transmitting antenna and the receiving antenna can be swapped in the MIMO antenna configuration described in this embodiment.

[0523] In the above, one embodiment of the present disclosure has been described.

[0524] [Other embodiments]

[0525] In addition, although the above-mentioned embodiments describe a structure using a chirp signal as TxSig, it may be a signal different from a chirp signal. For example, TxSig may also be a pulse compression wave such as a coded pulse signal. When a coded pulse signal is used as TxSig, the mixer unit 204 of the receiving wireless unit 203 converts the high-frequency received signal into a baseband signal, and a correlator (not shown) that performs correlation with the transmitted coded pulse signal is used instead of the beat analysis unit 208, thereby enabling subsequent processing to be performed in the same manner as the processing of the above-mentioned embodiments, thereby enabling the same effect to be obtained.

[0526] In the radar device of one embodiment of the present disclosure, the transmitting unit and the receiving unit may be separately configured in physically separated places. In addition, in the receiving unit of one embodiment of the present disclosure, the angle measuring unit and other components may be separately configured in physically separated places.

[0527] In addition, in one embodiment of the present disclosure, for example, the number of transmitting antennas, the number of receiving antennas, the number of DDMs, the number of radar units, the DDM interval, and parameters related to the DDM interval (e.g., δ q ), parameters related to the sending cycle (for example, N sw ), the numerical values ​​used for parameters such as antenna spacing and antenna aperture length are just examples and are not limited to these values.

[0528] Although not shown in the figure, the radar device of one embodiment of the present disclosure has, for example, a CPU (Central Processing Unit), a recording medium such as a ROM (Read Only Memory) storing a control program, and a working memory such as a RAM (Random Access Memory). In this case, the functions of the above-mentioned parts are realized by executing the control program by the CPU. However, the hardware structure of the radar device is not limited to this example. For example, each functional part of the radar device can also be realized as an integrated circuit, that is, an IC (Integrated Circuit). Each functional part can be independently monolithic or monolithic in a manner that includes part or all of it.

[0529] Various embodiments have been described above with reference to the accompanying drawings, but the present disclosure is of course not limited to these examples. As long as one is skilled in the art, it is obvious that various variations or modifications can be thought of within the scope described in the claims, and it should be understood that these variations or modifications also belong to the technical scope of the present disclosure. In addition, the constituent elements of the above-mentioned embodiments can be arbitrarily combined within the scope of the disclosure purpose.

[0530] In addition, the expression "...part" in the above-mentioned embodiments may be replaced by other expressions such as "...circuitry", "...component", "...device", "...unit" or "...module".

[0531] In the above-mentioned embodiments, an example in which the present disclosure is configured using hardware has been described. However, the present disclosure may also be implemented by software in cooperation with hardware.

[0532] In addition, each functional block used in the description of the above-mentioned embodiments is typically implemented as an integrated circuit, i.e., LSI (Large Scale Integration). The integrated circuit can also control each functional block used in the description of the above-mentioned embodiments, and includes input terminals and output terminals. These functional blocks can be independently monolithic, or they can be monolithic in a manner that includes part or all of them. It is referred to as "LSI" here, but it can also be referred to as "IC", "system LSI", "super LSI", "ultra LSI" depending on the degree of integration.

[0533] In addition, the method of integrated circuit is not limited to LSI, and it can also be realized by using a dedicated circuit or a general-purpose processor and memory. It can also be realized by using an FPGA (Field Programmable Gate Array) that can be programmed after LSI manufacturing, or a reconfigurable processor that can reconfigure the connection or setting of the circuit blocks inside the LSI.

[0534] In addition, if integrated circuit technology that replaces LSI emerges as semiconductor technology advances or other technologies are derived, it is of course possible to use this technology to achieve integration of functional blocks. There is also the possibility of applying biotechnology, etc.

[0535] <Summary of the present disclosure>

[0536] A radar device according to a non-limiting embodiment of the present disclosure includes: a first radar circuit having a plurality of first transmitting antennas and a plurality of first receiving antennas; and a second radar circuit having a plurality of second transmitting antennas and a plurality of second receiving antennas, wherein the plurality of first transmitting antennas transmit a first transmission signal having a predetermined center frequency, and the plurality of second transmitting antennas transmit a second transmission signal having the predetermined center frequency, the plurality of first receiving antennas receive at least one of a first reflected wave signal corresponding to the first transmission signal and a second reflected wave signal corresponding to the second transmission signal, and the plurality of second receiving antennas receive at least one of the first reflected wave signal and the second reflected wave signal, and the minimum interval among the intervals between the plurality of first transmitting antennas in a first direction and the minimum interval among the intervals between the plurality of second receiving antennas in the first direction are greater than 0.5 wavelengths and less than 1 wavelength of the first transmission signal and the second transmission signal.

