Antenna device for radar device having at least two antenna arrangements, radar device, driver assistance system, vehicle and method for operating radar device

Abstract

The invention relates to an antenna device (33) for a radar device, in particular for a bistatic radar device, in particular for a vehicle, a radar device, a driver assistance system, a vehicle and a method for operating a radar device. The antenna device (33) has at least one type 1 antenna element (Tx) of a first antenna element type and at least one type 2 antenna element (Rx) of a second antenna element type. One antenna element type is a transmitting antenna element (Tx) and the other antenna element type is a receiving antenna element (Rx). The antenna device (33) has at least two antenna arrangements (30) of the same design. The position of the antenna element (Rx, Tx) of at least one antenna arrangement (30) within the antenna arrangement (33) is generated by a geometric transformation of the position of the corresponding antenna element (Rx, Tx) of at least one other antenna arrangement (30). The geometric transformation comprises at least one rotation (88) of the position of the antenna element (Rx, Tx) of the at least one second mentioned antenna arrangement (30) about its imaginary directional axis (86) by a predetermined rotation angle. The imaginary directional axis (86) indicates a direction directed by the antenna arrangement (30).

Description

Field of the Invention

[0001] The present invention relates to an antenna device for a radar device, in particular for a bistatic radar device, in particular for a vehicle radar device, having at least one antenna arrangement which has at least one type 1 antenna element of a first antenna element type and at least one type 2 antenna element of a second antenna element type, wherein one antenna element type is a transmitting antenna element and the other antenna element type is a receiving antenna element.

[0002] The present invention also relates to a radar device, in particular for a vehicle radar device, having at least one antenna device which includes at least one antenna arrangement which has at least one type 1 antenna element of a first antenna element type and at least one type 2 antenna element of a second antenna element type, wherein one antenna element type is a transmitting antenna element and the other antenna element type is a receiving antenna element.

[0003] Furthermore, the present invention relates to a driver assistance system having at least one radar device, in particular a bistatic radar device, which includes at least one antenna device having at least one antenna arrangement for the at least one radar device, wherein the at least one antenna arrangement has at least one type 1 antenna element of a first antenna element type and at least one type 2 antenna element of a second antenna element type, wherein one antenna element type is a transmitting antenna element and the other antenna element type is a receiving antenna element.

[0004] The present invention also relates to a vehicle having at least one radar device, in particular a bistatic radar device, which includes at least one antenna device having at least one antenna arrangement for the at least one radar device, wherein the at least one antenna arrangement has at least one type 1 antenna element of a first antenna element type and at least one type 2 antenna element of a second antenna element type, wherein one antenna element type is a transmitting antenna element and the other antenna element type is a receiving antenna element.

[0005] Finally, the present invention relates to a method for operating a radar device, in particular for a vehicle radar device, in particular a bistatic radar device, which has at least one antenna device which includes at least one antenna arrangement which has at least one type 1 antenna element of a first antenna element type and at least one type 2 antenna element of a second antenna element type, wherein, in the method, the antenna elements of one antenna element type are used for transmitting radar signals and the antenna elements of the other antenna element type are used for receiving echo signals generated by the transmitted radar signals. Background Art

[0006] US 2021 / 0184367 A1 discloses a radar unit having a transmitting antenna and a receiving antenna device. The number of transmitting antennas is 4, and the number of receiving antennas is 4. Transmitting antennas Tx #1 and Tx #2 form a first antenna group of the transmitting antennas, which are the same in the vertical position while different in the horizontal position. Transmitting antennas Tx #3 and Tx #4 form a second antenna group, which is arranged at a position different from both the horizontal and vertical positions where the first antenna group is located. Receiving antennas Rx#1 to Rx #3 form a third antenna group of the receiving antennas, which are the same in the vertical position while different in the horizontal position. Receiving antenna Rx #4 is a fourth antenna, which is arranged at a position different from both the horizontal and vertical positions where the third antenna group is arranged. In addition, the vertical position of the fourth antenna (Rx #4) is a position separated from the vertical position of the third antenna group (Rx #1 to Rx #3).

[0007] The object of the present invention is to design an antenna device, a radar device, a driver assistance system, a vehicle, and a method of the type mentioned at the beginning, in which the resolution of the direction can be improved when using a radar system for direction measurement. Summary of the Invention

[0008] According to the present invention, in the case of an antenna device, this object is achieved in that the antenna device has at least two antenna devices with the same design, wherein the position of the antenna elements of at least one antenna device within the antenna device is generated by a geometric transformation of the positions of the corresponding antenna elements of at least one other antenna device, wherein the geometric transformation includes at least one rotation of the positions of the antenna elements of the at least second-mentioned antenna device around its imaginary direction axis by a predetermined rotation angle, wherein the imaginary direction axis indicates the direction in which the antenna device is directed.

[0009] According to the present invention, the antenna device has at least two antenna devices with the same design. The position of the antenna elements of at least one antenna device within the antenna device is generated by a geometric transformation of the positions of the corresponding antenna elements of at least one other antenna device. The geometric transformation includes at least one rotation of the positions of the antenna elements of the at least second-mentioned antenna device around its imaginary direction axis by a predetermined rotation angle. The rotation of the antenna element positions is achieved by the rotation of the entire antenna device. Therefore, at least one of the at least second-mentioned antenna devices rotates around its imaginary direction axis relative to at least one of the at least first-mentioned antenna devices.

[0010] In addition to rotation, the geometric transformation may include at least one tilt and / or at least one displacement of the positions of the antenna elements of the at least second-mentioned antenna device. The tilt and / or displacement of the antenna element positions can be achieved by tilting and / or displacing the entire antenna device. Therefore, at least two antenna devices can be directed in different directions and / or spaced apart from each other.

[0011] The position of the antenna elements of at least one antenna device can be adjusted by rotating at least one second-mentioned antenna device about the direction axis and further transforming at least one second-mentioned antenna device, in particular by displacing and / or tilting the direction axis.

[0012] The direction axis of the antenna device defines the direction in which the antenna elements of the antenna device point, that is, the transmitting antenna elements can transmit radar signals and the receiving antenna elements can receive radar signals and echo signals from this direction.

[0013] The terms "first" and "second" for the types of antenna elements are only used for simpler differentiation and do not mean that one of the types of antenna elements is prioritized. Therefore, adding "type 1" and "type 2" is merely for simpler differentiation between the two types of antenna elements. The type 1 antenna elements can be transmitting antenna elements and the type 2 antenna elements can be receiving antenna elements, or vice versa.

[0014] The antenna device is intended for use in a radar device. The antenna device of the antenna equipment can be used to transmit radar signals and receive radar signals or echo signals. The received radar signals, in particular the echo signals generated by the radar signals, can be converted into corresponding received signals, in particular electrical received signals. Appropriate devices, in particular control and evaluation equipment, can be used to process the received signals.

[0015] Advantageously, the antenna equipment can be designed for a bistatic radar device. Advantageously, the antenna equipment for a bistatic radar device can have two antenna devices. In this case, each antenna device can receive its own radar signal, respectively the echo signal generated by its own radar signal, as well as the radar signal or echo signal of the other antenna device. Thereby, more information about the monitored area captured by the radar device can be obtained, in particular the surroundings of the vehicle.

[0016] The radar device can be used in a vehicle, especially in a motor vehicle. The radar system can advantageously be used in land vehicles, especially cars, trucks, buses, motorcycles, etc., aircraft, especially unmanned aircraft, and / or ships. The radar device can also be used in vehicles capable of autonomous or at least semi-autonomous operation.

[0017] The radar device can advantageously be connected to at least one electronic control device of a vehicle or a machine, in particular a driver assistance system, or be part of it. Thereby, at least some functions of the vehicle can be performed autonomously or semi-autonomously.

[0018] A radar device can be used to detect stationary or moving objects, especially vehicles, people, animals, plants, obstacles, uneven road surfaces, especially potholes or rocks, road boundaries, traffic signs, open spaces, especially parking spaces, precipitation, etc., and / or movement and / or attitude.

[0019] In an advantageous embodiment,

[0020] The respective direction axes of at least two antenna devices can extend parallel to each other,

[0021] and / or

[0022] The respective direction axes can be perpendicular to the plane in which the antenna elements of the antenna device are arranged. Thus, at least two antenna devices, especially the antenna elements of at least two antenna devices, can be aligned in the same direction.

