Antenna device, radar, terminal equipment and vehicle end

Abstract

The invention discloses an antenna device, a radar, terminal equipment and a vehicle end, and relates to the technical field of millimeter wave radars. The antenna device comprises a first radio frequency controller, a second radio frequency controller and a delay unit, the first radio frequency controller is used for generating a first signal, and the first radio frequency controller comprises at least one first transmitting port and / or at least one first receiving port; the second radio frequency controller is used for generating a second signal, and the second radio frequency controller comprises at least one second transmitting port and / or at least one second receiving port; a first calibration signal corresponding to the first signal is respectively transmitted to the first receiving port and the second receiving port through the delay unit; a second calibration signal corresponding to the second signal is respectively transmitted to the first receiving port and the second receiving port through the delay unit; the delay unit is used for delaying transmission of the first calibration signal and the second calibration signal. The antenna device can meet the requirement of channel calibration between different chips.

Description

Antenna device, radar, terminal equipment and vehicle end Technical Field

[0001] The present application relates to the field of millimeter wave radar technology, and in particular to an antenna device, a radar, a terminal device, and a vehicle terminal. Background Art

[0002] Millimeter-wave radar is a radar that operates in the millimeter-wave band. It measures a target's distance, speed, and direction (angle) by emitting electromagnetic wave signals and detecting their reflections from the environment.

[0003] Currently, to ensure long-term reliable and high-precision operation of millimeter-wave radars, radar modules must employ a highly stable internal correction network to calibrate the amplitude and phase variations of the radar's service channels (primarily active components), ensuring that the channels' amplitude and phase consistency remain within acceptable limits. The internal correction network operates by tapping, looping back, and sampling the calibration signals for each service channel. The looped-back signals are then compared, correction coefficients are extracted, and compensation is applied digitally or via analog components to achieve amplitude and phase alignment across the multi-channels of the millimeter-wave radar's array antenna.

[0004] However, the current calibration network requires a dedicated calibration channel, which limits the selection of RF chips and cannot support the needs of channel calibration between different chips.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide an antenna device, a radar, a terminal device and a vehicle terminal, which can support the needs of channel calibration between different chips.

[0007] In a first aspect, an embodiment of the present application provides an antenna device, comprising:

[0008] A first radio frequency controller, a second radio frequency controller, and a delay unit; wherein:

[0009] The first radio frequency controller is configured to generate a first signal, wherein the first radio frequency controller includes at least one first transmitting port and / or at least one first receiving port;

[0010] The second radio frequency controller is configured to generate a second signal, the second radio frequency controller comprising at least one second transmitting port and / or at least one second receiving port;

[0011] A first radio frequency signal corresponding to the first signal is transmitted to an air interface through an antenna corresponding to the first transmitting port, where the first radio frequency signal is used to detect a target;

[0012] The first calibration signal corresponding to the first signal is transmitted to the first receiving port and the second receiving port respectively through the delay unit;

[0013] A second radio frequency signal corresponding to the second signal is transmitted to the air interface through the antenna corresponding to the second transmitting port, and the second radio frequency signal is used to detect the target;

[0014] The second calibration signal corresponding to the second signal is transmitted to the first receiving port and the second receiving port respectively through the delay unit;

[0015] The delay unit is used to delay the transmission of the first calibration signal and the second calibration signal.

[0016] In an embodiment of the present application, an antenna device is provided, wherein a first RF controller in the antenna device generates a first signal, and a first RF signal corresponding to the first signal is transmitted to an air interface via an antenna corresponding to a first transmitting port of the first RF controller for detecting a target; a first calibration signal corresponding to the first signal is transmitted to a receiving port of each RF controller in the antenna device (including but not limited to the first RF controller) via a delay unit in the antenna device, and a transmission delay is generated when the first calibration signal passes through the delay unit. Similarly, a second RF controller in the antenna device generates a second signal, and a second RF signal corresponding to the second signal is transmitted to an air interface via an antenna corresponding to a second transmitting port of the second RF controller for detecting a target; a second calibration signal corresponding to the second signal is transmitted to a receiving port of each RF controller in the antenna device (including but not limited to the second RF controller) via a delay unit in the antenna device, and a transmission delay is generated when the second calibration signal passes through the delay unit.