[0537] In a non-limiting embodiment of the present disclosure, in the first direction, the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are larger than the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas.

[0538] In a non-limiting embodiment of the present disclosure, the antenna spacing between adjacent antennas among the multiple first receiving antennas in the first direction includes a spacing that is larger than the aperture length of the multiple first transmitting antennas, and the antenna spacing between adjacent antennas among the multiple second transmitting antennas includes a spacing that is larger than the aperture length of the multiple second receiving antennas.

[0539] In a non-limiting embodiment of the present disclosure, the antenna spacing between adjacent antennas among the multiple second receiving antennas in the first direction includes a spacing that is larger than the aperture length of the multiple first transmitting antennas, or the antenna spacing between adjacent antennas among the multiple first transmitting antennas includes a spacing that is larger than the aperture length of the multiple second receiving antennas.

[0540] In a non-limiting embodiment of the present disclosure, the interval between adjacent antennas among the multiple second transmitting antennas in the first direction, i.e., the first antenna interval, and the interval between adjacent antennas among the multiple first receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmitting signal and the second transmitting signal.

[0541] In a non-limiting embodiment of the present disclosure, the multiple first transmitting antennas and the multiple second transmitting antennas are respectively more than three, the multiple first receiving antennas and the multiple second receiving antennas are respectively more than three, and in the first direction, the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmit signal and the second transmit signal.

[0542] In a non-limiting embodiment of the present disclosure, the antenna spacing between adjacent antennas among the multiple first receiving antennas and the antenna spacing between adjacent antennas among the multiple second receiving antennas in the first direction include spacings that are larger than the aperture length of the multiple first transmitting antennas, or the antenna spacing between adjacent antennas among the multiple first transmitting antennas and the antenna spacing between adjacent antennas among the multiple second transmitting antennas include spacings that are larger than the aperture length of the multiple second receiving antennas.

[0543] In a non-limiting embodiment of the present disclosure, the interval between adjacent antennas among the multiple second transmitting antennas in the first direction, i.e., the first antenna interval, and the interval between adjacent antennas among the multiple first receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmitting signal and the second transmitting signal.

[0544] In a non-limiting embodiment of the present disclosure, the first radar circuit further includes a control circuit, which, upon receiving the second reflected wave signal, determines whether the second reflected wave signal is a direct wave from the target object based on the second reflected wave signal, the sending azimuth direction of the second sending signal sent from the second radar circuit, the receiving azimuth direction of the second reflected wave signal received by the first radar circuit, and the distance between the first radar circuit and the target object that reflected the second sending signal.

[0545] A radar device according to a non-limiting embodiment of the present disclosure includes: a first radar circuit having a plurality of first transmitting antennas and a plurality of first receiving antennas; and a second radar circuit having a plurality of second transmitting antennas and a plurality of second receiving antennas, wherein the plurality of first transmitting antennas transmit a first transmission signal having a predetermined center frequency, and the plurality of second transmitting antennas transmit a second transmission signal having the predetermined center frequency, the plurality of first receiving antennas receive at least one of a first reflected wave signal corresponding to the first transmission signal and a second reflected wave signal corresponding to the second transmission signal, and the plurality of second receiving antennas receive at least one of the first reflected wave signal and the second reflected wave signal, and in a first direction, the minimum interval among the intervals between the plurality of first transmitting antennas and the minimum interval among the intervals between the plurality of second receiving antennas are equal to or larger than one wavelength of the first transmission signal and the second transmission signal and are different from each other, and the minimum interval among the intervals between the plurality of first receiving antennas and the minimum interval among the intervals between the plurality of second transmitting antennas are equal to or larger than one wavelength of the first transmission signal and the second transmission signal and are different from each other.

