Signal transmitting and receiving method and radar device

Abstract

The invention provides a signal transmitting and receiving method and a radar device. The radar device includes a transmitting circuit, a plurality of transmitting antennas, a plurality of receiving antennas, a receiving circuit, a selection controller, and a selection circuit. The transmitting circuit is used for generating a transmission signal according to the detection signal. The receiving antenna is used for receiving echo signals. The selection controller is used for generating a control signal according to the period of the detection signal. The selection circuit is used for selecting one of the plurality of transmitting antennas to transmit a transmission signal according to a control signal, and selecting one of the plurality of receiving antennas to receive an echo signal so as to generate a radio frequency signal. In a frame time, a plurality of transmit-receive matching combinations executed according to the control signal at different times correspond to a plurality of time-sharing echo signals, and phase differences between two adjacent time-sharing echo signals on at least two groups of time sequences are equal.

Description

Technical Field

[0001] The present invention relates to a signal processing technology, and more particularly to a signal transceiving method and a radar device. Background Art

[0002] Radar technology has been developed for many years. Radar mainly includes two categories: pulse radar and continuous wave radar. Generally speaking, pulse radar emits high-frequency pulses with periodic information. Continuous wave radar emits continuous wave signals. With the rapid development of science and technology, frequency modulated continuous wave (FMCW) radar has been widely used in many fields in recent years.

[0003] FMCW radar transmits a continuous wave with a changing frequency during the frequency sweep period. The echo after the continuous wave is reflected by an object has a certain frequency difference with the transmitted signal, and the distance between the object and the radar can be judged based on this frequency difference. Since FMCW radar can measure the distance and speed of moving targets, it has gradually been widely used in civilian fields such as road vehicle monitoring and recording systems, automobile anti-collision radars, vehicle flow detectors, and automatic driving.

[0004] It is worth noting that FMCW radar systems can use array antennas to estimate the angle of the reflected signal (also known as the angle of arrival (AoA)). When the distance between the radar system and the object changes slightly, the phase at the peak of the spectrum will change significantly, especially in the case of high-frequency signals. Therefore, the angle of arrival can be estimated by using the phase change corresponding to the distance difference between the object and the adjacent antenna.

[0005] In order to use array antennas, current FMCW radar systems for estimating angle of arrival use a multi-receiver architecture, where the echo signals of the transmitted signal reflected by an object can be received by multiple receiving antennas.

[0006] However, conventional AOA radar architectures may suffer from the following problems: multiple receiving paths (ie, multiple receivers) are required; power consumption is increased; chip size is larger as the number of receivers increases; and local oscillator phases at the receiver and transmitter need to be corrected. Summary of the invention

[0007] The radar device implemented by the present invention includes (but is not limited to) a transmitting circuit, multiple transmitting antennas, multiple receiving antennas, a receiving circuit, a selection controller and a selection circuit. The transmitting circuit is used to generate a transmission signal according to a detection signal, wherein the detection signal has a periodic change. The transmitting antenna is used to transmit the transmission signal. The receiving antenna is used to receive an echo signal, wherein the echo signal is generated by the transmission signal being reflected by an external object. The receiving circuit is used to generate an internal signal according to the detection signal and the radio frequency signal. The selection controller is coupled to the transmitting circuit. The selection controller is used to generate one or more control signals according to the period of the detection signal. The selection circuit is coupled to the transmitting antenna, the receiving antenna, the transmitting circuit, the receiving circuit and the selection controller. The selection circuit is used to select one of the multiple transmitting antennas to transmit the transmission signal according to one or more control signals generated by the selection controller, and select one of the multiple receiving antennas to receive the echo signal to generate the radio frequency signal. In a frame time, multiple transceiver combinations executed at different times according to one or more control signals correspond to multiple time-division echo signals, and the phase difference between at least two groups of time-division echo signals adjacent in time sequence among these time-division echo signals is equal, wherein the multiple time-division echo signals include echo signals received at different times in the frame time, and each transceiver combination includes a combination of one of the multiple transmitting antennas and one of the multiple receiving antennas.

[0008] The signal transceiving method of the embodiment of the present invention includes (but is not limited to) the following steps: generating a transmission signal according to a detection signal, wherein the detection signal has a periodic change; generating one or more control signals according to the period of the detection signal; selecting one of a plurality of transmitting antennas to transmit the transmission signal according to the one or more control signals, and selecting one of a plurality of receiving antennas to receive an echo signal to generate a radio frequency signal, wherein the echo signal is generated by reflection of an external object after the transmission signal; generating an internal signal according to the detection signal and the radio frequency signal. In a frame time, a plurality of transceiving combinations executed at different times according to one or more control signals correspond to a plurality of time-division echo signals, wherein the phase difference between at least two groups of two time-division echo signals adjacent in time sequence in these time-division echo signals is equal, wherein the plurality of time-division echo signals include echo signals received at different times in the frame time, and each transceiving combination includes a combination of one of a plurality of transmitting antennas and one of a plurality of receiving antennas.

[0009] The radar device implemented by the present invention includes (but is not limited to) a transmitting circuit, a plurality of transmitting antennas, a plurality of receiving antennas, a receiving circuit, a selection controller and a selection circuit. The transmitting circuit is used to generate a transmission signal according to a detection signal, wherein the detection signal has a periodic change. The transmitting antenna is used to transmit the transmission signal. The receiving antenna is used to receive a plurality of echo signals respectively to generate a plurality of radio frequency signals, wherein the echo signals are generated by the transmission signal being reflected by an external object. The receiving circuit is used to generate an internal signal according to the detection signal and the radio frequency signal. The selection controller is coupled to the transmitting circuit. The selection controller is used to generate a control signal according to the period of the detection signal. The selection circuit is coupled to the transmitting antenna, the receiving antenna, the transmitting circuit, the receiving circuit and the selection controller. The selection circuit is used to select one of the plurality of transmitting antennas to transmit the transmission signal according to the control signal generated by the selection controller, and select one of the plurality of receiving antennas to receive the echo signal to generate the radio frequency signal. The transmitting antenna includes two transmitting antennas, and the receiving antenna includes two receiving antennas. There is a first spacing between the two transmitting antennas, and there is a second spacing between the two receiving antennas. The first spacing is twice the second spacing or the second spacing is twice the first spacing.

[0010] In order to make the above features and advantages of the present invention more clearly understood, embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a component module diagram of a radar device according to an embodiment of the present invention.

[0012] Figure 2A is a component module diagram of a radar device according to an embodiment of the present invention.

[0013] Figure 2B FIG. 4 is a component module diagram of a radar device according to another embodiment of the present invention.

[0014] Figure 3 is a schematic diagram of an arrival angle according to an embodiment of the present invention.

[0015] Figure 4A is a schematic diagram of an antenna configuration according to a first embodiment of the present invention.

[0016] Figure 4B is a schematic diagram of an antenna configuration according to a second embodiment of the present invention.

[0017] Figure 5 FIG. 4 is a schematic diagram of a detection signal cycle and antenna switching according to an embodiment of the present invention.

[0018] Fig. 6A FIG. 4 is a schematic diagram of antenna configuration, transmission angle and arrival angle according to an embodiment of the present invention.

[0019] Figure 6B FIG. 4 is a schematic diagram of an antenna configuration and an equivalent virtual antenna according to an embodiment of the present invention.

[0020] Figure 6C is a schematic diagram of an antenna configuration and an equivalent virtual antenna according to another embodiment of the present invention.

[0021] Fig. 7A is a schematic diagram of an antenna configuration according to a third embodiment of the present invention.

[0022] Figure 7B is a schematic diagram of an antenna configuration according to a fourth embodiment of the present invention.

[0023] Figure 8 FIG. 4 is a schematic diagram of antenna configuration, transmission angle and arrival angle according to an embodiment of the present invention.

[0024] Fig. 9 FIG. 4 is a schematic diagram of a detection signal cycle and antenna switching according to an embodiment of the present invention.

[0025] Fig. 10A is a schematic diagram of an antenna configuration according to a fifth embodiment of the present invention.

[0026] Fig. 10B yes Fig. 10A Schematic diagram of the radiation field pattern.

[0027] Fig.11A is a schematic diagram of an antenna configuration according to a sixth embodiment of the present invention.

[0028] Fig. 11B yes Fig.11A Schematic diagram of the radiation field pattern.

[0029] Fig.12 is a component module diagram of a radar device according to an embodiment of the present invention.

[0030] Fig.13 is a flow chart of spatial information determination according to an embodiment of the present invention.

[0031] Fig.14 is a schematic diagram of signal processing according to an embodiment of the present invention.

[0032] Fig.15 is a flow chart of a signal transceiving method according to an embodiment of the present invention.

[0033] Explanation of symbols:

[0034] 10~40: Radar equipment

[0035] 11: Transmitter circuit

[0036] 12. TX1, TX2: Transmitting antenna

[0037] 13. RX1, RX2: receiving antenna

[0038] 14: Receiving circuit

[0039] 15: Select the controller

[0040] 16: Select Circuit

[0041] 161, 162: Switching circuit

[0042] 171:Frequency Synthesizer

[0043] 18: Modulator

[0044] 19: Clock Generator

[0045] LPF: Filter

[0046] DAC: Digital to Analog Converter

[0047] IFA: Intermediate Frequency Amplifier Circuit

[0048] ADC: Analog-to-digital converter

[0049] TXMIX, RXMIX: mixer

[0050] PA: Amplifier

[0051] LNA: Low Noise Amplifier

[0052] IFA-1: Intermediate Frequency Amplifier

[0053] IFA-2: Correction Circuit

[0054] IFA-3: Filter

[0055] DO: Baseband signal

[0056] 172: Pulse Generator

[0057] θ, φ: Angle of arrival

[0058] d: distance

[0059] X, Y, Z: axis

[0060] L1~L10、B: Spacing

[0061] TRC: Transmit and Receive Combination

[0062] TXSC, RXSC: control signal

[0063] R: Distance

[0064] O: External objects

[0065] vTX1: Virtual Transmit Antenna

[0066] vRX1~vRX4: virtual receiving antenna

[0067] B1~B4: Radiation field type

[0068] 173:I / Q detection circuit

[0069] 1310~1360: Steps

[0070] 50: Computing processor

[0071] x 0,n (t), x 1,n (t): echo signal

[0072] v n (m), V n (k) and u 0,n (k),u 1,n (k), S 0,n (k), S 1,n (k): Fundamental frequency signal Y 0,n (k), Y 1,n (k): Evaluation signal

[0073] S1510~S1540: Steps DETAILED DESCRIPTION

[0074] Figure 1 FIG. 1 is a block diagram of components of a radar device 10 according to an embodiment of the present invention. Figure 1 The radar device 10 includes (but is not limited to) a transmitting circuit 11, multiple transmitting antennas 12, multiple receiving antennas 13, a receiving circuit 14, a selection controller 15, and a selection circuit 16. The radar device 10 can be applied to, for example, meteorology, speed measurement, reversing, topography, military and other fields. The radar device 10 can be a frequency modulated continuous wave (FMCW) radar or an ultra wideband (UWB) radar.