[0023] In another advantageous embodiment,

[0024] The predetermined rotation angle can be 180°,

[0025] and / or

[0026] The geometric transformation can include at least one displacement of the direction axis of at least one antenna device by a predetermined distance,

[0027] and / or

[0028] At least two antenna devices can be arranged at a predetermined distance from each other.

[0029] Advantageously, the predetermined rotation angle can be 180°. Thus, additional virtual antenna elements can be realized in the central part of the virtual array, which is generated by the geometric convolution of the positions of the phase centers of the type 1 antenna elements and the type 2 antenna elements of at least two antenna devices.

[0030] Advantageously, as an alternative or in addition, the geometric transformation can include displacing the direction axis of at least one antenna device by a predetermined distance. Advantageously, as an alternative or in addition, at least one antenna device can be arranged at a predetermined distance from at least one other antenna device. Thus, a correspondingly larger virtual array can be realized by the geometric convolution of the positions of the phase centers of the type 1 antenna elements and the type 2 antenna elements. The greater the distance, the larger the virtual array. The size of the virtual array defines the aperture. Thus, the aperture can be enlarged by increasing the distance.

[0031] In another advantageous embodiment, at least two antenna devices may each have four type 1 antenna elements, which are arranged in a plane at the corners of an imaginary planar rectangle, wherein two sides of the rectangle extend parallel to an imaginary first device axis and form the main axes of the type 1 antenna elements, and the other two sides of the rectangle extend parallel to an imaginary second device axis and form the transverse axes of the type 1 antenna elements, and the second device axis extends perpendicular to the first device axis.

[0032] And at least two antenna devices each have at least two type 2 antenna elements, and at least two type 2 antenna elements are arranged on different imaginary main axes of the type 2 antenna elements, and the imaginary main axes of the type 2 antenna elements extend parallel to each other and are spaced apart from each other by a certain distance, and are parallel to one of the device axes.

[0033] According to the present invention, four type 1 antenna elements of the first antenna element type are arranged at the four corners of the rectangle. The sides of the rectangle extend parallel to two mutually perpendicular device axes. At least two type 2 antenna elements are arranged on the main axes of the type 2 antenna elements extending parallel to one of the device axes.

[0034] As a result of the rectangular arrangement of the type 1 antenna elements, when the radar system is operated according to the MIMO method, a virtual antenna array with a two-dimensional aperture can be realized, especially in azimuth and elevation, and this virtual antenna array is enlarged compared to the antenna device. Therefore, in the case of direction measurement, it is possible to achieve higher resolution in two dimensions. Therefore, the accuracy in determining the direction in which the detected object is located can be overall improved.

[0035] The direction resolution of the radar device, especially the angular resolution, directly depends on the aperture size of the virtual antenna array. Therefore, in two dimensions, especially in azimuth and elevation, a relatively large overall aperture can be achieved with a relatively small number of antenna elements.

[0036] The rectangle in the sense of the present invention may have the same and different side lengths. Therefore, the rectangle may also be a square.

[0037] In the meaning of the present invention, "parallel" means that the corresponding axes may also coincide, that is, these axes may be parallel or truly parallel.

[0038] The terms "main axis" and "transverse axis" are only used for simple distinction and do not mean that one axis, especially the main axis, is superior to the other axis, especially the transverse axis. Therefore, adding "type 1" and "type 2" here is also only for more simply assigning the axes to the corresponding antenna element types.

[0039] In another advantageous embodiment, at least two type 2 antenna elements can be arranged on different imaginary type 2 antenna element transverse axes, which transverse axes extend parallel to each other, are spaced apart, and are perpendicular to the type 2 antenna element main axis. Thus, the type 2 antenna elements can each be spaced apart in two dimensions, namely in the direction of the type 2 antenna element main axis and in the direction of the type 2 antenna element transverse axis. Thus, a known sparse array can be implemented in the virtual antenna array. Thus, gaps occur in the virtual antenna array. Thus, it is possible to implement a significantly larger virtual antenna array, which has a significantly larger aperture in two dimensions, in particular in azimuth and elevation.

[0040] In another advantageous embodiment,

[0041] Each of at least two antenna devices can have at least three type 2 antenna element transverse axes and at least three type 2 antenna elements spaced apart from each other, wherein at least three type 2 antenna elements are arranged on different type 2 antenna element transverse axes,

[0042] and / or

[0043] Each of at least two antenna devices can have at least three type 2 antenna elements, wherein only one type 2 antenna element is arranged on at least one type 2 antenna element main axis, and / or at least two type 2 antenna elements are arranged on at least one type 2 antenna element main axis; in particular, at least one type 2 antenna element transverse axis containing one of the type 2 antenna elements arranged alone on the type 2 antenna element main axis can not be located between the other two type 2 antenna element transverse axes,

[0044] and / or

[0045] Each of at least two antenna devices can have at least four type 2 antenna elements, wherein only one type 2 antenna element is arranged on at least one type 2 antenna element main axis, and / or at least two type 2 antenna elements are arranged on at least one type 2 antenna element main axis, and the distance between at least one type 2 antenna element transverse axis and at least one adjacent type 2 antenna element transverse axis can be at most as large as the other distances between the respectively adjacent type 2 antenna element transverse axes, and on at least one type 2 antenna element transverse axis there is located a type 2 antenna element arranged alone on the corresponding type 2 antenna element main axis,

[0046] and / or

[0047] Each of at least two antenna devices can have exactly four type 2 antenna elements. The aperture of the virtual antenna array can thereby be enlarged overall in the direction of the type 2 antenna element main axis.

[0048] Advantageously, only one type 2 antenna element can be arranged on the main axis of at least one type 2 antenna element, and / or at least two type 2 antenna elements can be arranged on the main axis of at least one type 2 antenna element. Thus, in combination with the rectangular arrangement of type 1 antenna elements, a larger range of virtual antenna arrays can be achieved.

[0049] Advantageously, as an alternative or in addition, at least one lateral axis of a type 2 antenna element that includes one of the type 2 antenna elements arranged separately on the main axis of the type 2 antenna element may not be located between the lateral axes of two other type 2 antenna elements. This enables an L-shaped, U-shaped, or S-shaped arrangement of the type 2 antenna elements to be achieved overall.

[0050] Advantageously, as an alternative or in addition, the distance between at least one lateral axis of a type 2 antenna element and at least one adjacent lateral axis of a type 2 antenna element may be at most as large as the other distances between the respectively adjacent lateral axes of the type 2 antenna elements, where a type 2 antenna element arranged separately on the main axis of the type 2 antenna element is positioned on at least one lateral axis of the type 2 antenna element. Thus, the gaps resulting from the offset of the individual antenna elements relative to the other antenna elements can be kept small. This enables a more uniform distribution of the virtual antenna elements to be achieved overall.

[0051] Advantageously, as an alternative or in addition, each of at least two antenna devices can have exactly four type 2 antenna elements. Thus, for both types of antenna elements, exactly four antenna elements can be achieved in each case. This enables a correspondingly large number of virtual antenna elements to be realized in the virtual antenna array.

[0052] In another advantageous embodiment,

[0053] In each of at least two antenna devices, the axes of the type 2 antenna elements, in particular the main axis and the lateral axis of the type 2 antenna element, can extend in a common imaginary plane,

[0054] and / or

[0055] In each of at least two antenna devices, the axes of the type 2 antenna elements, in particular the main axis and the lateral axis of the type 2 antenna element, can extend parallel to the plane spanned by the main axis and the lateral axis of the type 1 antenna element.

[0056] and / or

[0057] In each of at least two antenna devices, the type 1 antenna elements and the type 2 antenna elements can be arranged on a common carrier, in particular on a common carrier board,

[0058] and / or

[0059] All type 1 antenna element axes and type 2 antenna element axes of the antenna device of the antenna equipment can extend in a common imaginary plane. Thus, the antenna device can be produced, assembled and aligned more easily.

[0060] Advantageously, in each of at least two antenna devices, all type 2 antenna element axes can extend in an imaginary plane. Thereby, the antenna devices can be realized and aligned more easily.