[0546] In a non-limiting embodiment of the present disclosure, in the first direction, the interval between adjacent antennas among the multiple first transmitting antennas, i.e., the first antenna interval, and the interval between adjacent antennas among the multiple first receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal, and the interval between adjacent antennas among the multiple second transmitting antennas, i.e., the third antenna interval, and the interval between adjacent antennas among the multiple second receiving antennas, i.e., the fourth antenna interval, include the following interval, i.e., the difference between the third antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal.

[0547] In a non-limiting embodiment of the present disclosure, in the first direction, the interval between adjacent antennas in the multiple first transmitting antennas, i.e., the first antenna interval, and the interval between adjacent antennas in the multiple second receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal, and the interval between adjacent antennas in the multiple second transmitting antennas, i.e., the third antenna interval, and the interval between adjacent antennas in the multiple first receiving antennas, i.e., the fourth antenna interval, include the following interval, i.e., the difference between the third antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal.

[0548] In a non-limiting embodiment of the present disclosure, the first radar circuit receives the second reflected wave signal, the second radar circuit receives the first reflected wave signal, and the radar device further includes a control circuit, which determines whether the first reflected wave signal and the second reflected wave signal are direct waves from the target based on a comparison of a positioning result using the first reflected wave signal and a positioning result using the second reflected wave signal.

[0549] In a non-limiting embodiment of the present disclosure, the minimum interval among the intervals between the multiple first transmitting antennas is different from the minimum interval among the intervals between the multiple second transmitting antennas, or the minimum interval among the intervals between the multiple first receiving antennas is different from the minimum interval among the intervals between the multiple second receiving antennas.

[0550] In a non-limiting embodiment of the present disclosure, the multiple first transmitting antennas, the multiple first receiving antennas, the multiple second transmitting antennas and the multiple second receiving antennas are arranged in a two-dimensional manner including the first direction and a second direction different from the first direction. In the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmission signal and the second transmission signal, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas.

[0551] In a non-limiting embodiment of the present disclosure, in the second direction, the antenna spacing between adjacent antennas among the multiple first receiving antennas includes a spacing that is larger than the aperture length of the multiple first transmitting antennas, and the antenna spacing between adjacent antennas among the multiple second transmitting antennas includes a spacing that is larger than the aperture length of the multiple second receiving antennas.

[0552] In a non-limiting embodiment of the present disclosure, in the second direction, the antenna spacing between adjacent antennas among the multiple second receiving antennas includes a spacing that is larger than the aperture length of the multiple first transmitting antennas, or the antenna spacing between adjacent antennas among the multiple first transmitting antennas includes a spacing that is larger than the aperture length of the multiple second receiving antennas.

[0553] In a non-limiting embodiment of the present disclosure, the multiple first transmitting antennas, the multiple first receiving antennas, the multiple second transmitting antennas and the multiple second receiving antennas are configured in a two-dimensional manner including the first direction and a second direction different from the first direction, the multiple first transmitting antennas and the multiple second transmitting antennas are respectively more than three, the multiple first receiving antennas and the multiple second receiving antennas are respectively more than three, and in the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmission signal and the second transmission signal, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmission signal and the second transmission signal.

[0554] In a non-limiting embodiment of the present disclosure, in the second direction, the antenna spacing between adjacent antennas among the multiple first receiving antennas and the antenna spacing between adjacent antennas among the multiple second receiving antennas include spacings that are larger than the aperture length of the multiple first transmitting antennas, or, the antenna spacing between adjacent antennas among the multiple first transmitting antennas and the antenna spacing between adjacent antennas among the multiple second transmitting antennas include spacings that are larger than the aperture length of the multiple second receiving antennas.

[0555] In a non-limiting embodiment of the present disclosure, the multiple first transmitting antennas, the multiple first receiving antennas, the multiple second transmitting antennas and the multiple second receiving antennas are configured in a two-dimensional manner including the first direction and a second direction different from the first direction, in the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are more than one wavelength of the first transmit signal and the second transmit signal and are different from each other, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are more than one wavelength of the first transmit signal and the second transmit signal and are different from each other.

[0556] In a non-limiting embodiment of the present disclosure, in the second direction, the interval between adjacent antennas in the multiple first transmitting antennas, i.e., the first antenna interval, and the interval between adjacent antennas in the multiple first receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal, and the interval between adjacent antennas in the multiple second transmitting antennas, i.e., the third antenna interval, and the interval between adjacent antennas in the multiple second receiving antennas, i.e., the fourth antenna interval, include the following interval, i.e., the difference between the third antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal.