[0075] The transmitting circuit 11 is used to generate a transmission signal based on the detection signal. The detection signal has periodic changes. In one embodiment, the frequency of the detection signal changes with time during its sweep period. For example, the detection signal is a periodic sawtooth wave, a triangle wave, or other carrier signal applied to a frequency modulated continuous wave (for example, a linear, geometric, or other chirp signal). During the period, the frequency of the detection signal may gradually increase and / or gradually decrease. In another embodiment, the detection signal is a pulse signal. For example, there is a peak or valley within a specific time interval (for example, 2, 5, or 110 nanoseconds (ns)). A pulse signal can be generated every period.

[0076] The transmitting antenna 12 is used to transmit the transmission signal. That is, the transmitted electromagnetic wave carries the transmission signal of the radar device 10. In one embodiment, since the detection signal has periodic changes, the transmission signal will also have periodic changes accordingly. In one embodiment, for a pulse signal, the transmission signal is a spread spectrum signal with a flat frequency response on the spectrum.

[0077] In one embodiment, a plurality of transmitting antennas 12 form an antenna array. The number of transmitting antennas 12 in the antenna array is, for example, 2, 4, or 8, but is not limited thereto. In one embodiment, each transmitting antenna 12 may correspond to an antenna port.

[0078] The receiving antenna 13 is used to receive the echo signal. In one embodiment, the radar device 100 can transmit the transmission signal to an external object (e.g., a person, a car, a wall, or a building) through the transmitting antenna 12. Then, the radar device 100 can receive the echo signal reflected from the external object through the receiving antenna 13. The echo signal is generated by the transmission signal being reflected by the external object.

[0079] In one embodiment, a plurality of receiving antennas 13 form an antenna array. The number of receiving antennas 13 in the antenna array is, for example, 2, 4 or 8, but is not limited thereto. In one embodiment, each receiving antenna 13 corresponds to an antenna port.

[0080] The receiving circuit 14 is used to generate an internal signal according to the detection signal and the radio frequency signal. In one embodiment, the detection signal has a periodic change, and the radio frequency signal is generated based on the echo signal, which will be described in detail in subsequent embodiments.

[0081] The selection controller 15 is coupled to the transmitting circuit 11. The selection controller 15 is used to generate one or more control signals according to the cycle of the detection signal. The switching or changing time point of the control signal is, for example, at the junction of two cycles of the detection signal, which will be described in detail in the subsequent embodiments.

[0082] The selection circuit 16 is coupled to the transmitting antenna 12, the receiving antenna 13, the transmitting circuit 11, the receiving circuit 14 and the selection controller 15. The selection circuit 16 is used to select one of the multiple transmitting antennas 12 to transmit the transmission signal and select one of the multiple receiving antennas 13 to receive the echo signal to generate the radio frequency signal according to one or more control signals generated by the selection controller 15. Any control signal corresponds to a transceiver combination. Each transceiver combination includes a combination of one of the multiple transmitting antennas 12 and one of the multiple receiving antennas 13.

[0083] In other embodiments, the selection controller 15 can also be used to generate a control signal according to the period of the detection signal. The selection circuit 16 can also be used to select one of the multiple transmitting antennas 12 to transmit the transmission signal according to the control signal generated by the selection controller 15, but no selection is made for the multiple receiving antennas 13, but the multiple receiving antennas 13 are made to synchronously receive multiple echo signals to generate multiple radio frequency signals, wherein these echo signals are generated by the transmission signal being reflected by external objects. The receiving circuit 14 can also be used to generate an internal signal according to the detection signal and these radio frequency signals. Under such a structure, at least part of the power consumption can be reduced and the size of part of the antenna structure or chip can be reduced.

[0084] The following combination Figure 2A and Figure 2B The detailed hardware architecture of the radar device 10 will be described in more detail.

[0085] Figure 2A FIG. 2 is a block diagram of components of a radar device 20 according to an embodiment of the present invention. Figure 2A The radar device 20 includes (but is not limited to) a transmitting circuit 11, a transmitting antenna 12, a receiving antenna 13, a receiving circuit 14, a selection controller 15, and a selection circuit 16. In addition, the radar device 20 may also include (but is not limited to) a frequency synthesizer 171, a modulator 18, and a clock generator 19.

[0086] The transmitting circuit 11 includes an amplifier PA and a mixer TXMIX. The amplifier PA is coupled to the mixer TXMIX. The amplifier PA is used to amplify a signal (e.g., an output signal of the mixer TXMIX). The mixer TXMIX is used to mix the signal to generate a transmission signal. In addition, the transmitting circuit 11 may also include (but not limited to) a filter LPF and a digital-to-analog converter DAC.

[0087] In this embodiment, the transmitting antenna 12 includes, for example, two transmitting antennas TX1 and TX2. The two transmitting antennas TX1 and TX2 form an antenna array.

[0088] In this embodiment, the receiving antenna 13 includes, for example, two receiving antennas RX1 and RX2. The two receiving antennas RX1 and RX2 form an antenna array.

[0089] The receiving circuit 14 includes a low noise amplifier LNA and a mixer RXMIX. The low noise amplifier LNA is coupled to the mixer RXMIX. The low noise amplifier LNA is used to amplify a signal (e.g., an echo signal). The mixer RXMIX is used to mix a signal (e.g., an output signal of the low noise amplifier LNA) to generate an intermediate frequency signal. In addition, the receiving circuit 14 may also include (but not limited to) an intermediate frequency amplifier circuit IFA and an analog-to-digital converter ADC.

[0090] The selection circuit 16 includes switching circuits 161 and 162. The switching circuits 161 and 162 may be composed of one or more electrical components such as multiplexers and switches, and the embodiment of the present invention is not limited thereto. In one embodiment, the switching circuit 161 may switch between the transmission signals respectively received by the two transmitting antennas TX1 and TX2. In one embodiment, the switching circuit 162 may switch between the echo signals respectively received by the two receiving antennas RX1 and RX2. In another embodiment, the selection circuit 16 may also achieve the purpose of selection by disabling the unused transmitting antenna of the two transmitting antennas TX1 and TX2, and disabling the unused receiving antenna of the two receiving antennas RX1 and RX2.

[0091] In this embodiment, the frequency synthesizer 171 is coupled to the transmitting circuit 11 and the receiving circuit 14. In one embodiment, the selection controller 15 is coupled to the transmitting circuit 11 via the frequency synthesizer 171. In another embodiment, the selection controller 15 is directly connected to the transmitting circuit 11. The frequency synthesizer 171 is used to generate a detection signal, and provide the detection signal to the transmitting circuit 11, the receiving circuit 14 and the selection controller 15. At this time, the detection signal is a continuous wave signal.

[0092] The modulator 18 may be implemented by an N-order (N is a positive integer greater than zero) oversampling modulator or an N-bit Nyquist frequency sampler.

[0093] The clock generator 19 is coupled to the frequency synthesizer 171, the modulator 18 and the analog-to-digital converter ADC. The clock generator 19 is used to generate a clock signal (or a local oscillation signal). The frequency synthesizer 171 generates a detection signal with a period according to the clock signal. The selection controller 15 synchronizes the detection signal according to the clock signal. Further, the above-mentioned synchronous detection signal situation can be regarded as that the time when the control signal remains unchanged and the period of the detection signal have a fixed overlapping range. For example, the switching or changing period of the control signal can be made the same as the period of the detection signal, or the switching or changing time point of the control signal can be synchronized with the starting point or end point of the period of the detection signal and moved forward or backward by a predetermined time, or the switching or changing time point of the control signal can be synchronized with the starting point or end point of the period of the detection signal.

[0094] In one embodiment, the modulator 18 oversamples and modulates the clock signal to generate a sine-wave-like digital signal, and drives the digital-to-analog converter DAC to generate an analog sine wave signal. The filter LPF then performs low-pass filtering on the analog sine wave signal to form a sine wave signal input to the mixer TXMIX. The mixer TXMIX mixes (e.g., up-converts) the sine wave signal according to the detection signal (e.g., continuous wave signal) from the frequency synthesizer 171 to form a transmission signal. The transmission signal will be transmitted through the transmitting antenna TX1 or TX2 turned on / switched by the switching circuit 161.

[0095] On the other hand, the echo signal is received by the receiving antenna RX1 or RX2 turned on / switched by the switching circuit 162. The low noise amplifier LNA amplifies the echo signal received by the receiving antenna RX1 or RX2, and the mixer RXMIX mixes (e.g., downconverts) the amplified signal according to the detection signal (e.g., continuous wave signal) generated by the frequency synthesizer 171 to generate an intermediate frequency signal.

[0096] The intermediate frequency amplifier circuit IFA includes an intermediate frequency amplifier IFA-1, a correction circuit IFA-2 (optional) and a filter IFA-3. The intermediate frequency amplifier IFA-1 filters the intermediate frequency signal and amplifies the signal of a specific frequency band, then filters the signal of the desired frequency band through a filter, and converts it into a baseband signal DO (for example, a baseband digital signal) through an analog-to-digital converter ADC. The correction circuit IFA-2 can be a summing circuit, and can sum the intermediate frequency signal and the inverted sine wave signal (that is, subtract the analog sine wave signal generated by the digital-to-analog converter DAC from the intermediate frequency signal). The correction circuit IFA-2 can correct the flicker noise, DC offset, local oscillator leakage and other problems encountered by the echo signal based on the sine wave signal. In other embodiments, the position of the correction circuit IFA-2 may be different. For example, it is located before the intermediate frequency amplifier IFA-1 (ie, coupled between the mixer RXMIX and the intermediate frequency amplifier IFA-1), or after the filter IFA-3 (ie, coupled between the filter IFA-3 and the analog-to-digital converter ADC).