[0017] Through the embodiments of the present application, the service transceiver channels of each RF controller are reused for loopback transmission of calibration signals, achieving in-system calibration without relying on dedicated calibration channels, thereby supporting the need for channel calibration between different chips. Furthermore, a delay unit is used to delay the transmission of each calibration signal, separating the looped calibration signal from the leakage energy between the service transceiver channels in time. This reduces the isolation requirements between the service transceiver channels and achieves a compact design and high reliability for the device.

[0018] In a possible implementation, the delay unit includes at least one of the following: a serpentine waveguide, and a cascade resonant cavity.

[0019] In an embodiment of the present application, a possible specific implementation of a delay unit is provided, specifically, the delay unit may include but is not limited to a serpentine waveguide, a cascade resonant cavity, and the like, modules or devices for delaying the transmission of each calibration signal in the calibration system. Among them, the serpentine waveguide is a waveguide with a curved transmission channel (similar to a serpentine), and the cascade resonant cavity can be a plurality of resonant cavities connected in a serpentine shape. Through the embodiment of the present application, each calibration signal will generate a transmission delay when passing through the delay unit, so that the leakage energy between the looped calibration signal and the service transceiver channel is temporally distinguished, thereby improving the signal to interference plus noise ratio (SINR) of the looped calibration signal, reducing the isolation requirements between the service transceiver channels, and realizing a compact design and high reliability of the device.

[0020] In a possible implementation manner, the antenna device further includes:

[0021] a first coupler and a second coupler;

[0022] The first coupler is arranged on the transmission channel of the first radio frequency controller, and the second coupler is arranged on the transmission channel of the second radio frequency controller;

[0023] The first coupler is configured to tap the first calibration signal from the first signal, wherein the signal after the first signal is tapped is the first radio frequency signal;

[0024] The second coupler is used to tap the second calibration signal from the second signal, and the signal after the second signal is tapped is the second radio frequency signal.

[0025] In an embodiment of the present application, a possible specific embodiment of an antenna device is also provided, specifically, the antenna device further includes a first coupler and a second coupler. The first coupler is disposed on the transmit channel of the first RF controller and is used to tap a first calibration signal from a first signal generated by the first RF controller. After the first signal is tapped, it becomes the first RF signal transmitted over the air interface. It is understood that the energy ratio of the first calibration signal tapped from the first signal is much lower than that of the first RF signal, allowing the antenna device to achieve system calibration without affecting normal detection functions. Similarly, the second coupler is disposed on the transmit channel of the second RF controller and is used to tap a second calibration signal from a second signal generated by the second RF controller. After the second signal is tapped, it becomes the second RF signal transmitted over the air interface. It is understood that the energy ratio of the second calibration signal tapped from the second signal is much lower than that of the second RF signal, allowing the antenna device to achieve system calibration without affecting normal detection functions. Similarly, couplers may also be disposed on the transmit channels of other RF controllers in the antenna device to achieve functions similar to those of the first and second couplers. Through the embodiments of the present application, a coupler is used to extract part of the energy from the service transmission channel as a calibration signal for loopback transmission, and the service transceiver channels of each RF controller are multiplexed. There is no need to rely on a dedicated calibration channel, thereby supporting the channel calibration needs between different chips.

[0026] In a possible implementation manner, the antenna device further includes:

[0027] a third coupler and a fourth coupler;

[0028] The third coupler is provided on the receiving channel of the first radio frequency controller, and the fourth coupler is provided on the receiving channel of the second radio frequency controller;

[0029] The third coupler is configured to couple the first calibration signal and the second calibration signal to the first radio frequency controller;

[0030] The fourth coupler is configured to couple the first calibration signal and the second calibration signal to the second RF controller.

[0031] In an embodiment of the present application, a possible specific embodiment of an antenna device is also provided, specifically, the antenna device also includes a third coupler and a fourth coupler. The third coupler is arranged on the receiving channel of the first RF controller, and is used to couple the various calibration signals in the system (including but not limited to the first calibration signal and the second calibration signal) to the first RF controller. Similarly, the fourth coupler is arranged on the receiving channel of the second RF controller, and is used to couple the various calibration signals in the system (including but not limited to the first calibration signal and the second calibration signal) to the second RF controller. Similarly, couplers can also be set on the receiving channels of other RF controllers in the antenna device to achieve functions similar to the third coupler and the fourth coupler. Through the embodiment of the present application, a coupler is used to couple each calibration signal to the corresponding RF controller, so that loopback transmission of each calibration signal in the system can be achieved, thereby achieving calibration within the system.