[0557] In a non-limiting embodiment of the present disclosure, in the second direction, the first antenna interval and the fourth antenna interval include the following intervals, namely, the difference between the first antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmission signal and the second transmission signal, and the third antenna interval and the second antenna interval include the following intervals, namely, the difference between the third antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmission signal and the second transmission signal.

[0558] In a transceiver method of a radar device according to a non-limiting embodiment of the present disclosure, a first radar circuit uses a plurality of first transmitting antennas to transmit a first transmission signal having a prescribed center frequency, a second radar circuit uses a plurality of second transmitting antennas to transmit a second transmission signal having the prescribed center frequency, the first radar circuit uses a plurality of first receiving antennas to receive at least one of a first reflected wave signal corresponding to the first transmission signal and a second reflected wave signal corresponding to the second transmission signal, and the second radar circuit uses a plurality of second receiving antennas to receive at least one of the first reflected wave signal and the second reflected wave signal. In the transceiver method of the radar device, in a first direction, a minimum interval among the intervals between the plurality of first transmitting antennas and a minimum interval among the intervals between the plurality of second receiving antennas in the first direction are greater than 0.5 wavelengths and less than 1 wavelength of the first transmission signal and the second transmission signal.

[0559] In a transmission and reception method of a radar device according to a non-limiting embodiment of the present disclosure, a first radar circuit transmits a first transmission signal having a predetermined center frequency using a plurality of first transmission antennas, a second radar circuit transmits a second transmission signal having the predetermined center frequency using a plurality of second transmission antennas, the first radar circuit receives at least one of a first reflected wave signal corresponding to the first transmission signal and a second reflected wave signal corresponding to the second transmission signal using a plurality of first receiving antennas, and the second radar circuit receives at least one of the first reflected wave signal and the second reflected wave signal using a plurality of second receiving antennas. In the transmission and reception method of the radar device, in a first direction, a minimum interval among the intervals between the plurality of first transmission antennas and a minimum interval among the intervals between the plurality of second receiving antennas are equal to or larger than one wavelength of the first transmission signal and the second transmission signal and are different from each other, and a minimum interval among the intervals between the plurality of first receiving antennas and a minimum interval among the intervals between the plurality of second transmission antennas are equal to or larger than one wavelength of the first transmission signal and the second transmission signal and are different from each other.

[0560] While various embodiments have been described above, it will be understood that various changes in form and detail may be made therein without departing from the spirit and scope of the present or hereafter claimed invention.

[0561] Industrial Applicability

[0562] The present disclosure is suitable as a radar device capable of detecting a wide-angle range.

Claims

1. A radar device, characterized in that: include: A first radar circuit having a plurality of first transmitting antennas and a plurality of first receiving antennas; as well as The second radar circuit has a plurality of second transmitting antennas and a plurality of second receiving antennas. The plurality of first transmitting antennas transmit a first transmitting signal having a prescribed center frequency, The plurality of second transmitting antennas transmit second transmitting signals having the prescribed center frequency, The plurality of first receiving antennas receive at least one of a first reflected wave signal corresponding to the first transmission signal and a second reflected wave signal corresponding to the second transmission signal. The plurality of second receiving antennas receive at least one of the first reflected wave signal and the second reflected wave signal. In the first direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 1 wavelength of the first transmitting signal and the second transmitting signal and are different from each other, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than 1 wavelength of the first transmitting signal and the second transmitting signal and are different from each other.

2. The radar device according to claim 1, wherein: In the first direction, the interval between adjacent antennas in the multiple first transmitting antennas, i.e., the first antenna interval, and the interval between adjacent antennas in the multiple first receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal, and the interval between adjacent antennas in the multiple second transmitting antennas, i.e., the third antenna interval, and the interval between adjacent antennas in the multiple second receiving antennas, i.e., the fourth antenna interval, include the following interval, i.e., the difference between the third antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal.

3. The radar device according to claim 1, wherein: In the first direction, the interval between adjacent antennas in the multiple first transmitting antennas, i.e., the first antenna interval, and the interval between adjacent antennas in the multiple second receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal, and the interval between adjacent antennas in the multiple second transmitting antennas, i.e., the third antenna interval, and the interval between adjacent antennas in the multiple first receiving antennas, i.e., the fourth antenna interval, include the following interval, i.e., the difference between the third antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal.