[0097] Figure 2B FIG. 1 is a block diagram of a radar device 30 according to another embodiment of the present invention. Figure 2B The radar device 30 includes (but is not limited to) a transmitting circuit 11, a transmitting antenna 12, a receiving antenna 13, a receiving circuit 14, a selection controller 15, and a selection circuit 16. In addition, the radar device 30 may also include (but is not limited to) a pulse generator 172, a modulator 18, and a clock generator 19. Figure 2B The transmitting circuit 11 may further include (but not limited to) a filter LPF and a digital-to-analog converter DAC. Figure 2B The receiving circuit 14 may further include (but not limited to) an intermediate frequency amplifier circuit IFA and an analog-to-digital converter ADC.

[0098] Figure 2B The description of the transmitting circuit 11, transmitting antenna 12, receiving antenna 13, receiving circuit 14, selection controller 15, selection circuit 16, modulator 18, clock generator 19, filter LPF, digital-to-analog converter DAC, intermediate frequency amplifier circuit IFA and analog-to-digital converter ADC can be referred to. Figure 1 and Figure 2A The descriptions of the same symbols in FIG. 1 are not repeated here.

[0099] In this embodiment, the pulse generator 172 is coupled to the transmitting circuit 11 and the receiving circuit 14. The pulse generator 172 is used to generate a detection signal and provide the detection signal to the transmitting circuit 11, the receiving circuit 14 and the selection controller 15. At this time, the detection signal is a pulse signal. In one embodiment, the selection controller 15 is coupled to the transmitting circuit 11 through the pulse generator 172. In another embodiment, the selection controller 15 is directly connected to the transmitting circuit 11, and the transmitting circuit 11 can generate a pulse signal by turning on the signal output and turning off the signal output. In this embodiment, the clock generator 19 is coupled to the pulse generator 172, the modulator 18 and the analog-to-digital converter ADC. The clock generator 19 is used to generate a clock signal (or a local oscillation signal). The pulse generator 172 generates a detection signal with a period according to the clock signal. The selection controller 15 synchronizes the detection signal according to the clock signal. Furthermore, the above-mentioned situation of synchronous detection signal can be regarded as that the time during which the control signal remains unchanged and the period of the detection signal have a fixed overlapping range. For example, the period of switching or changing of the control signal can be the same as the period of the detection signal, or the switching or changing time point of the control signal can be synchronized with the starting point or end point of the period of the detection signal and moved forward a predetermined time or backward a predetermined time, or the switching or changing time point of the control signal can be synchronized with the starting point or end point of the period of the detection signal.

[0100] Figure 3 is a schematic diagram of the arrival angle θ according to an embodiment of the present invention. Figure 3 , the radar devices 20 and 30 can transmit a transmission signal to an external object (also called a target) through the transmitting antenna TX1. The receiving antennas RX1 and RX2 receive the echo signal reflected from the external object. Assume that on the XY plane, the two receiving antennas RX1 and RX2 are separated by a distance d (for example, half the wavelength of the detection signal), wherein the receiving antenna RX2 is farther away from the transmitting antenna TX1 than the receiving antenna RX1. Therefore, the round-trip distance from the transmitting antenna TX1 through the external object and arriving at the receiving antenna RX1 differs from the round-trip distance from the transmitting antenna TX1 through the external object and arriving at the receiving antenna RX2 by dsinθ. The distance difference of dsinθ will be reflected in the phase difference between the echo signals of the two receiving antennas RX1 and RX2, and the arrival angle θ can be estimated accordingly.

[0101] For example, the transmitting antenna TX1 transmits a continuous wave signal of a frame (corresponding to one or more cycles). By performing a two-dimensional Fast Fourier Transform (FFT) on the baseband signals corresponding to the two receiving antennas RX1 and RX2, two peaks at the same distance (corresponding to the position of the external object) but with different phases can be obtained. Then, the phase difference (ω) of these two peaks can be used to estimate the arrival angle θ of the external object:

[0102]

[0103]

[0104] λ is the wavelength, and d is the distance between the two receiving antennas RX1 and RX2.

[0105] Figure 4A is a schematic diagram of the antenna configuration according to the first embodiment of the present invention. Figure 4A , multiple transmitting antennas 12 include two transmitting antennas TX1 and TX2 located in the XY / YX plane. There is a spacing L1 between the two transmitting antennas TX1 and TX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). Multiple receiving antennas 13 include two receiving antennas RX1 and RX2 located in the XY / YX plane. There is a spacing L2 between the two receiving antennas RX1 and RX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). The transmitting antennas TX1 and TX2 and the receiving antennas RX1 and RX2 are all arranged along the X-axis parallel to the XY plane or along the Y-axis parallel to the YX plane. That is, the transmitting antennas TX1 and TX2 and the receiving antennas RX1 and RX2 are arranged in the same direction. Compared with the transmitting antenna TX2, the transmitting antenna TX1 is closer to the receiving antennas RX1 and RX2; and, compared with the receiving antenna RX2, the receiving antenna RX1 is closer to the transmitting antennas TX1 and TX2. There is a spacing B between the transmitting antenna TX1 and the receiving antenna RX2 (which can be defined according to the designer's requirements). In the direction parallel to the Y axis of the XY plane or along the X axis parallel to the YX plane, the distance between the transmitting antenna TX1 / TX2 and the receiving antenna RX1 / RX2 is zero (i.e., arranged along an imaginary straight line parallel to the X axis of the XY plane or along the Y axis parallel to the YX plane).

[0106] In one embodiment, the spacing L1 is equal to / same as the spacing L2. In another embodiment, the spacing L1 is twice the spacing L2. In another embodiment, the spacing L2 is twice the spacing L1. In other embodiments, the spacing L1 and the spacing L2 may be in other ratios.

[0107] It should be noted that the XY / YX plane is formed by the X-axis (corresponding to the horizontal direction in the XY plane and corresponding to the vertical direction in the YX plane) and the Y-axis (corresponding to the vertical direction in the XY plane and corresponding to the horizontal direction in the YX plane), and the X-axis is perpendicular to the Y-axis.

[0108] Figure 4B is a schematic diagram of the antenna configuration according to the second embodiment of the present invention. Figure 4B ,and Figure 4AThe difference between the antenna configuration of the first embodiment is that there is a spacing (which can be defined according to the designer's requirements) between the transmitting antenna TX1 / TX2 and the receiving antenna RX1 / RX2 in the direction parallel to the Y axis of the XY plane or along the X axis of the YX plane. As shown in the figure, the antenna RX1 / RX2 is farther away from the X axis parallel to the XY plane or the Y axis of the YX plane than the transmitting antenna TX1 / TX2.

[0109] In one embodiment, a frame time includes a plurality of transceiver cycles, and these transceiver cycles correspond to the cycles of the detection signal. Figure 5 is a schematic diagram of the detection signal TS1, TS2 period and antenna switching according to an embodiment of the present invention. Figure 5 , the detection signal is, for example, a continuous wave signal, and is expressed in the form of a chirp signal (frequency changes over time), and in the present embodiment, the period of the detection signal is, for example, the frequency change period of the detection signal. Among them, the exemplary detection signal TS1 is presented as a triangular wave with frequency change. In one cycle of the triangular wave, its frequency increases / rises over time in the rising section, and its frequency decreases / decreases over time in the falling section. Alternatively, the detection signal TS2 of another example is presented as a sawtooth wave with frequency change. In one cycle of the sawtooth wave, its frequency increases / rises over time in the rising section, and its frequency drops directly to the trough in the falling section. One frame time includes three transceiver cycles. Each transceiver cycle may, for example, include two cycles of the detection signal TS1, or may include four cycles of the detection signal TS2.

[0110] The switching circuits 161 and 162 of the selection circuit 16 are used to select only one of the multiple transmitting antennas 12 (that is, the transmitting antennas TX1 and TX2 in this embodiment) to transmit the transmission signal in each transceiver cycle in the frame time according to one or more control signals, and select only one of the multiple receiving antennas 13 (that is, the receiving antennas RX1 and RX2 in this embodiment) to receive the echo signal in each transceiver cycle in the frame time. That is to say, in one transceiver cycle, the switching circuit 161 of the selection circuit 16 only turns on / selects one transmitting antenna 12 (that is, selects TX1 or TX2), that is, interrupts the signal transmitted by the transmitting circuit 11 to other transmitting antennas, and the switching circuit 162 of the selection circuit 16 only turns on / selects / uses one receiving antenna 13 (that is, selects the receiving antenna RX1 or RX2), that is, interrupts the signal transmitted by other receiving antennas to the receiving circuit 14. The transmitting antenna 12 (TX1 or TX2) and the receiving antenna 13 (RX1 or RX2) that are turned on / selected / used in this transceiver cycle form a transceiver matching combination.

[0111] by Figure 5For example, the control signal TXSC for the transmitting antennas TX1 and TX2 is coded as "1", which means that only the transmitting antenna TX1 is turned on / selected / used (the transmission signal is only transmitted via the transmitting antenna TX1 and the signal transmitted from the transmitting circuit 11 to the transmitting antenna TX2 is interrupted), and the control signal TXSC for the receiving antennas RX1 and RX2 is coded as "2", which means that only the transmitting antenna TX2 is turned on / selected / used (the transmission signal is only transmitted via the transmitting antenna TX2 and the signal transmitted from the transmitting circuit 11 to the transmitting antenna TX1 is interrupted). On the other hand, the control signal RXSC for the receiving antennas RX1 and RX2 is coded as "1", which means that only the receiving antenna RX1 is turned on / selected / used (only the echo signal of the receiving antenna RX1 is received by the receiving circuit 14 and the signal transmitted from the receiving antenna RX2 to the receiving circuit 14 is interrupted), and the control signal RXSC for the receiving antennas RX1 and RX2 is coded as "2", which means that only the receiving antenna RX2 is turned on / selected / used (only the echo signal of the receiving antenna RX2 is received by the receiving circuit 14 and the signal transmitted from the receiving antenna RX1 to the receiving circuit 14 is interrupted). In this embodiment, it can be considered that the control signal TXSC controls the selection of the transmitting antenna TX1 or TX2, and the control signal RXSC controls the selection of the receiving antenna RX1 or RX2. However, in other embodiments, the same control signal can also be used to control the selection of the transmitting antenna TX1 or TX2 and the selection of the receiving antenna RX1 or RX2.