[0061] Advantageously, as an alternative or in addition, in each of at least two antenna devices, the type 2 antenna element axes can extend parallel to the plane spanned by the type 1 antenna element axes, in particular the main axes of the type 1 antenna elements and the main axes of the type 2 antenna elements. The alignment of the type 1 antenna elements and the arrangement of the type 2 antenna elements can thus be simplified.

[0062] Advantageously, as an alternative or in addition, in each of at least two antenna devices, the type 1 antenna elements and the type 2 antenna elements can be arranged on a common carrier. Thereby, the antenna device can be produced even more easily.

[0063] Advantageously, in each of at least two antenna devices, the type 1 antenna elements and the type 2 antenna elements can be realized on a common carrier board, in particular on a printed circuit board. Thus, all antenna elements can be easily realized in one plane. When using a printed circuit board, in particular, the electrical connection to the antenna elements can be realized more easily.

[0064] Advantageously, as an alternative or in addition, all type 1 antenna element axes and type 2 antenna element axes of the antenna device of the antenna equipment can extend in a common imaginary plane. Thus, the antenna equipment can be realized in a space-saving manner in the dimension perpendicular to the common plane.

[0065] In another advantageous embodiment, in each of at least two antenna devices, the phase centers of at least some antenna elements, in particular the phase centers of all antenna elements, can be arranged on the respective antenna element axes, in particular on the main axis and / or the transverse axis of the antenna element. Thereby, the positions of the antenna elements in the antenna device can be defined more precisely.

[0066] Advantageously, the phase centers of at least some antenna elements of the antenna device can be located at the intersection of the main axis of the antenna element and the transverse axis of the antenna element.

[0067] In another advantageous embodiment, in each of at least two antenna devices, the respective distance between the axes of adjacent antenna elements of the same antenna element type, in particular the respective distance between the main axes of adjacent antenna elements of the same antenna element type and / or the respective distance between the transverse axes of adjacent antenna elements, can be an integer multiple of a predetermined basic distance, where the basic distance corresponds to half of the wavelength of the radar signal transmitted using the radar system. This enables a particularly compact arrangement. Specifying the basic distance as half of the wavelength of the radar signal can reduce ambiguity and sidelobes. In addition, a significantly directed radar signal can be achieved on the transmitter side. Moreover, different angle measurements can be performed.

[0068] In another advantageous embodiment,

[0069] In each of at least two antenna devices, the extent of the transmitting antenna element field composed of antenna elements of the transmitting antenna element type in the direction of the first device axis can be greater than the extent of the receiving antenna element field composed of antenna elements of the receiving antenna element type in the direction of the first device axis, and the extent of the transmitting antenna element field in the direction of the second device axis can be greater than the extent of the receiving antenna element field in the direction of the second device axis.

[0070] Advantageously, in each of at least two antenna devices, the extent of the transmitting antenna element field in the directions of the two device axes can be greater than the corresponding extent of the receiving antenna element field. It can be said that the receiving antenna element field is thus adapted to the transmitting antenna element field. The fact that the receiving antenna element field is smaller than the transmitting antenna element field enables minimizing ambiguity and sidelobes.

[0071] In another advantageous embodiment,

[0072] At least two antenna devices can be designed for a radar system according to the MIMO method,

[0073] and / or

[0074] Each of the type 1 antenna elements of at least two antenna devices can be individually driven and / or read, and each of the type 2 antenna elements of at least two antenna devices can be individually driven and / or read.

[0075] Advantageously, at least two antenna devices can be designed to operate a radar device according to the MIMO method. The radar device can be implemented as a so-called MIMO radar device. In the MIMO (multiple input / multiple output) method, all antenna elements of the transmitting antenna element type can be used to transmit radar signals with different encodings. The radar signals on the receiver side can thus be correspondingly assigned to the echo signals received using the antenna elements of the receiving antenna element type. In a pure MIMO method, the aperture of the virtual antenna array implemented from the antenna device can thus be correspondingly enlarged.

[0076] Advantageously, each antenna element can be driven and / or read separately. Thereby, the number of antenna elements can be utilized effectively. In this case, the transmit antenna elements can be driven individually. The receive antenna elements can be read individually. Thus, even with a relatively small number of antenna elements, a virtual antenna array with a correspondingly large number of virtual antenna elements can be realized.

[0077] In the case of a radar device, this object is further achieved because the radar device has at least one antenna device according to the invention.

[0078] The radar device has at least one antenna device, which includes at least two antenna assemblies, each antenna assembly having at least one type 1 antenna element of a first antenna element type and at least one type 2 antenna element of a second antenna element type. One type of antenna element is a transmit antenna element and the other type of antenna element is a receive antenna element.

[0079] According to the invention, at least one antenna assembly has at least two antenna assemblies with the same design. The positions of the antenna elements of at least one antenna assembly within the antenna device are generated by a geometric transformation of the positions of the corresponding antenna elements of at least one other antenna assembly. The geometric transformation includes at least one rotation of the positions of the antenna elements of the at least second-mentioned antenna assembly by a predetermined rotation angle about its imaginary direction axis. The imaginary direction axis indicates the direction in which the antenna assembly is pointing.

[0080] In at least two antenna assemblies, the type 1 antenna elements can advantageously each be arranged in a plane at the corners of an imaginary plane rectangle. Two sides of the rectangle can extend parallel to an imaginary first device axis and can form the main axis of the type 1 antenna element. The other two sides of the rectangle can extend parallel to an imaginary second device axis, which is perpendicular to the first device axis, and can form the transverse axis of the type 1 antenna element. At least two type 2 antenna elements can be arranged on different imaginary type 2 antenna element main axes, which extend parallel to each other and are spaced apart by a certain distance, and are parallel to one of the device axes.

[0081] Advantageously, the radar device can have a device by which the radar device can operate according to the MIMO method. Thus, when determining the direction of the detected object, the resolution, especially the angular resolution, can be improved.

[0082] Advantageously, the radar device can be a bistatic radar device. The radar device can thereby be used to determine more information about the monitored area.

[0083] According to the invention, in the case of a driver assistance system, this object is further achieved because at least one radar device has at least one antenna device according to the invention.

[0084] At least one radar device includes at least one antenna device, and the antenna device has at least one antenna assembly. The at least one antenna assembly has at least one type 1 antenna element of a first antenna element type and at least one type 2 antenna element of a second antenna element type. One type of antenna element is a transmitting antenna element, and the other type of antenna element is a receiving antenna element.

[0085] The radar device can be used to monitor objects in at least one monitoring area around the vehicle.

[0086] The driver assistance system can be used to operate the vehicle autonomously or semi - autonomously, in particular based on information obtained by using at least one radar device, in particular based on information about objects detected by using at least one radar device.

[0087] According to the present invention, in the case of a vehicle, this object can also be achieved because at least one radar device has at least one antenna device according to the present invention.

[0088] The vehicle includes at least one radar device having at least one antenna assembly. The at least one antenna device has at least one type 1 antenna element of a first antenna element type and at least one type 2 antenna element of a second antenna element type. One type of antenna element is a transmitting antenna element, and the other type of antenna element is a receiving antenna element.

[0089] The at least one radar device can be used to monitor objects in at least one monitoring area around the vehicle.

[0090] Advantageously, the vehicle can have at least one bistatic radar device having two radar systems. One of the antenna assemblies of the antenna device can be assigned to each radar system. Each radar system can thus be used to receive its own radar signal and the radar signal or the corresponding echo signal transmitted by the corresponding other antenna assembly. Therefore, more information about the monitoring area captured by the radar device can be determined.

[0091] The vehicle can advantageously have at least one driver assistance system, in particular at least one driver assistance system according to the present invention. The driver assistance system can be used to operate the vehicle autonomously or semi - autonomously.

[0092] At least one radar device, in particular at least one radar device according to the present invention, can advantageously be connected to the driver assistance system, in particular at least one driver assistance system according to the present invention, or be part of it. Thereby, the information obtained by using at least one radar device, in particular information about detected objects, can be used by the driver assistance system for autonomous or semi - autonomous operation of the vehicle.

[0093] Finally, in the case of this method, the object is achieved according to the invention, wherein a radar signal is transmitted using the antenna device according to the invention, and an echo signal is received using the antenna device according to the invention.