4. The radar device according to claim 1, wherein: The first radar circuit receives the second reflected wave signal, The second radar circuit receives the first reflected wave signal, The radar device further includes a control circuit that determines whether the first reflected wave signal and the second reflected wave signal are direct waves from the target object based on a comparison between a positioning result using the first reflected wave signal and a positioning result using the second reflected wave signal.

5. The radar device according to claim 1, wherein: The minimum interval among the intervals between the multiple first transmitting antennas is different from the minimum interval among the intervals between the multiple second transmitting antennas, or the minimum interval among the intervals between the multiple first receiving antennas is different from the minimum interval among the intervals between the multiple second receiving antennas.

6. The radar device according to claim 1, wherein: The plurality of first transmitting antennas, the plurality of first receiving antennas, the plurality of second transmitting antennas, and the plurality of second receiving antennas are arranged in a two-dimensional manner including the first direction and a second direction different from the first direction, In the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmitting signal and the second transmitting signal, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are larger than the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas.

7. The radar device according to claim 6, wherein: In the second direction, the antenna spacing between adjacent antennas among the multiple first receiving antennas includes a spacing larger than the aperture length of the multiple first transmitting antennas, and the antenna spacing between adjacent antennas among the multiple second transmitting antennas includes a spacing larger than the aperture length of the multiple second receiving antennas.

8. The radar device according to claim 7, wherein: In the second direction, the antenna spacing between adjacent antennas among the multiple second receiving antennas includes a spacing larger than the aperture length of the multiple first transmitting antennas, or the antenna spacing between adjacent antennas among the multiple first transmitting antennas includes a spacing larger than the aperture length of the multiple second receiving antennas.

9. The radar device according to claim 1, wherein: The plurality of first transmitting antennas, the plurality of first receiving antennas, the plurality of second transmitting antennas, and the plurality of second receiving antennas are arranged in a two-dimensional manner including the first direction and a second direction different from the first direction, The plurality of first transmitting antennas and the plurality of second transmitting antennas are respectively more than three, the plurality of first receiving antennas and the plurality of second receiving antennas are respectively more than three, In the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmitting signal and the second transmitting signal, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmitting signal and the second transmitting signal.

10. The radar device according to claim 9, wherein: In the second direction, the antenna spacing between adjacent antennas among the multiple first receiving antennas and the antenna spacing between adjacent antennas among the multiple second receiving antennas include spacings that are larger than the aperture length of the multiple first transmitting antennas, or the antenna spacing between adjacent antennas among the multiple first transmitting antennas and the antenna spacing between adjacent antennas among the multiple second transmitting antennas include spacings that are larger than the aperture length of the multiple second receiving antennas.

11. The radar device according to claim 1, wherein: The plurality of first transmitting antennas, the plurality of first receiving antennas, the plurality of second transmitting antennas, and the plurality of second receiving antennas are arranged in a two-dimensional manner including the first direction and a second direction different from the first direction, In the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 1 wavelength of the first transmitting signal and the second transmitting signal and are different from each other, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than 1 wavelength of the first transmitting signal and the second transmitting signal and are different from each other.

12. The radar device according to claim 11, wherein: In the second direction, the interval between adjacent antennas in the multiple first transmitting antennas, i.e., the first antenna interval, and the interval between adjacent antennas in the multiple first receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal, and the interval between adjacent antennas in the multiple second transmitting antennas, i.e., the third antenna interval, and the interval between adjacent antennas in the multiple second receiving antennas, i.e., the fourth antenna interval, include the following interval, i.e., the difference between the third antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal.

13. The radar device according to claim 12, wherein: In the second direction, the first antenna interval and the fourth antenna interval include an interval in which the difference between the first antenna interval and the fourth antenna interval is greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmission signal and the second transmission signal, and the third antenna interval and the second antenna interval include an interval in which the difference between the third antenna interval and the second antenna interval is greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmission signal and the second transmission signal.