[0112] "TX1+RX1" represents the transceiver combination TRC of the transmitting antenna TX1 and the receiving antenna RX1; "TX1+RX2" represents the transceiver combination TRC of the transmitting antenna TX1 and the receiving antenna RX2; "TX2+RX1" represents the transceiver combination TRC of the transmitting antenna TX2 and the receiving antenna RX1; "TX2+RX2" represents the transceiver combination TRC of the transmitting antenna TX2 and the receiving antenna RX2.

[0113] In addition, the period of the signal corresponding to any code (for example, "1" or "2") of the control signals TXSC and RXSC corresponds to the period of the detection signal. For example, the two codes correspond to a triangular wave detection signal TS1 or to a sawtooth wave detection signal TS2. The switching time between two adjacent codes of the control signals TXSC and RXSC is, for example, located at the starting point, end point or end point of the period of the detection signals TS1 and TS2, or the switching time between two adjacent codes of the control signals TXSC and RXSC can also be located at the starting point, end point or end point of the period of the detection signals TS1 and TS2 and shifted forward a predetermined time or shifted backward a predetermined time. Figure 2A or Figure 2B As shown, the control signal is generated based on the detection signal of the frequency synthesizer 171 or the pulse generator 172, and the detection signal is generated based on the clock signal provided by the clock generator 19. Therefore, the switching time point and cycle of the control signal can be synchronized with the clock signal.

[0114] In one embodiment, in the first operation mode, the frame time includes three transceiver cycles. The three transceiver cycles include a first transceiver cycle, a second transceiver cycle, and a third transceiver cycle. These transceiver cycles correspond to a plurality of transceiver matching combinations TRC, respectively. One transceiver cycle corresponds to one transceiver matching combination TRC. The switching circuits 161 and 162 of the selection circuit 16 select the transmitting antenna TX1 and the receiving antenna RX1 (corresponding to the transceiver matching combination TRC of "TX1+RX1") in the first transceiver cycle according to one or more control signals TXSC and RXSC, select the transmitting antenna TX1 and the receiving antenna RX2 or select the transmitting antenna TX2 and the receiving antenna RX1 (corresponding to the transceiver matching combination TRC of "TX1+RX2" or "TX2+RX1") in the second transceiver cycle, and select the transmitting antenna TX2 and the receiving antenna RX2 (corresponding to the transceiver matching combination TRC of "TX2+RX2") in the third transceiver cycle. In other embodiments, according to the requirements of component configuration, signal transmission or data calculation, the operations of the above three transceiver cycles can also be exchanged in timing.

[0115] Thereby, the transmitting antennas TX1 and TX2 take turns to transmit the transmission signal in time-sharing, and the receiving antennas RX1 and RX2 take turns to receive the echo signal in time-sharing, thereby achieving an effect close to that of one transmitting antenna and three receiving antennas. Only one path passes through one receiver during one transmission and reception period, which can reduce the current and the need for local oscillation phase correction. The symmetrical architecture of the dual transmitting antennas and dual receiving antennas can also reduce the size of the transceiver module, thereby making the overall system module more compact. In addition, the architecture of this embodiment can obtain spatial information of more external objects, that is, the spatial information of external objects can be judged more accurately. For example, for multiple different external objects that are at the same distance relative to the receiving antenna at the same time point, the number of external objects that can be distinguished by the architecture of this embodiment can be increased.

[0116] In another embodiment, each transceiver cycle may be half a cycle of the detection signal TS1 (ie, corresponding to a rising segment or a falling segment of a triangle wave) or a cycle of the detection signal TS2 (ie, corresponding to a sawtooth wave). Figure 5For example, the bottom control signals TXSC and RXSC are switched to another transceiver pairing combination for each detection signal TS2 cycle. A frame cycle includes four transceiver cycles. For example, the first transceiver cycle, the second transceiver cycle, the third transceiver cycle and the fourth transceiver cycle are arranged in time sequence. The switching circuits 161 and 162 of the selection circuit 16 select the transmitting antenna TX1 and the receiving antenna RX1 (corresponding to the transceiver pairing combination TRC of "TX1+RX1") in the first transceiver cycle, select the transmitting antenna TX1 and the receiving antenna RX2 (corresponding to the transceiver pairing combination TRC of "TX1+RX2") in the second transceiver cycle, select the transmitting antenna TX2 and the receiving antenna RX1 (corresponding to the transceiver pairing combination TRC of "TX2+RX1") in the third transceiver cycle, and select the transmitting antenna TX2 and the receiving antenna RX2 (corresponding to the transceiver pairing combination TRC of "TX2+RX2") in the fourth transceiver cycle according to one or more control signals.

[0117] However, the transmission and reception period and the detection signal period may also be in other proportions.

[0118] In one embodiment, multiple transmission and reception combinations executed according to one or more control signals at different times (e.g., different transmission and reception cycles) in a frame time correspond to multiple time-sharing echo signals. "Time-sharing" means that at different times, the receiving antennas TX1 and TX2 take turns to "time-sharing" the echo signals. The time-sharing echo signals include the echo signals received at different times (e.g., different transmission and reception cycles) in the frame time. Figure 5 For example, one frame time includes four transceiver cycles (corresponding to the control signals TXSC and RXSC at the bottom), and the echo signal received in any transceiver cycle is called a time-division echo signal.

[0119] In one embodiment, the phase difference between at least two groups of two time-division echo signals that are adjacent in time sequence among the time-division echo signals is equal. Specifically, Fig. 6A is a schematic diagram of antenna configuration, transmission angle and arrival angle according to an embodiment of the present invention. Figure 4A and Fig. 6A , the transmitting antenna TX1, the transmitting antenna TX2, the receiving antenna RX1 and the receiving antenna RX2 are arranged in a row along the same direction (for example, the horizontal direction of the drawing) in space, Figure 4A The spacing L1 is Fig. 6A The distance is 2d, and Figure 4A The spacing L2 is Fig. 6AThat is, the spacing L1 is twice the spacing L2. Therefore, the distances from the transmitting antenna TX1 to the (external) object O differ by 2dsinθ, and the distances from the object O to the receiving antenna RX1 to the receiving antenna RX2 differ by dsinθ. The arrival angle θ is the angle of the object O relative to the radar devices 10, 20, 30.

[0120] The two transmitting antennas TX1 and TX2 and the two receiving antennas RX1 and RX2 can form four types of transceiver combinations, each of which includes a combination of one of the two transmitting antennas TX1 and TX2 and one of the two receiving antennas RX1 and RX2. Figure 5 "TX1+RX1", "TX1+RX2", "TX2+RX1" and "TX2+RX2" are shown.

[0121] The time-sharing echo signals received in different transmission and reception cycles have different distances. Fig. 6A dsinθ is shown. This difference in distance creates a virtual antenna configuration. Figure 6B is a schematic diagram of an antenna configuration and an equivalent virtual antenna according to an embodiment of the present invention. Figure 6B , if the spacing L1 between the two transmitting antennas TX1 and TX2 (for example, distance 2d) is twice the spacing L2 between the two receiving antennas RX1 and RX2 (for example, distance d) or the spacing L2 between the two receiving antennas RX1 and RX2 (for example, distance 2d) is twice the spacing L1 between the two transmitting antennas TX1 and TX2 (for example, distance d), then these transmitting antennas TX1 and TX2 and receiving antennas RX1 and RX2 are equivalent to virtual transmitting antenna vTX1, virtual receiving antenna vRX1, virtual receiving antenna vRX2, virtual receiving antenna vRX3 and virtual receiving antenna vRX4 arranged in the same direction (for example, horizontal direction of the drawing), and there is a first virtual spacing (for example, distance d) between the virtual receiving antenna vRX1 and the virtual receiving antenna vRX2, a second virtual spacing (for example, distance d) between the virtual receiving antenna vRX2 and the virtual receiving antenna vRX3, and a third virtual spacing (for example, distance d) between the third virtual receiving antenna and the virtual receiving antenna vRX4. In addition, the first virtual spacing, the second virtual spacing and the third virtual spacing are equal. For example, the distance d may be half of the wavelength of the detection signal, but is not limited thereto.

[0122] Therefore, at the first time (e.g., the first transceiver cycle), the time-division echo signal from the virtual transmitting antenna vTX1 to the virtual receiving antenna vRX1 will have a phase in distance. At the second time (e.g., the second transceiver cycle), the transmission distance of the time-division echo signal from the virtual transmitting antenna vTX1 to the virtual receiving antenna vRX2 is one distance dsinθ greater than the transmission distance of the time-division echo signal at the first time. The phase difference between the above two time-division echo signals is Similarly, at the third time (for example, the third transceiver cycle), the transmission distance of the time-sharing echo signal from the virtual transmitting antenna vTX1 to the virtual receiving antenna vRX3 is one distance dsinθ greater than the transmission distance of the time-sharing echo signal at the second time; at the fourth time (for example, the fourth transceiver cycle), the transmission distance of the time-sharing echo signal from the virtual transmitting antenna vTX1 to the virtual receiving antenna vRX4 is one distance dsinθ greater than the transmission distance of the time-sharing echo signal at the third time. Therefore, the phase difference between two time-sharing echo signals adjacent in time sequence among the four time-sharing echo signals received at four times (for example, four transceiver cycles) is The phase difference of these adjacent time-sharing echo signals can be defined as a vector a(θ) of a uniform linear array (ULA):

[0123]

[0124] In addition, when the interval L1 (e.g., 2d) between the two transmitting antennas TX1 and TX2 is twice the interval L2 (e.g., d) between the two receiving antennas RX1 and RX2, the ratio of the distance difference (e.g., dsinθ) between the distances of at least two groups of time-sequentially adjacent two time-sequentially adjacent echo signals reaching the corresponding virtual receiving antenna to the interval L2 (e.g., d) between the two receiving antennas RX1 and RX2 is sinθ, or when the interval L2 (e.g., 2d) between the two receiving antennas RX1 and RX2 is twice the interval L1 (e.g., d) between the two transmitting antennas TX1 and TX2, the ratio of the distance difference (e.g., dsinθ) between the distances of at least two groups of time-sequentially adjacent two time-sequentially adjacent echo signals reaching the corresponding virtual receiving antenna to the interval L1 (e.g., d) between the two transmitting antennas TX1 and TX2 is sinθ. Wherein, the arrival angle θ is the angle of the external object relative to the radar device 10, 20, 30.