[0094] Advantageously, the radar device can operate according to the bistatic method. Thereby, more information about the surroundings can be obtained. In the bistatic method, each antenna device can receive its own radar signal, respectively the echo signal generated by its own radar signal, as well as the radar signal or echo signal of another antenna device.

[0095] Advantageously, the radar device can operate according to the MIMO method. Thereby, the direction of the object detected using the radar device can be determined more precisely.

[0096] In other respects, the features and advantages indicated in connection with the antenna device according to the invention, the radar device according to the invention, the driver assistance system according to the invention, the vehicle according to the invention, and the method according to the invention, as well as their respective advantageous configurations, apply correspondingly to one another, and vice versa. Of course, the individual features and advantages can be combined with one another, and in this case, further advantageous effects can arise that exceed the sum of the individual effects. Description of the Drawings

[0097] From the following description, other advantages, features, and details of the invention will become apparent, in which exemplary embodiments of the invention are explained in more detail with reference to the drawings. Those skilled in the art will also conveniently consider the features disclosed separately in the drawings, the description, and the claims, and combine them to form further useful combinations. Schematically in the drawings,

[0098] Figure 1 a plan view of a vehicle having a driver assistance system with a radar device is shown;

[0099] Figure 2 shows Figure 1 a side view of the vehicle in

[0100] Figure 3 shows Figure 1 a functional diagram of the driver assistance system in

[0101] Figure 4 shows a front view of the antenna device of the radar device for Figures 1 to 3 according to a first exemplary embodiment, the radar device having two antenna devices;

[0102] Figure 5 shows according to Figures 1 to 3Front view of the antenna device of the second exemplary embodiment of the antenna device of the radar device;

[0103] Figure 6 Shows a front view of the antenna device of the radar device for Figures 1 to 3 which has two antenna devices according to the second exemplary embodiment of Figure 5 and a virtual antenna array implemented by the antenna device;

[0104] Figure 7 Shows a front view of the antenna device of the third exemplary embodiment of the antenna device of the radar device according to Figures 1 to 3 ;

[0105] Figure 8 Shows a front view of the antenna device of the fourth exemplary embodiment of the antenna device of the radar device according to Figures 1 to 3 .

[0106] In the drawings, the same components have the same reference numerals. Detailed Description

[0107] Figure 1 Shows a plan view of a vehicle 10 in the form of a motor vehicle. Figure 2 Shows a side view of the vehicle 10.

[0108] The vehicle 10 includes a driver assistance system 12. For example, the driver assistance system 12 has a radar device 13 and a control device 16. Figure 3 The driver assistance system 12 with the radar device 13 is shown in a functional diagram.

[0109] The radar device 13 is arranged, for example, on the front side of the vehicle 10. The radar device 13 can be used to monitor objects 20 in a monitoring area 18 in front of the vehicle 10. For example, in Figure 1 and Figure 2 , the object 20 is arranged in front of the vehicle 10 and can be detected using the radar device 13. The radar device 13 can also be arranged elsewhere in the vehicle 10 and can also be aligned differently. It is also possible to provide a plurality of radar devices 13 at different positions and with different alignments.

[0110] The radar device 13 can be used to determine object information, such as the distance D, the direction, such as the azimuth angle Θ and the elevation angle Φ, and the speed of the detected object 20 relative to the vehicle 10.

[0111] The radar device 13 is functionally connected to the control device 16 of the driver assistance system 12. The object information determined using the radar device 13 can thus be transmitted to the control device 16. The driver assistance system 12 can be used for autonomous or semi-autonomous operation of the vehicle 10.

[0112] For the sake of simplifying orientation, the corresponding coordinates of the Cartesian x-y-z coordinate system are as Figures 1 to 8 shown. For example, the x-axis of the x-y-z coordinate system extends parallel to the vehicle longitudinal axis 22 of the vehicle 10. The y-axis extends parallel to the vehicle transverse axis 24 of the vehicle 10, and the z-axis extends spatially upward perpendicular to the x-y plane.

[0113] The radar device 13 can be used to emit a radar signal 26 into the monitoring area 18. The radar signal 26 reflected from an object 20 in the direction of the radar device 13 can be received by the radar device 13 as an echo signal 28. The corresponding object information can be determined from the echo signal 28.

[0114] The radar device 13 includes two radar systems 14. Each radar system 14 includes an antenna device 30 and a control and evaluation device 32. The two antenna devices 30 are combined to form a common antenna device 33. For example, the two antenna devices 30 are fixed to a common carrier.

[0115] The antenna device 33 including two antenna devices 30 according to the first exemplary embodiment is shown in Figure 4 a front view form as seen from the monitoring area 18.

[0116] The antenna device 33 includes two types of antenna elements, namely a transmitting antenna element Tx and a receiving antenna element Rx. The transmitting antenna element Tx can be used to transmit the radar signal 26. The receiving antenna element Rx can be used to receive the echo signal 28.

[0117] The two antenna devices 30 of the antenna device 33 have the same design. Within the antenna device 33, the two antenna devices 30 are rotated 180° relative to each other and displaced relative to each other in the y-axis direction, as will be explained in more detail below.

[0118] Each antenna device 30 has four transmitting antenna elements Tx and four receiving antenna elements Rx. The transmitting antenna elements Tx and the receiving antenna elements Rx of each antenna device 30 are arranged on a common carrier in the form of a carrier board 34. The antenna device 33 thus has two carrier boards 34. The two carrier boards 34 can be fastened to a common carrier, which will not be elaborated here.

[0119] The control and evaluation device 32 can be used to drive the transmitting antenna element Tx of the corresponding antenna device 30 in order to transmit the radar signal 26. In addition, the control and evaluation device 32 can be used to acquire and evaluate the echo signal 28, which is received using the receiving antenna element Rx of the corresponding antenna device 30 and is converted into an electrical received signal. The control and evaluation device 32 can be used to determine the corresponding object information from the electrical received signal and transmit the information to the control device 16.

[0120] Furthermore, the control and evaluation devices 32 of the two antenna devices 30 are signal-connected to each other. The radar system 14 can thus be synchronized. The radar device 13 operates according to the bistatic method. In the bistatic method, each antenna device 30 can receive its own radar signal 26 or the corresponding echo signal 28, and the echo signal 28 originates from the radar signal 26 of the corresponding other antenna device 30.

[0121] The radar system 14 operates according to the MIMO (multiple-input multiple-output) method. In the MIMO method, the transmit antenna elements Tx are individually driven by the control and evaluation device 32 with transmission control signals. The corresponding transmission control signals are used to distinguish, for example by coding, the radar signals 26 transmitted using the individual transmit antenna elements Tx. Thus, on the receiver side, the signal paths of the radar signals 26 and the corresponding echo signals 28 can be assigned to the corresponding transmit antenna elements Tx. Accordingly, the receive antenna elements Rx are read separately. In this case, the electrical receive signals converted from the echo signals 28 by the antenna elements Rx are assigned accordingly. The individual driving or reading enables a virtual antenna array 36 to be realized using all positions of the transmit antenna elements Tx and all positions of the receive antenna elements Rx.

[0122] As an example, Figure 6 a virtual antenna array 36 is shown, which can be realized by an antenna device 33 having antenna devices 30 according to the second exemplary embodiment, as Figure 5 shown. Figure 6 The virtual antenna array 36 shown can also be realized by an antenna device 33 having antenna devices 30 according to Figure 4 the first exemplary embodiment.

[0123] In Figures 4 to 8 it, the transmit antenna element Tx with the phase center 38 is represented as a black-filled circle. The receive antenna element Rx with the phase center 40 is represented as a black-filled square. For clarity, only some of the transmit antenna elements Tx and their phase centers 38 and only some of the receive antenna elements Rx and their phase centers 40 have reference signs.

[0124] Figure 4 Two antenna devices 30 of the antenna device 33 are shown. As already mentioned, the antenna devices 30 have the same design.

[0125] Viewed in the y-axis direction, the antenna devices 30 are arranged at a distance 84 at the same height as viewed in the z-axis direction. For example, the distance 84 is the distance between the respective centers of the antenna devices 30. The distance 84 is an integer multiple of a predetermined basic distance λ / 2. The basic distance λ / 2 corresponds to half of the wavelength λ / 2 of the radar signal 26 transmitted using the radar system 14. For example, the distance 84 is 400 times the basic distance, that is, 200λ. In Figure 4 the distance 84 is not shown to scale.