14. A method for transmitting and receiving a radar device, wherein a first radar circuit uses a plurality of first transmitting antennas to transmit a first transmission signal having a predetermined center frequency, a second radar circuit uses a plurality of second transmitting antennas to transmit a second transmission signal having the predetermined center frequency, the first radar circuit uses a plurality of first receiving antennas to receive at least one of a first reflected wave signal corresponding to the first transmission signal and a second reflected wave signal corresponding to the second transmission signal, and the second radar circuit uses a plurality of second receiving antennas to receive at least one of the first reflected wave signal and the second reflected wave signal, wherein the method for transmitting and receiving the radar device is characterized in that: In the first direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 1 wavelength of the first transmitting signal and the second transmitting signal and are different from each other, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than 1 wavelength of the first transmitting signal and the second transmitting signal and are different from each other.

15. The transmitting and receiving method of the radar device according to claim 14, wherein: In the first direction, the interval between adjacent antennas in the multiple first transmitting antennas, i.e., the first antenna interval, and the interval between adjacent antennas in the multiple first receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal, and the interval between adjacent antennas in the multiple second transmitting antennas, i.e., the third antenna interval, and the interval between adjacent antennas in the multiple second receiving antennas, i.e., the fourth antenna interval, include the following interval, i.e., the difference between the third antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal.

16. The transmitting and receiving method of the radar device according to claim 14, wherein: In the first direction, the interval between adjacent antennas in the multiple first transmitting antennas, i.e., the first antenna interval, and the interval between adjacent antennas in the multiple second receiving antennas, i.e., the second antenna interval, include the following interval, i.e., the difference between the first antenna interval and the second antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal, and the interval between adjacent antennas in the multiple second transmitting antennas, i.e., the third antenna interval, and the interval between adjacent antennas in the multiple first receiving antennas, i.e., the fourth antenna interval, include the following interval, i.e., the difference between the third antenna interval and the fourth antenna interval is an interval greater than 0.5 wavelengths and less than 0.8 wavelengths of the first transmit signal and the second transmit signal.

17. The transmitting and receiving method of the radar device according to claim 14, wherein: The first radar circuit receives the second reflected wave signal using the plurality of first receiving antennas. The second radar circuit receives the first reflected wave signal using the plurality of second receiving antennas. Based on a comparison between a positioning result using the first reflected wave signal and a positioning result using the second reflected wave signal, it is determined whether the first reflected wave signal and the second reflected wave signal are direct waves from the target object.

18. The transmitting and receiving method of the radar device according to claim 14, wherein: The minimum interval among the intervals between the multiple first transmitting antennas is different from the minimum interval among the intervals between the multiple second transmitting antennas, or the minimum interval among the intervals between the multiple first receiving antennas is different from the minimum interval among the intervals between the multiple second receiving antennas.

19. The transmitting and receiving method of a radar device according to claim 14, wherein: The plurality of first transmitting antennas, the plurality of first receiving antennas, the plurality of second transmitting antennas, and the plurality of second receiving antennas are arranged in a two-dimensional manner including the first direction and a second direction different from the first direction, In the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmitting signal and the second transmitting signal, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are larger than the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas.

20. The transmitting and receiving method of the radar device according to claim 14, wherein: The plurality of first transmitting antennas, the plurality of first receiving antennas, the plurality of second transmitting antennas, and the plurality of second receiving antennas are arranged in a two-dimensional manner including the first direction and a second direction different from the first direction, The plurality of first transmitting antennas and the plurality of second transmitting antennas are respectively more than three, the plurality of first receiving antennas and the plurality of second receiving antennas are respectively more than three, In the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmitting signal and the second transmitting signal, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than 0.5 wavelengths and less than 1 wavelength of the first transmitting signal and the second transmitting signal.

21. The transmitting and receiving method of a radar device according to claim 14, wherein: The plurality of first transmitting antennas, the plurality of first receiving antennas, the plurality of second transmitting antennas, and the plurality of second receiving antennas are arranged in a two-dimensional manner including the first direction and a second direction different from the first direction, In the second direction, the minimum interval among the intervals between the multiple first transmitting antennas and the minimum interval among the intervals between the multiple second receiving antennas are greater than 1 wavelength of the first transmitting signal and the second transmitting signal and are different from each other, and the minimum interval among the intervals between the multiple first receiving antennas and the minimum interval among the intervals between the multiple second transmitting antennas are greater than 1 wavelength of the first transmitting signal and the second transmitting signal and are different from each other.

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