[0125] Figure 6C is a schematic diagram of an antenna configuration and an equivalent virtual antenna according to another embodiment of the present invention. Figure 4A and Figure 6C, if the spacing L1 (e.g., distance d) between the two transmitting antennas TX1 and TX2 is the same as the spacing L2 (e.g., distance d) between the two receiving antennas RX1 and RX2, then these transmitting antennas TX1 and TX2 and receiving antennas RX1 and RX2 are equivalent to virtual transmitting antenna vTX1, virtual receiving antenna vRX1, virtual receiving antenna vRX2 and virtual receiving antenna vRX3 arranged in the same direction (e.g., horizontal direction of the drawing), and there is a first virtual spacing (e.g., distance d) between the virtual receiving antenna vRX1 and the virtual receiving antenna vRX2, and there is a second virtual spacing (e.g., distance d) between the virtual receiving antenna vRX2 and the virtual receiving antenna vRX3. In addition, the first virtual spacing is equal to the second virtual spacing. For example, both are distance d. d can be half of the wavelength of the detection signal, but is not limited thereto.

[0126] Similarly, at the first time (for example, the first transceiver cycle), the time-sharing echo signal from the virtual transmitting antenna vTX1 to the virtual receiving antenna vRX1 will have a phase in distance. At the second time (for example, the second transceiver cycle), the transmission distance of the time-sharing echo signal from the virtual transmitting antenna vTX1 to the virtual receiving antenna vRX2 is one distance dsinθ longer than the transmission distance of the time-sharing echo signal at the first time. At the third time (for example, the third transceiver cycle), the transmission distance of the time-sharing echo signal from the virtual transmitting antenna vTX1 to the virtual receiving antenna vRX3 is one distance dsinθ longer than the transmission distance of the time-sharing echo signal at the second time. Therefore, the phase difference between two time-sharing echo signals that are adjacent in time sequence among the three time-sharing echo signals received at three times (for example, three transceiver cycles) is The phase difference of these adjacent time-sharing echo signals can be defined as a vector a2(θ) of a uniform linear array:

[0127]

[0128] Fig. 7A is a schematic diagram of the antenna configuration according to the third embodiment of the present invention. Fig. 7A, multiple transmitting antennas 12 include two transmitting antennas TX1 and TX2 located in the XY / YX plane. There is a spacing L3 between the two transmitting antennas TX1 and TX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). Multiple receiving antennas 13 include two receiving antennas RX1 and RX2 located in the XY / YX plane. There is a spacing L4 between the two receiving antennas RX1 and RX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). The transmitting antennas TX1 and TX2 are arranged along the direction parallel to the X-axis of the XY plane or along the direction parallel to the Y-axis of the YX plane. And the receiving antennas RX1 and RX2 are arranged along the direction parallel to the Y-axis of the XY plane or along the direction parallel to the X-axis of the YX plane. That is, the transmitting antennas TX1 and TX2 and the receiving antennas RX1 and RX2 are arranged in directions perpendicular to each other. Fig. 7A In the embodiment, the receiving antennas RX1 and RX2 are not aligned with the transmitting antenna TX1 or TX2. Thus, the transmitting antennas TX1 and TX2 and the receiving antennas RX1 and RX2 are arranged in a T-shape, for example.

[0129] Figure 7B is a schematic diagram of the antenna configuration according to the fourth embodiment of the present invention. Figure 7B , multiple transmitting antennas 12 include two transmitting antennas TX1 and TX2 located in the XY / YX plane. There is a spacing L5 between the two transmitting antennas TX1 and TX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). Multiple receiving antennas 13 include two receiving antennas RX1 and RX2 located in the XY / YX plane. There is a spacing L6 between the two receiving antennas RX1 and RX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). The transmitting antennas TX1 and TX2 are arranged along the direction parallel to the Y axis of the XY plane or along the direction parallel to the X axis of the YX plane. And the receiving antennas RX1 and RX2 are arranged along the direction parallel to the X axis of the XY plane or along the direction parallel to the Y axis of the YX plane. That is, the transmitting antennas TX1 and TX2 and the receiving antennas RX1 and RX2 are arranged in directions perpendicular to each other. Figure 7B In the embodiment, the receiving antennas RX1 and RX2 may be arranged in the same direction as the transmitting antenna TX1. Thus, the transmitting antennas TX1 and TX2 and the receiving antennas RX1 and RX2 are arranged in an L-shape, for example.

[0130] Figure 8 is a schematic diagram of antenna configuration, transmission angle and arrival angle according to an embodiment of the present invention. Figure 8, the radar devices 20 and 30 can transmit transmission signals to external objects (also called targets) through the transmitting antenna TX1. The receiving antennas RX1 and RX2 receive echo signals reflected from external objects. Assume that on the XZ plane, the two receiving antennas RX1 and RX2 are separated by a distance d (for example, half the wavelength of the detection signal), wherein the receiving antenna RX2 is farther away from the transmitting antenna TX1 than the receiving antenna RX1. Therefore, the round-trip distance from the transmitting antenna TX1 through the external object and arriving at the receiving antenna RX1 differs from the round-trip distance from the transmitting antenna TX1 through the external object and arriving at the receiving antenna RX2 by dsinφ. The distance difference of dsinφ will be reflected in the phase difference between the echo signals of the two receiving antennas RX1 and RX2, and the arrival angle φ can be estimated accordingly. In other words, compared to Figure 4A and Figure 4B Antenna configuration, Fig. 7A and Figure 7B The antenna configuration can also sense position information in another dimension (eg, range, azimuth (ie, angle of arrival φ)).

[0131] Fig. 9 is a schematic diagram of the period of the detection signals TS1 and TS2 and antenna switching according to an embodiment of the present invention. Fig. 9 The detection signal is, for example, a continuous wave signal and is expressed in the form of a chirp signal, wherein the detection signal TS1 of the example is a triangular wave. Alternatively, the detection signal TS2 of another example is a sawtooth wave. One frame time includes four transceiver cycles. Each transceiver cycle may include, for example, two cycles of the detection signal TS1, or may include four cycles of the detection signal TS2.

[0132] Similarly, the switching circuits 161 and 162 of the selection circuit 16 are used to select only one of the multiple transmitting antennas 12 (that is, the transmitting antennas TX1 and TX2 in this embodiment) to transmit the transmission signal in each transceiver cycle in the frame time according to one or more control signals, and select only one of the multiple receiving antennas 13 (that is, the receiving antennas RX1 and RX2 in this embodiment) to receive the echo signal in each transceiver cycle in the frame time. That is, in one transceiver cycle, the switching circuit 161 of the selection circuit 16 only turns on / selects one transmitting antenna 12 (that is, selects TX1 or TX2), that is, interrupts the signal transmitted by the transmitting circuit 11 to other transmitting antennas, and the switching circuit 162 of the selection circuit 16 only turns on / selects / uses one receiving antenna 13 (that is, selects the receiving antenna RX1 or RX2), that is, interrupts the signal transmitted by other receiving antennas to the receiving circuit 14. The transmitting antenna 12 (TX1 or TX2) and the receiving antenna 13 (RX1 or RX2) that are turned on / selected / used in this transmission / reception cycle form a transmission / reception combination.

[0133] In one embodiment, in the second operation mode, the frame time includes four transceiver cycles. The four transceiver cycles include a first transceiver cycle, a second transceiver cycle, a third transceiver cycle, and a fourth transceiver cycle. These transceiver cycles correspond to a plurality of transceiver matching combinations TRC, respectively. One transceiver cycle corresponds to one transceiver matching combination TRC. The switching circuits 161 and 162 of the selection circuit 16 select the transmitting antenna TX1 and the receiving antenna RX1 (corresponding to the transceiver matching combination TRC of "TX1+RX1") in the first transceiver cycle, select the transmitting antenna TX1 and the receiving antenna RX2 (corresponding to the transceiver matching combination TRC of "TX1+RX2") in the second transceiver cycle, select the transmitting antenna TX2 and the receiving antenna RX2 (corresponding to the transceiver matching combination TRC of "TX2+RX2") in the third transceiver cycle, and select the transmitting antenna TX2 and the receiving antenna RX1 (corresponding to the transceiver matching combination TRC of "TX2+RX1") in the fourth transceiver cycle according to one or more control signals TXSC and RXSC. In other embodiments, the operations of the above four transceiver cycles may be switched in timing according to requirements such as component configuration, signal transmission or data calculation.

[0134] Thereby, the transmitting antennas TX1 and TX2 transmit the transmission signal in turn in time sharing, and the receiving antennas RX1 and RX2 receive the echo signal in turn in time sharing, thereby achieving the effect of one transmitting antenna and four receiving antennas.

[0135] Fig. 10A is a schematic diagram of the antenna configuration according to the fifth embodiment of the present invention. Fig. 10A, multiple transmitting antennas 12 include two transmitting antennas TX1 and TX2 located in the XY / YX plane. There is a spacing L7 between the two transmitting antennas TX1 and TX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). Multiple receiving antennas 13 include two receiving antennas RX1 and RX2 located in the XY / YX plane. There is a spacing L8 between the two receiving antennas RX1 and RX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). The transmitting antennas TX1 and TX2 and the receiving antennas RX1 and RX2 are all arranged along the X-axis parallel to the XY plane or along the Y-axis parallel to the YX plane. That is, the transmitting antennas TX1 and TX2 and the receiving antennas RX1 and RX2 are arranged in the same direction. Compared with the transmitting antenna TX2, the transmitting antenna TX1 is closer to the receiving antennas RX1 and RX2; and, compared with the receiving antenna RX2, the receiving antenna RX1 is closer to the transmitting antennas TX1 and TX2. In the direction parallel to the Y axis of the XY plane or along the X axis parallel to the YX plane, the distance between the transmitting antenna TX1 / TX2 and the receiving antenna RX1 / RX2 is zero (i.e., arranged along an imaginary straight line parallel to the X axis of the XY plane or along the Y axis parallel to the YX plane). In one embodiment, the spacing L7 is twice the spacing L8. In other embodiments, the spacing L7 and the spacing L8 may also be in other proportions according to the requirements of the use scenario.