[0126] The two antenna devices 30 point in the same direction, that is, the direction of the monitoring area 18. As Figure 3 shown, the respective direction axes 86 of the antenna devices 30 are parallel to each other. The direction axis 86 indicates the direction relative to the antenna device 33 in which the respective antenna device 30 points. In Figure 4 the direction axis 86 extends perpendicular to the drawing plane. Compared with the left antenna device 30, Figure 4 in

[0127] the right antenna device 30 in

[0128] is rotated 180° about its direction axis 86 by a rotation angle 88. Figure 4 The positions of the transmitting antenna elements Tx and the receiving antenna elements Rx of the right antenna device 30 are generated by a geometric transformation of the positions of the respective transmitting antenna elements Tx and the receiving antenna elements Rx of the left antenna device 30. The geometric transformation includes a rotation 88 about the direction axis 86 by a rotation angle of 180° and a displacement 94 in the y-axis direction by a distance 84. The rotation 88 of the positions of the transmitting antenna elements Tx and the receiving antenna elements Rx is achieved by the rotation of the antenna device 30.

[0129] The antenna device 30 has a transmitting antenna element field 42 composed of four transmitting antenna elements Tx and a receiving antenna element field 44 composed of four receiving antenna elements Rx. In Figure 4 the antenna device 30 shown, the receiving antenna elements 44 are arranged to the right of the transmitting antenna elements 42. The transmitting antenna element field 42 and the receiving antenna element field 44 can also be arranged differently relative to each other. The transmitting antenna element field 42 and the receiving antenna element field 44 can also overlap, as shown in the second exemplary embodiment in Figure 5 and Figure 6

[0130] The transmitting antenna elements Tx are arranged in the transmission plane at the corners of a hypothetical planar rectangle 46. The rectangle 46 has different side lengths. Two longer sides of the rectangle 46 extend parallel to a hypothetical first device axis 48, which extends horizontally and is parallel to Figure 4 ​the y-axis in and form the main axis 50 of the imaginary transmitting antenna element. The other two shorter sides of the rectangle 46 extend parallel to the imaginary second device axis 52, which extends vertically and is parallel to Figure 4 the z-axis in and form the transverse axis 54 of the imaginary transmitting antenna element. The second device axis 52 extends perpendicular to the first device axis 48. The transmitting antenna element Tx thus forms a rectangular transmitting antenna element field 42.

[0131] The direction axis 86 extends perpendicular to the plane spanned by the first device axis 48 below the second device axis 52.

[0132] The phase center 38 of the transmitting antenna element Tx is arranged at the intersection of the main axis 50 of the transmitting antenna element and the corresponding transverse axis 54 of the transmitting antenna element.

[0133] The corresponding distance between adjacent main axes 50 of the transmitting antenna elements or between adjacent transverse axes 54 of the transmitting antenna elements, that is, the distance between the corresponding adjacent antenna element axes of the same antenna element type, is an integer multiple of the predetermined basic distance λ / 2.

[0134] In Figure 4 the exemplary embodiment shown, the distance 56 between the main axes 50 of the transmitting antenna elements corresponds to ten times the basic distance λ / 2, that is, 5λ. The distance 58 between the transverse axes 54 of the transmitting antenna elements corresponds to 18 times the basic distance λ / 2, that is, 9λ.

[0135] The phase centers 40 of the four receiving antenna elements Rx are arranged in a manner distributed on two imaginary main axes 60 of the receiving antenna elements and four imaginary transverse axes 62 of the receiving antenna elements. In this case, the phase centers 40 are respectively arranged at the intersections of the main axis 60 of the receiving antenna element and the transverse axis 62 of the receiving antenna element.

[0136] The main axes 60 of the receiving antenna elements extend parallel to each other, spaced apart and parallel to the first device axis 48. The four transverse axes 62 of the receiving antenna elements are parallel to each other, spaced apart, perpendicular to the main axes 60 of the receiving antenna elements and extend parallel to the second device axis 52.

[0137] The main axes 60 of the receiving antenna elements and the transverse axes 62 of the receiving antenna elements extend in an imaginary receiving plane. The main axes 60 of the receiving antenna elements and the transverse axes 62 of the receiving antenna elements, that is, the receiving plane, also extend parallel to the plane spanned by the main axes 50 of the transmitting antenna elements and the transverse axes 54 of the transmitting antenna elements. The receiving plane containing the main axes 60 of the receiving antenna elements and the transverse axes 62 of the receiving antenna elements extends parallel to the transmission plane containing the main axes 50 of the transmitting antenna elements and the transverse axes 54 of the transmitting antenna elements.

[0138] In Figure 4In the exemplary embodiment shown, the main axis 60 of the receiving antenna element, the transverse axis 62 of the receiving antenna element, the main axis 50 of the transmitting antenna element, and the transverse axis 50 of the transmitting antenna element are in a common plane. Accordingly, all the transmitting antenna elements Tx and all the receiving antenna elements Rx are in the common plane.

[0139] The phase center 40 of one of the receiving antenna elements Rx is arranged on one of the main axes 60 of the receiving antenna element, i.e., Figure 4 the upper main axis 60 of the receiving antenna element in

[0140] The transverse axis 62 of the receiving antenna element is on the left side of the receiving antenna element field 44, that is, not between the other two transverse axes 62 of the receiving antenna elements. The phase center 40 of the receiving antenna element Rx arranged alone on the upper main axis 60 of the receiving antenna element is on the transverse axis 62 of the receiving antenna element.

[0141] The corresponding distance between adjacent main axes 60 of the receiving antenna elements or between adjacent transverse axes 62 of the receiving antenna elements, that is, the distance between the corresponding adjacent antenna element axes of the same antenna element type, is an integer multiple of the basic distance λ / 2. All the distances between the corresponding adjacent transverse axes 62 of the receiving antenna elements are different.

[0142] In Figure 4 on the left hand side of the receiving antenna element field 44, the distance 64 between the transverse axis 62 of the receiving antenna element and the second transverse axis 62 of the adjacent receiving antenna element from the left is less than the other distances 66 and 68 between the other corresponding adjacent transverse axes 62 of the receiving antenna elements. The phase center 40 of the single receiving antenna element Rx arranged alone on the corresponding main axis 60 of the receiving antenna element is on the transverse axis 62 of the receiving antenna element.

[0143] In Figure 4 the exemplary embodiment shown, the distance 70 between the main axes 60 of the receiving antenna elements corresponds to twice the basic distance λ / 2, that is, λ. The distance 64 between the transverse axis 62 of the single receiving antenna element Rx included in the left hand side of the receiving antenna element field 44 and the second transverse axis 62 of the adjacent receiving antenna element corresponds to one time the basic distance λ / 2. The distance 66 between the second transverse axis 62 of the receiving antenna element and the third transverse axis 62 of the receiving antenna element from the left corresponds to twice the basic distance λ / 2, that is, λ. The third transverse axis 62 of the receiving antenna element from the left and the fourth transverse axis 62 of the receiving antenna element from the left (i.e., Figure 4The distance 68 between the receiving antenna element transverse axes 62 on the right - hand side of the receiving antenna field 44 corresponds to three times the basic distance λ / 2, i.e., 1.5λ.

[0144] The long side of the rectangle 46 of the transmitting antenna element Tx, that is, the long side of the transmitting antenna element field 42, extends parallel to such a device axis along which the receiving antenna element axis also extends and in the direction of which the receiving antenna element field 40 has its maximum extent. In the illustrated embodiment, the main axis 50 of the transmitting antenna element and the main axis 60 of the receiving antenna element are parallel to each other and parallel to the first device axis 48.

[0145] The extent 72 of the transmitting antenna element field 42 in the direction of the first device axis 48 is greater than the extent of the receiving antenna element field 44 in the direction of the first device axis 48. In Figure 4 the illustrated exemplary embodiment, the extent of the transmitting antenna element field 42 in the direction of the first device axis 48 corresponds to the distance 58 between the transverse axes 54 of the transmitting antenna element, that is, 18 times the basic distance λ / 2, i.e., 9λ. The extent 72 of the receiving antenna element field 44 in the direction of the first device axis 48 corresponds to the sum of the distances 64, 66, and 68 between the transverse axes 62 of the receiving antenna element, that is, six times the basic distance λ / 2, i.e., 3λ.