[0032] In a possible implementation manner, the first coupler and / or the second coupler and / or the third coupler and / or the fourth coupler include at least one of the following: a small-hole directional coupler and a cross-slot coupler.

[0033] In an embodiment of the present application, a possible specific implementation of a coupler is provided. Specifically, the first, second, third, and fourth couplers described above may include, but are not limited to, small-aperture directional couplers, cross-slot couplers, and other modules or devices for tapping or coupling signals. Through this embodiment of the present application, various couplers can be used to tap a portion of the energy from the service transmission channel as a calibration signal for loopback transmission. Each calibration signal can then be coupled to a corresponding RF controller, enabling loopback transmission of each calibration signal within the system, thereby achieving in-system calibration.

[0034] In a possible implementation manner, the antenna device further includes:

[0035] combiners and splitters;

[0036] The combiner is used to combine the first calibration signal and the second calibration signal to the delay unit;

[0037] The splitter is used to split the first calibration signal passing through the delay unit to the first receiving port and the second receiving port, and to split the second calibration signal passing through the delay unit to the first receiving port and the second receiving port.

[0038] In an embodiment of the present application, a possible specific embodiment of an antenna device is also provided, specifically, the antenna device further includes a combiner and a splitter. The combiner is used to combine the various calibration signals in the system (including but not limited to the first calibration signal and the second calibration signal) to a delay unit, thereby delaying the transmission of each calibration signal. The splitter is used to split the various calibration signals in the system (including but not limited to the first calibration signal and the second calibration signal) to each radio frequency controller respectively. Through the embodiment of the present application, loopback transmission of each calibration signal in the system can be achieved, thereby achieving calibration within the system.

[0039] In a possible implementation manner, the first calibration signal and the second calibration signal passing through the combiner are time division, frequency division, or code division signals.

[0040] In the embodiment of the present application, the calibration signal passing through the combiner is a time-division, frequency-division or code-division signal. It can be understood that when each calibration signal passes through the combiner, it can be transmitted in a time-division, frequency-division or code-division manner to ensure the isolation of the calibration signal on each branch channel.

[0041] In a possible implementation manner, the combiner and / or the splitter includes at least one of the following: a waveguide bridge, a serial feed coupler.

[0042] In the embodiments of this application, a possible specific implementation of a combiner and splitter is provided. Specifically, the combiner and splitter may include, but are not limited to, a waveguide bridge, a serial feed coupler, and other modules or devices for combining or splitting signals. The waveguide bridge may also be referred to as a hybrid junction or hybrid connector. Through the embodiments of this application, various combiners and splitters can be used to implement loopback transmission of various calibration signals within the system.

[0043] In a possible implementation manner, the first radio frequency controller and / or the second radio frequency controller includes a monolithic microwave integrated circuit (MMIC).

[0044] In an embodiment of the present application, the radio frequency controller in the antenna device may include a monolithic microwave integrated circuit (MMIC).

[0045] In a possible implementation, the antenna device includes a plurality of the first radio frequency controllers and / or a plurality of the second radio frequency controllers.

[0046] In an embodiment of the present application, a possible specific implementation of an antenna device is also provided. Specifically, the antenna device also includes multiple RF controllers, which can implement functions similar to the above-mentioned first RF controller and / or second RF controller to achieve in-system calibration.

[0047] In a possible implementation, the first calibration signal and the leakage energy corresponding to the first signal arrive at different times at the receiving port, and the second calibration signal and the leakage energy corresponding to the second signal arrive at different times at the receiving port.