[0136] and Figure 4A The difference between the embodiments is that Fig. 10B yes Fig. 10A For a schematic diagram of the radiation pattern, please refer to Fig. 10B , the beam pattern B1 formed by the transmitting antenna TX1 is different from the beam pattern B2 formed by the transmitting antenna TX2. As shown in the figure, the beam pattern B1 is slightly toward the lower left of the figure, and the beam pattern B2 is slightly toward the lower right of the figure. However, the shape and direction of the beam pattern can still be adjusted according to actual needs.

[0137] Fig.11A is a schematic diagram of the antenna configuration according to the sixth embodiment of the present invention. Fig.11A, multiple receiving antennas 13 include two receiving antennas RX1 and RX2 located in the XY / YX plane. There is a spacing L9 between the two receiving antennas RX1 and RX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). Multiple transmitting antennas 12 include two transmitting antennas TX1 and TX2 located in the XY / YX plane. There is a spacing L10 between the two transmitting antennas TX1 and TX2 (for example, half of the wavelength of the detection signal or the same as the wavelength, but not limited to this). The transmitting antennas TX1, TX2 and the receiving antennas RX1 and RX2 are all arranged along the direction parallel to the X-axis of the XY plane or along the direction parallel to the Y-axis of the YX plane. In the direction parallel to the Y-axis of the XY plane or along the X-axis of the YX plane, there is a spacing between the transmitting antenna TX1 / TX2 and the receiving antenna RX1 / RX2 (which can be defined according to the designer's requirements). As Fig.11A As shown, compared with the transmitting antenna TX1 / TX2, the antenna RX1 / RX2 is, for example, further away from the X axis parallel to the XY plane or the Y axis of the YX plane. In one embodiment, the spacing L10 is twice the spacing L9. In other embodiments, the spacing L9 and the spacing L10 may be in other proportions according to the requirements of the use scenario.

[0138] and Figure 4A The difference between the embodiments is that Fig. 11B yes Fig.11A For a schematic diagram of the radiation pattern, please refer to Fig. 11B , the beam patterns B3 and B4 formed by the transmitting antenna TX1 are different from the beam pattern (for example, omnidirectional) formed by the transmitting antenna TX2. As shown in the figure, the beam pattern B3 is slightly toward the lower left of the figure, and the beam pattern B3 is thin and long, and the coverage range is farther and narrower, while the beam pattern B4 is slightly toward the right of the figure, and the beam pattern B4 is flat and fat, and the coverage range is closer and wider. However, the shape and direction of the beam pattern can still be adjusted according to actual needs.

[0139] It should be noted that Fig. 10A and Fig.11A Applicable to Fig. 9 The second operation mode shown is not described in detail here. In this way, the diversity of radiation patterns can be achieved.

[0140] Fig.12 FIG. 4 is a block diagram of components of a radar device 40 according to an embodiment of the present invention. Fig.12 ,and Figure 1 The difference between the radar device 10 and the radar device 40 is that the radar device 40 further includes an I / Q (in-phase / quadrature) detection circuit 173. The detection circuit 173 is coupled to the receiving circuit 14. For example, the detection circuit 173 can receive Figure 2A or Figure 2BThe baseband signal DO output by the analog-to-digital converter ADC in the receiving circuit 14.

[0141] Via two receiving antennas 13 respectively (for example, Figure 2A or Figure 2B The intermediate frequency signals obtained by the receiving antennas RX1, RX2) (for example, Figure 2A or Figure 2B The output signal of the mixer RXMIX) has a frequency of f IF1 = f IF2 = |f RF - f LO |, and their phases are ∠φ IF1 = |∠φ RF1 - ∠φ LORX | and ∠φ IF2 = |∠φ RF2 - ∠φ LORX |. Among them, ∠φ IF1 = ∠(φ LORX + / - φ IF ) and ∠φ IF2 = ∠(φ LORX + / - φ RF ), f IF1 is the frequency of the intermediate frequency signal corresponding to the receiving antenna RX1, f IF2 is the frequency of the intermediate frequency signal corresponding to the receiving antenna RX2, f RF is the frequency of the radio frequency signal, f LO is the frequency of the detection signal, ∠φ IF1 is the phase of the intermediate frequency signal corresponding to the receiving antenna RX1, ∠φ IF2 is the phase of the intermediate frequency signal corresponding to the receiving antenna RX2, ∠φ RF1 is the phase of the radio frequency signal corresponding to the receiving antenna RX1, ∠φ RF2 is the phase of the radio frequency signal corresponding to the receiving antenna RX2, ∠φ LORX is the phase of the detection signal, ∠φ RF is the phase of the radio frequency signal, and ∠φ IF is the phase of the intermediate frequency signal (optionally, and can be ignored under detection at relatively short distances). Then, the detection circuit 173 can perform another down-conversion accompanied by the I / Q format on the intermediate frequency signal to determine its phase information. Or, for FMCW signals, the phase information can be obtained based on the time delay by performing a fast Fourier transform.

[0142] It should be noted that the phase errors of the transmitting antennas TX1 / TX2 and the receiving antennas RX1 / RX2 can be measured by the existing intermediate frequency self-leakage, and the phase errors can be stored for phase error compensation. Figure 2AFor example, a leakage condition is simulated by a receiving-end loopback architecture, and the intermediate frequency signal output by the mixer RXMIX is corrected by a correction circuit IFA-2 using a sine wave signal with a phase corresponding to the leakage condition to reduce the phase error.

[0143] Fig.13 is a flowchart of determining spatial information according to an embodiment of the present invention. Fig.13 , the radar devices 10, 20, 30, 40 may transmit a transmission signal (step 1310). Figure 4A , Figure 4B , Fig. 7A , Figure 7B , Fig. 10A and Fig.11A According to the antenna configuration and the corresponding operation mode (for example, the first operation mode and the second operation mode mentioned above), the transmitting antenna 12 in the corresponding transceiver combination is selected to transmit the transmission signal, and the receiving antenna 13 in the corresponding transceiver combination is selected to receive the echo signal, and a virtual transceiver combination is established accordingly (step 1320). The virtual transceiver combination is, for example, Figure 6B and Figure 6C The combination of the virtual transmitting antenna vTX1 and the virtual receiving antennas vRX1 to vRX4 or the virtual receiving antennas vRX1 to vRX3 is shown. That is, the virtual transmitting and receiving combination of a virtual transmitting antenna and four virtual receiving antennas or a virtual transmitting antenna and three virtual receiving antennas is achieved by using the physical two transmitting antennas TX1 and TX2 and the two receiving antennas RX1 and RX2 to achieve multiple transmission and reception combinations in time division.

[0144] Next, the radar devices 10, 20, 30, 40 may convert each time-division echo signal into spectrum information to determine the distance information (step 1330). Different RF signals may be generated for the time-division echo signals corresponding to different transmission and reception periods, and the receiving circuit 14 may generate corresponding internal signals (e.g., the baseband signal DO) according to the detection signal and these different RF signals.

[0145] Taking a frame including four transceiver cycles as an example, the receiving circuit 14 can generate a first internal signal corresponding to the first transceiver cycle, the receiving circuit 14 can generate a second internal signal corresponding to the second transceiver cycle, the receiving circuit 14 can generate a third internal signal corresponding to the third transceiver cycle, and the receiving circuit 14 can generate a fourth internal signal corresponding to the fourth transceiver cycle.

[0146] Taking a frame including three transceiver cycles as an example, the receiving circuit 14 may generate a first internal signal corresponding to the first transceiver cycle, the receiving circuit 14 may generate a second internal signal corresponding to the second transceiver cycle, and the receiving circuit 14 may generate a third internal signal corresponding to the third transceiver cycle.

[0147] Fig.14 is a schematic diagram of signal processing according to an embodiment of the present invention. Fig.14 The radar devices 10-40 may further include a processor 50. The processor 50 may be coupled to Figure 1 , Figure 2A or Figure 2B The receiving circuit 14. Figure 2A and Figure 2B For example, the operation processor 50 is coupled to the analog-to-digital converter ADC in the receiving circuit 14 and receives the baseband signal DO. The operation processor 50 can be a chip, a processor, a microcontroller, an application-specific integrated circuit (ASIC), or any type of digital circuit. It should be noted that Fig.14 The transmitting circuit 11 is omitted between the switching circuit 161 and the operation processor 50, and the receiving circuit 114 is omitted between the switching circuit 162 and the operation processor 50. 0,n (t) is the echo signal (time domain) received by the receiving antenna RX1, x 1,n (t) is the echo signal (time domain) received by the receiving antenna RX2, v n (m) is the baseband signal (time domain) (i.e., the internal signal), FFT stands for Fast Fourier Transform, and V n (k) is the baseband signal (frequency domain). In addition, u 0,n (k) is the baseband signal (frequency domain) corresponding to the receiving antenna RX1, u 1,n (k) is the baseband signal (frequency domain) corresponding to the receiving antenna RX2. The processor 50 processes the baseband signal u 0,n (k) and u 1,n (k) Perform high-pass filtering to obtain the baseband signal S of the positive frequency part (0≤ω<π) 0,n (k), S 1,n (k) Next, the processor 50 processes the baseband signal S 0,n (k), S 1,n (k) Perform conjugate operations, multiplications and linear combinations to obtain the evaluation signal Y 0,n (k), Y 1,n (k).

[0148] In one embodiment, for a frame including four transceiver cycles (i.e., corresponding to four transceiver combinations in time sharing), the processor 50 may determine the spatial information of the external object according to the first internal signal, the second internal signal, the third internal signal, and the fourth internal signal. In another embodiment, for a frame including three transceiver cycles (i.e., corresponding to three transceiver combinations in time sharing), the processor 50 may determine the spatial information of the external object according to the first internal signal, the second internal signal, and the third internal signal.