[0146] The extent of the transmitting antenna element field 42 in the direction of the second device axis 52 is greater than the extent of the receiving antenna element field 44 in the direction of the second device axis 52. In the illustrated exemplary embodiment, the extent of the transmitting antenna element field 42 in the direction of the second device axis 52 corresponds to the distance 56 between the main axes 50 of the transmitting antenna element, that is, ten times the basic distance λ / 2, i.e., 5λ. The extent of the receiving antenna field 44 in the direction of the second device axis 52 corresponds to the distance 70 between the main axes 60 of the receiving antenna element, that is, two times the basic distance λ / 2, i.e., λ.

[0147] Figure 5 An antenna device 30 according to a second exemplary embodiment is shown. The second exemplary embodiment of the antenna device 30 includes the transmitting antenna element field 42 and the receiving antenna element field 44 from Figure 4 the first exemplary embodiment of the antenna device 30. Compared with the antenna device 30 of the first exemplary embodiment according to Figure 4 in the second exemplary embodiment, the receiving antenna element field 44 is located within the transmitting antenna element field 42. In this case, the lower main axis 50 of the transmitting antenna element and the lower main axis 60 of the receiving antenna element coincide. In addition, the left - hand transverse axis 54 of the transmitting antenna element and the left - hand transverse axis 62 of the receiving antenna element coincide.

[0148] The receiving antenna element field 44 is arranged such that the left lower transmitting antenna element Tx is located at the intersection of the main axis 60 of the lower receiving antenna element and the lateral axis 62 of the left receiving antenna element. It can be said that the left lower transmitting antenna element Tx is located in the gap of the receiving antenna element field 44, which is generated due to the upward offset of the left receiving antenna element Rx relative to the main axis 60 of the upper receiving antenna element. Generally speaking, Figure 5 the alternative antenna device 30 of Figure 4 is more space-saving than the antenna device 30 of

[0149] Figure 6 The virtual antenna array 36 shown in Figure 4 can be implemented by the antenna device 33 having two antenna devices 30 according to the first exemplary embodiment of Figure 5 and the antenna device 33 having two antenna devices 30 according to the second exemplary embodiment of

[0150] Figure 6 shows the antenna device 33 having two antenna devices 30 according to the second exemplary embodiment of Figure 5 and the virtual antenna array 36 that can be realized thereby. In this case, similar to the antenna device 33 in Figure 4 , the right hand antenna device 30 is rotated 180° about its direction axis 86. In addition, the right hand antenna device 30 is displaced a distance 84 of 200λ to the right in the y-axis direction and is additionally moved upward in the z-axis direction. Figure 6 The illustration in is not drawn to scale in the y-axis direction.

[0151] For the antenna device 30 according to the second exemplary embodiment of Figure 5 and correspondingly for the antenna device 30 according to the first exemplary embodiment of Figure 4 an antenna array 36 having a total of 64 virtual antenna elements Vx is generated during the operation of the radar system 14. The virtual antenna array 36 is realized by the geometric convolution of the geometric positions of the phase centers 38 of the transmitting antenna elements Tx and the phase centers 40 of the receiving antenna elements Rx of the two antenna devices 30 of the antenna device 33. The virtual antenna elements Vx act as virtual receiving antenna elements for the echo signal 28.

[0152] Figure 6 shows the virtual antenna elements Vx of the virtual antenna array 36, and their corresponding virtual phase centers 73 are white-filled triangles. For the sake of clarity, in Figure 6 only some of the virtual antenna elements Vx and the corresponding phase centers 73 are provided with reference signs.

[0153] The virtual antenna array 36 includes 16 virtual antenna element fields 74, each field having four virtual antenna elements Vx. The virtual antenna element fields 74 have the same design, the same dimensions, and the same alignment. Eight of the antenna element fields 74 have the same orientation as the receiving antenna element field 44 of the left-handed antenna device 30. The other eight antenna element fields 74 are rotated 180° and have the same orientation as the receiving antenna element field 44 of the right-handed antenna device 30 rotated 180°.

[0154] The four virtual antenna elements Vx of each virtual antenna element field 74 are arranged according to the four receiving antenna elements Rx of the antenna device 30 or the antenna device 30 rotated 180°.

[0155] The virtual antenna element fields 74 are arranged in two rows, each row containing eight antenna element fields 74. These rows each extend parallel to the first device axis 48, that is, parallel to the y-axis. In this case, two virtual antenna element fields 74 are arranged one after another in each corresponding row.

[0156] In the two rows, in each case, the first, second, third, and fifth virtual antenna element fields 74 from the left, as viewed in the direction of the device axis 48, are oriented according to the receiving antenna element field 44 of the left-handed antenna device 30. As viewed in the direction of the device axis 48, the fourth, sixth, seventh, and eighth virtual antenna element fields 74 are oriented according to the receiving antenna element field 44 of the right-handed antenna device 30, that is, rotated 180° compared to the left-handed antenna element field 74.

[0157] In the two rows, the third and fourth virtual antenna element fields 74 from the left overlap each other. The corresponding right-handed virtual antenna element fields Vx of the third virtual antenna element field 74 coincide with the corresponding left-handed virtual antenna element Vx of the fourth virtual antenna element field 74. In addition, the fifth and sixth virtual antenna element fields 74 from the left overlap each other. The corresponding right-handed virtual antenna element fields Vx of the fifth virtual antenna element field 74 coincide with the corresponding left-handed virtual antenna element Vx of the sixth virtual antenna element field 74.

[0158] The coinciding virtual antenna elements Vx can also be used to synchronize the phases between the radar signals 26 of the two radar systems 14. The echo signals 28 from the object 20 produce the same phase on the two coinciding virtual antenna elements Vx.

[0159] Figure 6The virtual phase center 73 of the topmost virtual antenna element Vx of the virtual antenna array 36 is located on the upper virtual major axis 76. The phase center 73 of the bottommost virtual antenna element Vx is located on the lower virtual major axis 76. The distance 80 between the upper virtual major axis 76 and the lower virtual major axis 76 represents the aperture of the virtual antenna array 36 in this direction, for example, in the vertical direction, in the direction of the z-axis. The distance 80 and thus the vertical aperture correspond to 14 times the basic distance λ / 2, i.e., 7λ.

[0160] Figure 6 The virtual phase center 73 of the leftmost virtual antenna element Vx of the virtual antenna array 36 is located on the left virtual transverse axis 78. In this example, the left virtual transverse axis 78 coincides with the left transmitting antenna element transverse axis 54 and the left receiving antenna element transverse axis 62 of the left antenna device 30. The phase center 73 of the rightmost virtual antenna element Vx is located on the right virtual transverse axis 78. The distance 82 between the left virtual transverse axis 78 and the right virtual transverse axis 78 represents the aperture of the virtual antenna array 36 in this direction, for example, in the horizontal direction, in the direction of the y-axis. The distance 82 and thus the horizontal aperture is greater than 800 times the basic distance, i.e., >400λ. The distance 82 is greater than twice the distance 84 between the antenna devices 30.

[0161] Figure 7 An antenna device 30 according to a third exemplary embodiment of the antenna apparatus 33 is shown. Those elements similar to the elements of Figure 4 the first exemplary embodiment have the same reference numerals. The third embodiment differs from the first embodiment in that the phase centers 40 of the four receiving antenna elements Rx are arranged in a manner distributed on three imaginary receiving antenna element major axes 60 and four imaginary receiving antenna element transverse axes 62. In this case, the phase centers 40 are respectively arranged at the intersections of the receiving antenna element major axes 60 and the receiving antenna element transverse axes 62.

[0162] The phase center 40 of one of the receiving antenna elements Rx is arranged on one of the receiving antenna element major axes 60, i.e., Figure 7 the upper receiving antenna element major axis 60 in Figure 7 The phase center 40 of another receiving antenna element Rx is arranged on another receiving antenna element major axis 60, i.e.,

[0163] The lateral axis 62 of the receiving antenna element is located on the left side of the receiving antenna element field 44, that is, not between the lateral axes 62 of the other two receiving antenna elements. The phase center 40 of the receiving antenna element Rx arranged alone on the main axis 60 of the upper receiving antenna element is located on the lateral axis 62 of the receiving antenna element. The lateral axis 62 of the receiving antenna element is located on the right side of the receiving antenna element field 44, that is, not between the lateral axes 62 of the other two receiving antenna elements. The phase center 40 of the receiving antenna element Rx arranged alone on the main axis 60 of the lower receiving antenna element is located on the lateral axis 62 of the receiving antenna element.