[0048] In an embodiment of the present application, the first calibration signal and the leakage energy corresponding to the first signal arrive at different times at the receiving ports of each RF controller, so that the two are distinguished in time, which can improve the SINR of the first calibration signal. Similarly, the second calibration signal and the leakage energy corresponding to the second signal arrive at different times at the receiving ports of each RF controller, so that the two are distinguished in time, which can improve the SINR of the second calibration signal. It can be understood that the leakage energy corresponding to the first calibration signal and the second signal arrive at different times at the receiving ports of each RF controller, so that the two are distinguished in time, which can improve the SINR of the first calibration signal. The leakage energy corresponding to the second calibration signal and the first signal arrive at different times at the receiving ports of each RF controller, so that the two are distinguished in time, which can improve the SINR of the second calibration signal. Through the embodiment of the present application, the leakage energy corresponding to the calibration signal and the service signal is distinguished at the receiving ports of each RF controller, which can reduce the isolation requirements between the service transceiver channels and achieve a compact design and high reliability of the device.

[0049] In a possible implementation, the antenna device further includes a processing unit;

[0050] The processing unit is configured to obtain target transmission parameters according to the transmission parameters of the first calibration signal and the transmission parameters of the second calibration signal, wherein the target transmission parameters include a target amplitude and / or a target phase of the signal;

[0051] The processing unit is further configured to scale the amplitudes of the first calibration signal and the second calibration signal to the target amplitudes and / or align the phases of the first calibration signal and the second calibration signal to the target phases according to the target transmission parameters.

[0052] In an embodiment of the present application, a possible specific embodiment of an antenna device is also provided, specifically, the antenna device further includes a processing unit, the processing unit is used to obtain target transmission parameters based on the transmission parameters of each calibration signal (including but not limited to the first calibration signal and the second calibration signal), the target transmission parameters including but not limited to the target amplitude, target phase and other information of the signal, and the processing unit then aligns the transmission parameters of each calibration signal (including but not limited to the first calibration signal and the second calibration signal) with the target transmission parameters, for example, scaling the amplitude of the first calibration signal and the second calibration signal to the target amplitude, and aligning the phase of the first calibration signal and the second calibration signal to the target phase. Wherein, obtaining the target transmission parameters based on the transmission parameters of each calibration signal may be to use the average value / median value / mode value of the transmission parameters of each calibration signal as the target transmission parameter, or to use the transmission parameter of one of the calibration signals as the target transmission parameter, and so on. Through the embodiment of the present application, the calibration signal looped back on the service channel of each RF controller can be used to implement in-system calibration, without relying on a dedicated calibration channel, and can support the needs of channel calibration between different chips.

[0053] In a second aspect, an embodiment of the present application provides a chip, which includes the antenna device described in the first aspect or any possible implementation manner of the first aspect.

[0054] In a third aspect, embodiments of the present application provide a radar or radar system, comprising the antenna device described in the first aspect or any possible implementation of the first aspect, or comprising the chip described in the second aspect. It should be noted that there may be smart sensors that integrate multiple sensors. If the smart sensor includes millimeter wave detection capabilities, the smart sensor may also be referred to as a millimeter wave radar or millimeter wave radar system.

[0055] In a fourth aspect, an embodiment of the present application provides a terminal device, which includes the antenna device described in the first aspect or any possible embodiment of the first aspect, or includes the chip described in the second aspect, or includes the radar or radar system described in the third aspect.

[0056] In the fifth aspect, an embodiment of the present application provides a vehicle side, which includes the antenna device described in the first aspect or any possible embodiment of the first aspect, or includes the chip described in the second aspect, or includes the radar or radar system described in the third aspect, or includes the terminal device described in the fourth aspect.

[0057] In the embodiments of the present application, intra-system calibration is achieved by multiplexing the service transceiver channels of each RF controller for loopback transmission of calibration signals. This eliminates the need for relying on dedicated calibration channels, thereby supporting the need for channel calibration between different chips. Furthermore, a delay unit is used to delay the transmission of each calibration signal, so that the looped calibration signal is temporally separated from the leakage energy between the service transceiver channels. This reduces the isolation requirements between the service transceiver channels and enables a compact design and high reliability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] FIG1 is a schematic diagram of a radar distribution according to an embodiment of the present application;

[0060] FIG2 is a schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0061] FIG3 is a schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0062] FIG4 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0063] FIG5A is a schematic structural diagram of a delay device provided in an embodiment of the present application;

[0064] FIG5B is a schematic structural diagram of a delay device provided in an embodiment of the present application;

[0065] FIG6 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0066] FIG7 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0067] FIG8 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0068] FIG9 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0069] FIG10 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0070] FIG11 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0071] FIG12 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0072] FIG13 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0073] FIG14 is a schematic structural diagram of an antenna device provided in an embodiment of the present application;

[0074] FIG15 is a schematic structural diagram of an antenna device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solutions and advantages of this application clearer, the embodiments of this application will be described below in conjunction with the drawings in the embodiments of this application.