[0149] In one embodiment, the spatial information of the external object includes distance information. The operation processor 50 can obtain the spectrum information of the baseband signal DO corresponding to different internal signals through fast Fourier transform, discrete Fourier transform (DFT) or other time domain to frequency domain conversion. The amplitude of the spectrum information corresponds to the distance information. Taking the power spectrum diagram as an example of the spectrum information, assuming that the echo signal is obtained by reflection from an external object, each internal signal will have a peak at the position of this external object (or the distance from this external object).

[0150] Taking four transceiver combinations as an example, if there are K external objects (K is a positive integer) located at the same position (i.e., the same beat frequency, and the beat frequency is the peak position in the spectrum), the internal signals corresponding to the four transceiver combinations are sequentially converted from time domain to frequency domain (e.g., discrete or fast Fourier transform), conjugate operation, product and linear combination to obtain the evaluation signal They are:

[0151]

[0152]

[0153]

[0154]

[0155] , where ω (B) is the beat frequency (assuming they are at the same distance, so their values ​​are the same), A is the amplitude of the reflected power associated with the external object, and R is the distance between the external object and the transmitting antenna 12 or the receiving antenna 13 (which can be used as distance information, such as Fig. 6A θ is the angle of the external object relative to the receiving antenna 13, H 0 (ω), H 1 (ω) is M is the number of sampled signals within a detection signal cycle, E(θ) is the corresponding parameter of the antenna beam radiation pattern, N 0 and N 1is the noise, Y 0,t1 is the internal signal obtained by receiving antenna RX1 during the transmission and reception cycle t1, Y 1,t2 is the internal signal obtained by receiving antenna RX2 during the transmission and reception cycle t2, Y 0,t3 is the internal signal obtained by receiving antenna RX1 during the transmission and reception cycle t3, and Y 1,t4 It is the internal signal obtained via the receiving antenna RX2 during the transceiver cycle t4.

[0156] The above formulas (5) to (8) can be converted into matrix form:

[0157] ,

[0158] in n is noise. Thus, the operation processor 50 can estimate the distance R and obtain the distance information accordingly. Since the method of this embodiment sets the phase difference between at least two groups of time-sequence adjacent two time-division echo signals in the time-division echo signal to be equal, the operation is more concise and convenient, the operation time of the operation processor 50 is reduced, and the efficiency of the radar device 10-40 is improved.

[0159] On the other hand, the operation processor 50 can determine whether there is an external object by setting an amplitude critical value (step 1340), and determine the number of external objects accordingly (step S1350). In one embodiment, the number of one or more external objects can be determined based on the spectrum information. Taking the power spectrum diagram as an example of the spectrum information, if the peak corresponding to any distance is greater than the amplitude critical value, it is determined that an external object exists. It is determined whether the peaks corresponding to different distances are greater than the amplitude critical value, and the number of all peaks greater than the amplitude critical value is counted. The number of these peaks greater than the amplitude critical value can be used as the number of external objects.

[0160] In addition, the processor 50 may convert the multiple time-division echo signals into spatial spectrum information to determine the azimuth information (step 1360). A peak in the spatial spectrum information corresponds to the azimuth information, and the spatial information includes the azimuth information. The azimuth information is, for example, the above-mentioned arrival angle θ or arrival angle φ. Taking formula (9) as an example, its covariance matrix can be expressed as:

[0161]

[0162] , where σ 2 is the variance of the noise (or noise power), and I is the unit matrix. Thus, the processor 50 can estimate the arrival angles θ of the 1st to Kth external objects. 1 ~θ K , and obtain the position information accordingly.

[0163] Take K=2 (i.e., two external objects) as an example,

[0164]

[0165] ,θ 1 ,θ 2 They are the position information (eg, arrival angle) corresponding to the two external objects respectively.

[0166] The angle of arrival (AoA) estimation algorithm is, for example, a Multiple Signal Classification Algorithm (MUSIC), a Root-MUSIC algorithm, or an Estimation of Signal Parameters via Rotational Invariance Techniques (ESPRIT) algorithm.

[0167] Taking MUSIC as an example, assuming K = 1 (i.e., one external object), formula (10) can be converted into:

[0168]

[0169] The 4×4 symmetric matrix H has a positive eigenvalue λ 1 . Define q 1 is the eigenvalue corresponding to 1 The eigenvector of can be obtained:

[0170] H·q 1 =λ 1 ·q 1 …(13)

[0171] , where in the signal space R uu Corresponding to the eigenvector q 1 The maximum eigenvalue of 1 +σ 2 ).

[0172] Define other eigenvalues ​​λ 2 , 3 , 4 , and give the same noise variance σ 2 , then its corresponding eigenvector q 2 ,q 3 ,q 4 Can meet:

[0173] H·[q 2 q3 q 4 ]=[0 0 0]…(14)

[0174] , where a H (θ 1 )·[q 2 q 3 q 4 ]=[0 0 0].

[0175] These eigenvectors q 2 ,q 3 ,q 4 Located in the null space of the signal. Take the inner product of these with the vector a(θ):

[0176] L(θ)=|a H (θ)·[q 2 q 3 q 4 ]| 2 …(15).

[0177] The evaluation function L(θ) is defined as 0 when θ=θ1, and its eigenspectrum can be defined as:

[0178]

[0179] , and S(θ) has a peak when θ=θ1.

[0180] Fig.15 is a flow chart of a signal transceiving method according to an embodiment of the present invention. Figure 1 and Fig.15 , generating a transmission signal according to the detection signal (step S1510), wherein the detection signal has a periodic change. For example, Figure 5 The detection signal TS1 is presented as a triangular wave with a frequency change, and the detection signal TS2 is presented as a sawtooth wave with a frequency change. For another example, the detection signal is a periodic pulse signal. One or more control signals are generated according to the period of the detection signal (step S1520). For example, Figure 5 or Fig. 9 The control signals TSSC and RXSC are shown. According to one or more control signals, one of the multiple transmitting antennas is selected to transmit the transmission signal, and one of the multiple receiving antennas is selected to receive the echo signal to generate the RF signal (step S1530). The echo signal is generated by the transmission signal being reflected by an external object. An internal signal is generated according to the detection signal and the RF signal (step S1540).

[0181] In one embodiment, within a frame time, multiple transceiver combinations executed at different times (e.g., different transceiver cycles) according to one or more control signals correspond to multiple time-sharing echo signals. Each transceiver combination includes a combination of one of the multiple transmitting antennas 12 and one of the multiple receiving antennas 13. For example, Figure 5 The time-division echo signals include the echo signals received at different times (e.g., different transmit and receive cycles) in the frame time. The phase difference between at least two groups of two time-division echo signals adjacent in time sequence is equal among these time-division echo signals. For example, the phase difference is

[0182] about Fig.15 The implementation details of each step in the above-mentioned embodiments and implementation methods are fully described, and will not be repeated here. In addition to being implemented in the form of circuits, each step and implementation details of the embodiment of the present invention can also be implemented by a processor in the form of software, and the embodiment of the present invention is not limited thereto.

[0183] In summary, in the radar device and signal transceiving method of the embodiment of the present invention, signals are received and transmitted in sequence through a combination of time-sharing transceiver combinations. Applied to the architecture of two transmitting antennas and two receiving antennas, the effect of one virtual transmitting antenna and three virtual receiving antennas or one virtual transmitting antenna and four virtual receiving antennas can be achieved. In this way, power consumption can be reduced, the size of the antenna architecture or chip can be reduced, and the phase error can be reduced. Compared with the architecture of one transmitting antenna and two receiving antennas, different external objects at the same distance relative to the receiving antenna can also be clearly identified. In addition, in the embodiment of using multiple transmitting antennas in time-sharing and using multiple receiving antennas at the same time, the effect of reducing partial power consumption and reducing the size of partial antenna architecture or chip can also be achieved. Furthermore, in the embodiment of setting the phase difference between at least two groups of two time-sharing echo signals that are adjacent in time sequence in the time-sharing echo signal to be equal, the operation can be made more concise and convenient, the operation time can be reduced, and the efficiency of the radar device can be improved.

[0184] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the claims of the present invention should fall within the scope of the present invention.

Claims

1. A radar device, It is characterized in that include: A transmitting circuit, used for generating a transmission signal according to a detection signal, wherein the detection signal has a periodic variation; A plurality of transmitting antennas for transmitting the transmission signal; A plurality of receiving antennas for receiving an echo signal, wherein the echo signal is generated when the transmission signal is reflected by an external object; a receiving circuit for generating an internal signal according to the detection signal and a radio frequency signal; a selection controller, coupled to the transmitting circuit, and configured to generate one or more control signals according to the cycle of the detection signal; as well as a selection circuit coupled to the transmitting antennas, the receiving antennas, the transmitting circuit, the receiving circuit and the selection controller, and configured to select one of the transmitting antennas to transmit the transmission signal and select one of the receiving antennas to receive the echo signal to generate the radio frequency signal according to the one or more control signals generated by the selection controller; In a frame time, multiple transceiver combinations executed at different times according to the one or more control signals correspond to multiple time-sharing echo signals, and the phase difference between at least two groups of time-sharing echo signals adjacent in time sequence among the time-sharing echo signals is equal, wherein the time-sharing echo signals include the echo signals received at different times in the frame time, and each of the transceiver combinations includes a combination of one of the transmitting antennas and one of the receiving antennas.

2. The radar device according to claim 1, It is characterized in that The frame time includes multiple transceiver cycles, which correspond to the transceiver combinations respectively, and the transceiver cycles correspond to the cycles of the detection signal. The selection circuit is used to select only one of the transmitting antennas to transmit the transmission signal in each transceiver cycle in the frame time according to the one or more control signals, and to select only one of the receiving antennas to receive the echo signal in each transceiver cycle in the frame time.

3. The radar device according to claim 2, It is characterized in that The transmitting antennas and the receiving antennas are arranged in the same direction.

4. The radar device according to claim 3, It is characterized in that The transmitting antennas include a first transmitting antenna and a second transmitting antenna, and the receiving antennas include a first receiving antenna and a second receiving antenna. There is a first distance between the first transmitting antenna and the second transmitting antenna, and there is a second distance between the first receiving antenna and the second receiving antenna. The first distance is twice the second distance or the second distance is twice the first distance.