[0164] One of the receiving antenna elements Rx is arranged on the two outer lateral axes 62 of the receiving antenna element field 44 in each case. The receiving antenna elements Rx located on the two outer lateral axes 62 are each located on one of the two outer main axes 60 of the antenna elements. In Figure 7 the exemplary embodiment shown, the single receiving antenna element Rx in the upper left of the receiving antenna field 44 is located at the intersection of the main axis 60 of the upper receiving antenna element and the left lateral axis 62 of the receiving antenna element. The single receiving antenna element Rx in the lower right of the receiving antenna field 44 is located at the intersection of the main axis 60 of the lower receiving antenna element and the right lateral axis 62 of the receiving antenna element. The two outer receiving antenna elements Rx are arranged on the diagonally opposite sides of the receiving antenna field 44.

[0165] On the one hand, Figure 7 the distance 70 between the main axis 60 of the upper receiving antenna element and the main axis 60 of the central receiving antenna element in

[0166] is different from the distance 90 between the main axis 60 of the central receiving antenna element and the main axis 60 of the lower receiving antenna element. Figure 7 In the third exemplary embodiment shown, the distance 70 between the main axis 60 of the upper receiving antenna element and the main axis 60 of the central receiving antenna element corresponds to three times the basic distance λ / 2, that is, 1.5λ. The distance 90 between the main axis 60 of the central receiving antenna element and the main axis 60 of the lower receiving antenna element corresponds to the basic distance λ / 2. The extent 92 of the receiving antenna element field 44 in the direction of the second device axis 52, that is, in the vertical direction (z-axis), corresponds to the sum of the distances 70 and 90 between the main axes 60 of the receiving antenna elements. In the exemplary embodiment shown, the extent 92 corresponds to four times the basic distance λ / 2, that is, 2λ.

[0167] Figure 7The distance 66 between the second receiving antenna element transverse axis 62 and the third receiving antenna element transverse axis 62, counting from the left in [the relevant context], corresponds to the distance 68 between the third receiving antenna element transverse axis 62 and the fourth antenna element transverse axis 62. The distance 64 between the first receiving antenna element transverse axis 62 and the second receiving antenna element transverse axis 62, as well as the distances 66 and 68 between other corresponding adjacent receiving antenna element transverse axes 62, are different.

[0168] On Figure 7 the left - hand side of the receiving antenna element field 44 in [the relevant context], the distance 64 between the receiving antenna element transverse axis 62 and the second receiving antenna element transverse axis 62, adjacent counting from the left, is less than the other distances 66 and 68 between other corresponding adjacent receiving antenna element transverse axes 62. The phase center 40 of the single receiving antenna element Rx arranged alone on the upper receiving antenna element main axis 60 is located on the receiving antenna element transverse axis 62.

[0169] The distance 64 between the receiving antenna element transverse axis 62 of the single receiving antenna element Rx included in the left - hand side of the receiving antenna element field 44 and the adjacent second receiving antenna element transverse axis 62 corresponds to one times the basic distance λ / 2. The distance 66 between the second receiving antenna element transverse axis 62 and the third receiving antenna element transverse axis 62, counting from the left, corresponds to two times the basic distance λ / 2, that is, λ. The distance 68 between the third receiving antenna element transverse axis 62, counting from the left, and the fourth receiving antenna element transverse axis 62, counting from the left (that is Figure 7 the receiving antenna element transverse axis 62 on the right - hand side of the receiving antenna field 44 in [the relevant context]) corresponds to two times the basic distance λ / 2, that is, λ.

[0170] The extent 72 of the receiving antenna element field 44 in the direction of the first device axis 48 corresponds to the sum of the distances 64, 66, and 68 between the receiving antenna element transverse axes 62, that is, five times the basic distance λ / 2, that is, 2.5λ.

[0171] Figure 8 Shows an antenna device 30 according to a fourth exemplary embodiment of the antenna device 33. Those elements similar to Figure 7 the third exemplary embodiment have the same reference numerals. The fourth exemplary embodiment differs from the third exemplary embodiment in that the transmitting antenna element Tx is arranged at the corners of an imaginary planar rectangle 46 with the same side lengths. Thus, the rectangle 46 is a square. The transmitting antenna element Tx thus forms a square transmitting antenna element field 42.

[0172] In Figure 8In the fourth exemplary embodiment shown, the distance 56 between the main axes 50 of the transmitting antenna elements corresponds to five times the basic distance λ / 2, i.e., 2.5λ. The distance 58 between the transverse axes 54 of the transmitting antenna elements also corresponds to five times the basic distance λ / 2, i.e., 2.5λ.

[0173] The distance 70 between the main axis 60 of the upper receiving antenna element and the main axis 60 of the central receiving antenna element corresponds to three times the basic distance λ / 2, i.e., 1.5λ. The distance 90 between the main axis 60 of the central receiving antenna element and the main axis 60 of the lower receiving antenna element corresponds to one times the basic distance λ / 2.

[0174] The distance 64 between the transverse axis 62 of the receiving antenna element on the left - hand side of the receiving antenna element field 44 and the transverse axis 62 of the adjacent second receiving antenna element corresponds to one times the basic distance λ / 2. The distance 66 between the transverse axis 62 of the second receiving antenna element and the transverse axis 62 of the third receiving antenna element from the left also corresponds to one times the basic distance λ / 2. The distance 68 between the transverse axis 62 of the third receiving antenna element from the left and the transverse axis 62 of the fourth receiving antenna element from the left (that is Figure 8 the transverse axis 62 of the receiving antenna element on the right - hand side in the central receiving antenna element field 44) corresponds to two times the basic distance λ / 2, i.e., λ.

[0175] The extent 72 of the receiving antenna element field 44 in the direction of the first device axis 48, that is, in the horizontal direction, corresponds to the sum of the distances 64, 66, and 68 between the transverse axes 62 of the receiving antenna elements, that is, four times the basic distance λ / 2, that is, 2λ. The extent 92 of the receiving antenna element field 44 in the direction of the second device axis 52, that is, in the vertical direction, corresponds to the sum of the distances 70 and 90 between the main axes 60 of the receiving antenna elements, that is, four times the basic distance λ / 2, i.e., 2λ. Thus, the extent 72 of the receiving antenna element field 44 in the horizontal direction corresponds to the extent 92 in the vertical direction.

[0176] In Figure 7 the third exemplary embodiment and Figure 8 the fourth exemplary embodiment of the antenna device 30, similar to Figure 4 the first exemplary embodiment, the corresponding receiving antenna element field 44 and the transmitting antenna element field 42 can overlap. Furthermore, the antenna device 33 can be implemented similar to Figure 4 the first exemplary embodiment, in each case having two corresponding antenna devices 30.

Claims

1. An antenna device (33) for a radar device (13), in particular for a bistatic radar device (13), in particular for a radar device (13) of a vehicle (10), having at least one antenna arrangement (30) which has at least one type 1 antenna element (Tx) of a first antenna element type and at least one type 2 antenna element (Rx) of a second antenna element type, wherein one antenna element type is a transmitting antenna element (Tx) and the other antenna element type is a receiving antenna element (Rx). It is characterized in that the antenna device (33) has at least two antenna arrangements (30) of identical design, wherein the positions of the antenna elements (Rx, Tx) of at least one antenna arrangement (30) within the antenna device (33) are produced by a geometric transformation of the positions of the corresponding antenna elements (Rx, Tx) of at least one other antenna arrangement (30), wherein the geometric transformation includes at least one rotation (88) of the positions of the antenna elements (Rx, Tx) of the at least one second-mentioned antenna arrangement (30) about its imaginary direction axis (86) by a predetermined angle of rotation, wherein the imaginary direction axis (86) indicates the direction in which the antenna arrangement (30) is directed.

2. The antenna device according to claim 1, characterized in that the corresponding direction axes (86) of the at least two antenna arrangements (30) extend parallel to each other, and / or the corresponding direction axes (86) extend perpendicular to the plane in which the antenna elements (Rx, Tx) of the antenna arrangement (30) are arranged.