[0076] The terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to the process, method, product, or device.

[0077] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It will be understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0078] It should be understood that in the present application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0079] As described in the background technology section, current calibration networks require dedicated calibration channels, which limits the selection of RF chips and cannot support the need for channel calibration between different chips. This application provides an antenna device, radar, terminal equipment, and vehicle terminal, involving the field of millimeter-wave radar technology, which can support the need for channel calibration between different chips.

[0080] In order to more clearly describe the solution of this application, some knowledge related to radar is first introduced below.

[0081] Radar is the transliteration of the English word Radar, which comes from the abbreviation of "radio detection and ranging", meaning "radio detection and ranging". It uses radio methods to detect targets and determine the spatial position of targets.

[0082] Radar uses electromagnetic waves as its detection medium, and it uses the transmission and reception of electromagnetic waves to detect targets, for example, to measure distance, speed, or azimuth. Radar can measure distance to a target based on the time of flight of electromagnetic waves, which is the time difference between the transmission and reception of electromagnetic waves. Radar transmits an electromagnetic wave signal and receives an echo signal. The distance to the target is determined based on the time difference between the received echo signal and the transmitted electromagnetic wave signal and the propagation speed of the electromagnetic wave. The distance between the radar and the target can be determined using the following formula: s = c * t / 2, where s is the distance to the target, t is the time of flight (the time from the radar transmitting the electromagnetic wave signal to the receipt of the echo signal), and c is the speed of light.

[0083] Radar uses the Doppler effect to measure target velocity. The Doppler effect works as follows: when a vibration source, such as sound, light, or radio waves, moves relative to an observer at a relative speed, the frequency of the vibration received by the observer differs from the frequency emitted by the source. When the electromagnetic waves emitted by the radar and the target are in relative motion, the frequency of the echo signal will differ from the frequency of the transmitted electromagnetic wave. When the target approaches the radar antenna, the frequency of the echo signal will be higher than the frequency of the transmitted electromagnetic wave; conversely, when the target moves away from the radar antenna, the frequency of the echo signal will be lower than the frequency of the transmitted electromagnetic wave. The frequency change caused by the Doppler effect is called the Doppler shift, which is proportional to the relative velocity and inversely proportional to the vibration frequency. Therefore, by detecting the frequency difference between the transmitted electromagnetic wave signal and the echo signal, the target's speed relative to the radar—that is, the relative speed between the target and the radar—can be measured.

[0084] Radar can use amplitude method, phase method and other methods to measure azimuth angle. The amplitude method uses the amplitude value of the echo signal received by the antenna to measure the angle. The variation pattern of this amplitude value depends on the antenna radiation pattern and the antenna scanning method. The phase method uses the phase difference between the echo signals received by multiple antenna units to measure the angle. For example, the radar receives the echo signal reflected by the same target through the antenna array, and calculates the azimuth angle of the target based on the phase difference of the echo signal.

[0085] Millimeter-wave radar uses electromagnetic waves within a certain wavelength range, such as microwaves. Currently, millimeter waves and adjacent centimeter waves (e.g., centimeter waves in the 24 GHz band) are more commonly used. Millimeter waves have wavelengths of 1 to 10 millimeters (mm), with those in the 24 GHz band having wavelengths slightly larger than 10 mm. Because the wavelength of millimeter-wave radar's detection medium lies in the overlapping wavelength range of microwaves and far-infrared waves, it combines the characteristics of both spectrums. According to wave propagation theory, higher frequencies and shorter wavelengths yield higher resolution and greater penetration, but also greater propagation losses and shorter transmission distances. Conversely, lower frequencies and longer wavelengths yield greater diffraction resistance and longer transmission distances. Therefore, compared to microwaves, millimeter-wave radar's detection medium offers higher resolution, better directivity, stronger anti-interference capabilities, and superior detection performance. Compared to infrared, millimeter-wave radar experiences less atmospheric attenuation, has better penetration of smoke and dust, and is less affected by weather. Therefore, millimeter-wave radar has been increasingly widely used in many fields such as smart vehicles, drones, smart transportation, and industrial automation.