5. The radar device according to claim 4, It is characterized in that The first transmitting antenna, the second transmitting antenna, the first receiving antenna and the second receiving antenna are equivalent to generating a first virtual transmitting antenna, a first virtual receiving antenna, a second virtual receiving antenna, a third virtual receiving antenna and a fourth virtual receiving antenna arranged in the same direction, and there is a first virtual spacing between the first virtual receiving antenna and the second virtual receiving antenna, there is a second virtual spacing between the second virtual receiving antenna and the third virtual receiving antenna, and there is a third virtual spacing between the third virtual transmitting antenna and the fourth virtual receiving antenna, and the first virtual spacing, the second virtual spacing and the third virtual spacing are equal.

6. The radar device according to claim 5, It is characterized in that When the first spacing is 2 times the second spacing times, the ratio of the distance difference between the distances of at least two groups of time-sequence adjacent two time-division echo signals in the time-division echo signals reaching the corresponding virtual receiving antenna to the second spacing is sinθ, or, when the second spacing is twice the first spacing, times, the ratio of the distance difference between the distances of at least two groups of time-sequence adjacent time-division echo signals in the time-division echo signals reaching the corresponding virtual receiving antenna to the first spacing is sinθ, where θ is the angle of the external object relative to the radar device.

7. The radar device according to claim 4, It is characterized in that The first transmitting antenna, the second transmitting antenna, the first receiving antenna and the second receiving antenna are spatially arranged in a row in sequence along the same direction, the frame time includes a first transceiver cycle, a second transceiver cycle, a third transceiver cycle and a fourth transceiver cycle arranged in time sequence, and the selection circuit is used to select the first transmitting antenna and the first receiving antenna in the first transceiver cycle, select the first transmitting antenna and the second receiving antenna in the second transceiver cycle, select the second transmitting antenna and the first receiving antenna in the third transceiver cycle, and select the second transmitting antenna and the second receiving antenna in the fourth transceiver cycle according to the one or more control signals.

8. The radar device according to claim 7, It is characterized in that It also includes an operation processor coupled to the receiving circuit, wherein the receiving circuit generates a first internal signal corresponding to the first transceiver cycle, the receiving circuit generates a second internal signal corresponding to the second transceiver cycle, the receiving circuit generates a third internal signal corresponding to the third transceiver cycle, and the receiving circuit generates a fourth internal signal corresponding to the fourth transceiver cycle. The internal signals include the first internal signal, the second internal signal, the third internal signal and the fourth internal signal. The operation processor is used to determine spatial information of the external object based on the first internal signal, the second internal signal, the third internal signal and the fourth internal signal.

9. The radar device according to claim 3, It is characterized in that The transmitting antennas include a first transmitting antenna and a second transmitting antenna, and the receiving antennas include a first receiving antenna and a second receiving antenna. There is a first spacing between the first transmitting antenna and the second transmitting antenna, and there is a second spacing between the first receiving antenna and the second receiving antenna, and the first spacing is the same as the second spacing. The first transmitting antenna, the second transmitting antenna, the first receiving antenna and the second receiving antenna are equivalent to generating a first virtual transmitting antenna, a first virtual receiving antenna, a second virtual receiving antenna and a third virtual receiving antenna arranged in the same direction, and there is a first virtual spacing between the first virtual receiving antenna and the second virtual receiving antenna, and there is a second virtual spacing between the second virtual receiving antenna and the third virtual receiving antenna, and the first virtual spacing is equal to the second virtual spacing.

10. The radar device according to claim 1, It is characterized in that Also includes: a frequency synthesizer for generating the detection signal, the detection signal being a carrier signal, wherein the selection controller is coupled to the transmitting circuit via the frequency synthesizer; or A pulse generator is used to generate the detection signal, which is a pulse signal, wherein the selection controller is coupled to the transmitting circuit via the pulse generator.

11. A signal receiving and transmitting method, It is characterized in that include Generating a transmission signal according to a detection signal, wherein the detection signal has a periodic variation; generating one or more control signals according to the period of the detection signal; selecting one of a plurality of transmitting antennas to transmit the transmission signal according to the one or more control signals, and selecting one of a plurality of receiving antennas to receive an echo signal to generate a radio frequency signal, wherein the echo signal is generated when the transmission signal is reflected by an external object; and An internal signal is generated according to the detection signal and the radio frequency signal; wherein In a frame time, multiple transceiver combinations executed at different times according to the one or more control signals correspond to multiple time-sharing echo signals, and the phase difference between at least two groups of time-sharing echo signals adjacent in time sequence among the time-sharing echo signals is equal, wherein the time-sharing echo signals include the echo signals received at different times in the frame time, and each of the transceiver combinations includes a combination of one of the transmitting antennas and one of the receiving antennas.

12. The signal transceiving method according to claim 11, It is characterized in that The frame time includes a plurality of transceiver cycles, the transceiver cycles respectively correspond to the transceiver matching combinations, the transceiver cycles correspond to the cycles of the detection signal, and the steps of selecting one of the transmitting antennas to transmit the transmission signal and selecting one of the receiving antennas to receive the echo signal according to the one or more control signals include: According to the one or more control signals, only one of the transmitting antennas is selected in each transceiver cycle in the frame time to transmit the transmission signal, and only one of the receiving antennas is selected in each transceiver cycle in the frame time to receive the echo signal.

13. The signal transceiving method according to claim 12, It is characterized in that The method also includes arranging the transmitting antennas and the receiving antennas in the same direction.

14. The signal transceiving method according to claim 13, It is characterized in that The transmitting antennas include a first transmitting antenna and a second transmitting antenna, the receiving antennas include a first receiving antenna and a second receiving antenna, there is a first distance between the first transmitting antenna and the second transmitting antenna, there is a second distance between the first receiving antenna and the second receiving antenna, and the signal transceiving method also includes making the first distance twice the second distance or the second distance twice the first distance.

15. The signal transceiving method according to claim 14, It is characterized in that The method also includes making the first transmitting antenna, the second transmitting antenna, the first receiving antenna and the second receiving antenna equivalently generate a first virtual transmitting antenna, a first virtual receiving antenna, a second virtual receiving antenna, a third virtual receiving antenna and a fourth virtual receiving antenna arranged in the same direction, wherein there is a first virtual spacing between the first virtual receiving antenna and the second virtual receiving antenna, there is a second virtual spacing between the second virtual receiving antenna and the third virtual receiving antenna, and there is a third virtual spacing between the third virtual transmitting antenna and the fourth virtual receiving antenna, and the first virtual spacing, the second virtual spacing and the third virtual spacing are equal.

16. The signal transceiving method according to claim 15, It is characterized in that It also includes that when the first spacing is twice the second spacing, the ratio of the distance difference between the distances of at least two groups of time-sequence adjacent two time-sequence echo signals among the time-sequence echo signals reaching the corresponding virtual receiving antenna and the second spacing is sinθ, or when the second spacing is twice the first spacing, the ratio of the distance difference between the distances of at least two groups of time-sequence adjacent two time-sequence echo signals among the time-sequence echo signals reaching the corresponding virtual receiving antenna and the first spacing is sinθ, wherein θ is the angle of the external object relative to the radar device.

17. The signal transceiving method according to claim 14, It is characterized in that The first transmitting antenna, the second transmitting antenna, the first receiving antenna and the second receiving antenna are spatially arranged in a row in sequence along the same direction, the frame time includes a first transceiver cycle, a second transceiver cycle, a third transceiver cycle and a fourth transceiver cycle arranged in time sequence, and the steps of selecting only one of the transmitting antennas to transmit the transmission signal in each transceiver cycle in the frame time according to the one or more control signals, and selecting only one of the receiving antennas to receive the echo signal in each transceiver cycle in the frame time to generate the radio frequency signal include: According to the one or more control signals, the first transmitting antenna and the first receiving antenna are selected in the first transceiver cycle, the first transmitting antenna and the second receiving antenna are selected in the second transceiver cycle, the second transmitting antenna and the first receiving antenna are selected in the third transceiver cycle, and the second transmitting antenna and the second receiving antenna are selected in the fourth transceiver cycle.

18. The signal transceiving method according to claim 17, It is characterized in that Also includes: A first internal signal is generated corresponding to the first transceiver cycle, a second internal signal is generated corresponding to the second transceiver cycle, a third internal signal is generated corresponding to the third transceiver cycle, and a fourth internal signal is generated corresponding to the fourth transceiver cycle. The internal signal includes the first internal signal, the second internal signal, the third internal signal and the fourth internal signal, and is used to determine spatial information of the external object based on the first internal signal, the second internal signal, the third internal signal and the fourth internal signal.

19. The signal transceiving method according to claim 11, It is characterized in that Also includes: Converting each of the time-division echo signals into a spectrum information, wherein the amplitude of the spectrum information corresponds to a distance information, and a spatial information includes the distance information; determining a quantity of one or more external objects according to the spectrum information; and The time-division echo signals are converted into spatial spectrum information, wherein a peak in the spatial spectrum information corresponds to a direction information, and the spatial information includes the direction information.

20. A radar device, It is characterized in that include: A transmitting circuit, used for generating a transmission signal according to a detection signal, wherein the detection signal has a periodic variation; A plurality of transmitting antennas for transmitting the transmission signal; A plurality of receiving antennas for receiving an echo signal, wherein the echo signal is generated when the transmission signal is reflected by an external object; a receiving circuit for generating an internal signal according to the detection signal and a radio frequency signal; a selection controller, coupled to the transmitting circuit, and configured to generate one or more control signals according to the cycle of the detection signal; as well as a selection circuit coupled to the transmitting antennas, the receiving antennas, the transmitting circuit, the receiving circuit and the selection controller, and configured to select one of the transmitting antennas to transmit the transmission signal and select one of the receiving antennas to receive the echo signal to generate the radio frequency signal according to the one or more control signals generated by the selection controller; The transmitting antennas include a first transmitting antenna and a second transmitting antenna, and the receiving antennas include a first receiving antenna and a second receiving antenna. There is a first distance between the first transmitting antenna and the second transmitting antenna, and there is a second distance between the first receiving antenna and the second receiving antenna. The first distance is twice the second distance or the second distance is twice the first distance.

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