3. The antenna device according to claim 1 or 2, characterized in that the predetermined angle of rotation is 180°, and / or the geometric transformation includes at least one displacement (94) of the direction axis (86) of the at least one antenna arrangement (30) by a predetermined distance (84), and / or the at least two antenna arrangements (30) are arranged at a predetermined distance (84) from each other.

4. The antenna device according to any one of the preceding claims, characterized in that each of the at least two antenna arrangements (30) has four type 1 antenna elements (Tx) which are arranged in a plane at the corners of an imaginary planar rectangle (46), wherein two sides of the rectangle (46) extend parallel to an imaginary first device axis (48) and form a type 1 antenna element major axis (50), the other two sides of the rectangle (46) extend parallel to an imaginary second device axis (52) and form a type 1 antenna element transverse axis (54), and the imaginary second device axis (52) extends perpendicular to the imaginary first device axis (48), and each of the at least two antenna arrangements (30) has at least two type 2 antenna elements (Rx) which are arranged on different imaginary type 2 antenna element major axes (60), the different imaginary type 2 antenna element major axes (60) extending parallel to each other and being spaced apart from each other by a certain distance, and being parallel to one of the device axes (48).

5. The antenna device according to claim 4, characterized in that, At least two type 2 antenna elements (Rx) are arranged on different imaginary type 2 antenna element transverse axes (62), and the different imaginary type 2 antenna element transverse axes (62) extend parallel to each other, are spaced apart, and are perpendicular to the type 2 antenna element main axis (60).

6. The antenna device according to claim 4 or 5, characterized in that each of the at least two antenna devices (30) has at least three type 2 antenna element transverse axes (62) and at least three type 2 antenna elements (Rx) spaced apart from each other, wherein at least three type 2 antenna elements (Rx) are arranged on different type 2 antenna element transverse axes (62), and / or each of the at least two antenna devices (30) has at least three type 2 antenna elements (Rx), wherein only one type 2 antenna element (Tx) is arranged on at least one type 2 antenna element main axis (60), and / or at least two type 2 antenna elements (Tx) are arranged on at least one type 2 antenna element main axis (60), in particular, at least one type 2 antenna element transverse axis (62) including one of the type 2 antenna elements (Rx) arranged separately on the type 2 antenna element main axis (60) is not located between the other two type 2 antenna element transverse axes (62), and / or each of the at least two antenna devices (30) has at least four type 2 antenna elements (Rx), wherein only one type 2 antenna element (Rx) is arranged on at least one type 2 antenna element main axis (60), and / or at least two type 2 antenna elements (Rx) are arranged on at least one type 2 antenna element main axis (60), and the distance (64) between at least one type 2 antenna element transverse axis (62) and at least one adjacent type 2 antenna element transverse axis (62) is at most as large as the other distances (66, 68) between the corresponding adjacent type 2 antenna element transverse axes (62), and on the at least one type 2 antenna element transverse axis (62) there is located a type 2 antenna element (Rx) arranged separately on the corresponding type 2 antenna element main axis (60), and / or each of the at least two antenna devices (30) has exactly four type 2 antenna elements (Rx).

7. The antenna device according to any one of claims 4 to 6, characterized in that in each of the at least two antenna devices (30), the type 2 antenna element axes, in particular the type 2 antenna element main axis (60) and the type 2 antenna element transverse axis (62), extend in a common imaginary plane, and / or in each of the at least two antenna devices (30), the type 2 antenna element axes, in particular the type 2 antenna element main axis (60) and the type 2 antenna element transverse axis (62), extend parallel to the plane spanned by the type 1 antenna element main axis (50) and the type 1 antenna element transverse axis (54), and / or In each of at least two antenna devices (30), the type 1 antenna elements (Tx) and the type 2 antenna elements (Rx) are arranged on a common carrier (34), in particular on a common carrier board. and / or All type 1 antenna element axes (50, 54) and type 2 antenna element axes (60, 62) of the antenna devices (30) of the antenna device (33) extend in a common imaginary plane.

8. The antenna device according to any one of claims 4 to 7, characterized in that, In each of the at least two antenna devices (30), the phase centers (38, 40) of at least some of the antenna elements (Rx, Tx), in particular the phase centers (38, 40) of all the antenna elements (Rx, Tx), are arranged on the respective antenna element axes (50, 54, 60, 62), in particular on the main antenna element axes (50, 60) and / or the transverse antenna element axes (54, 62).

9. The antenna device according to any one of claims 4 to 8, characterized in that, In each of the at least two antenna devices (30), the respective distances between adjacent antenna element axes of the same antenna element type, in particular the respective distances (56; 70) between adjacent main antenna element axes (50; 60) of the same antenna element type and / or the respective distances (58; 64, 66, 68) between adjacent transverse antenna element axes (54; 62), are integer multiples of a predetermined basic distance, where the basic distance corresponds to half the wavelength of the radar signal (26) transmitted using the radar system (14).

10. The antenna device according to any one of claims 4 to 9, characterized in that In each of the at least two antenna devices (30), the extent (58) of the transmitting antenna element field (42) composed of antenna elements of the type of the transmitting antenna element (Tx) in the direction of the first device axis (48) is greater than the extent (72) of the receiving antenna element field (44) composed of antenna elements of the type of the receiving antenna element (Rx) in the direction of the first device axis (48), and the extent (54) of the transmitting antenna element field (42) in the direction of the second device axis (52) is greater than the extent (70) of the receiving antenna element field (44) in the direction of the second device axis (52).

11. The antenna device according to any one of the preceding claims, characterized in that The at least two antenna devices (30) are designed to use the radar system (14) according to the MIMO method. and / or Each of the type 1 antenna elements (Tx) of the at least two antenna devices (30) can be individually driven and / or read, and each of the type 2 antenna elements (Rx) of the at least two antenna devices (30) can be individually driven and / or read.

12. A radar device (13), in particular a radar device (13) for a vehicle (10), having at least one antenna device (33), the antenna device comprising at least one antenna arrangement (30), the antenna arrangement having at least one type 1 antenna element (Tx) of a first antenna element type and at least one type 2 antenna element (Rx) of a second antenna element type, wherein one antenna element type is a transmitting antenna element (Tx) and the other antenna element type is a receiving antenna element (Rx), characterized in that, The radar device (13) has at least one antenna device (33) according to any one of claims 1 to 11.

13. A driver assistance system (12) having at least one radar device (13), in particular a bistatic radar device (13), which comprises at least one antenna device (33) having at least one antenna arrangement (30) for the at least one radar device (13), wherein the at least one antenna arrangement (30) has at least one type 1 antenna element (Tx) of a first antenna element type and at least one type 2 antenna element (Rx) of a second antenna element type, wherein one antenna element type is a transmitting antenna element (Tx) and the other antenna element type is a receiving antenna element (Rx), characterized in that, At least one radar device (13) has at least one antenna device (33) according to any one of claims 1 to 11.

14. A vehicle (10) having at least one radar device (13), in particular a bistatic radar device (13), which comprises at least one antenna device (33) having at least one antenna arrangement (30) for the at least one radar device (13), wherein the at least one antenna arrangement (30) has at least one type 1 antenna element (Tx) of a first antenna element type and at least one type 2 antenna element (Rx) of a second antenna element type, wherein one antenna element type is a transmitting antenna element (Tx) and the other antenna element type is a receiving antenna element (Rx), characterized in that, At least one radar device (13) has at least one antenna device (33) according to any one of claims 1 to 11.

15. A method for operating a radar device (13), in particular a radar device (13) for a vehicle (10), in particular a bistatic radar device (13), having at least one antenna device (33), which antenna device comprises at least one antenna arrangement (30), which antenna arrangement has at least one type 1 antenna element (Tx) of a first antenna element type and at least one type 2 antenna element (Rx) of a second antenna element type, wherein, In this method, an antenna element (Tx) of one type of antenna element is used to transmit a radar signal (26), and an antenna element (Rx) of another type of antenna element is used to receive an echo signal (28) generated by the transmitted radar signal (26), characterized in that the radar signal (26) is transmitted using the antenna device (33) according to any one of claims 1 to 11, and the echo signal (28) is received using the antenna device (33) according to any one of claims 1 to 11.

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