[0086] Radar can be categorized by detection range into long-range radar (LRR), mid-range radar (MRR), and short-range radar (SRR). LRR has higher detection range requirements but lower angular detection width requirements. SRR has lower detection range requirements but higher angular detection width requirements. MRR's detection range and angular detection width requirements can be understood as falling between those of LRR and SRR. For example, LRR's detection range can exceed 200 meters and its angular detection width can be ±15°; MRR's detection range is within 100 meters and its angular detection width can be ±45°; and SRR's detection range is within 60 meters and its angular detection width can be ±80°. Different types of radar can be installed in different locations on the vehicle body, depending on the autonomous driving functional requirements and the use of other sensors. The number and type of radars can be selected as needed.

[0087] Please refer to FIG1 , which is a schematic diagram of a radar distribution provided in an embodiment of the present application.

[0088] FIG1 shows possible installation locations of several types of radars. This is only an example. In actual use, a greater or lesser number of radars may be selected, and the types may also be adjusted.

[0089] As shown in Figure 1, the LRR can be installed in front of the vehicle as a forward-facing radar; the MRR can be installed in front of or behind the vehicle as a forward-facing radar or a rear-facing radar; and the SRR can be installed on the side or at the four corners of the vehicle as a side-facing radar or a corner radar. Furthermore, the MRR can also be installed on the side or at the four corners of the vehicle, and the SRR can also be installed in the front or rear of the vehicle.

[0090] Radars can be classified based on the modulation method (or radiation method) of their electromagnetic waves. Radar electromagnetic wave modulation methods include pulse and continuous wave, so radars can be divided into pulse radars and continuous wave radars. Continuous wave methods can be further divided into frequency shift keying (FSK), phase shift keying (PSK), constant frequency / single frequency continuous wave (CW), frequency modulated continuous wave (FMCW), multiple frequency shift keying (MFSK), and phase modulated continuous wave (PMCW). FMCW has become the mainstream radar modulation method due to its ability to detect multiple targets, high resolution, and low cost.

[0091] Please refer to FIG2 , which is a schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0092] As shown in Figure 2, the radar includes a control circuit 110, a signal generator 120, a power amplifier (PA) 130, a low-noise amplifier (LNA) 140, a mixer 150, a filter 160, an analog-to-digital converter (ADC) 170, and a signal processor 180. The signal processor is typically used to process digital signals, such as a digital signal processor (DSP). Under the control of the control circuit 110, the signal generator 120 generates an electromagnetic wave signal (also known as a radar signal) waveform. For example, in a radar using FMCW modulation, the signal generator 120 generates a sawtooth or triangular wave under the control of the control circuit 110. The signal generator 120 is, for example, a voltage-controlled oscillator, and the control circuit 110 is used to generate a control voltage. The generated electromagnetic wave signal waveform undergoes frequency conversion modulation to the desired frequency band, such as between 76 GHz and 77 GHz. After being amplified by the PA 130, it is radiated into space through the transmit antenna (TX).

[0093] The electromagnetic wave signal radiated by the transmitting antenna hits the target, reflects into space, and is received by the radar's receiving antenna (RX). After being amplified by LNA 140, it is mixed with a reference signal by mixer 150. The reference signal can typically be the electromagnetic wave signal generated above. After filtering by filter 160, mixer 150 generates an analog baseband signal, which is sampled by ADC 170 to generate a digital baseband signal. The digital baseband signal is processed by signal processor 180 to obtain target range, velocity, and angle information. Furthermore, this information can be used for clustering and / or tracking to further determine the target's trajectory, size, type, and other information.

[0094] The various components of the radar described above can be integrated as needed to achieve miniaturization of the radar. For example, components such as the control circuit 110, signal generator 120, power amplifier (PA) 130, low noise amplifier (LNA) 140, mixer 150, filter 160, and analog-to-digital converter (ADC) 170 can be integrated on at least one chip, such as a monolithic microwave integrated circuit (MMIC).

[0095] For details, please refer to Figure 3, which is a schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0096] As shown in Figure 3, the radar includes an MMIC, a microcontroller unit (MCU), and a power management integrated circuit (PMIC). The MMIC can integrate the functions of the RF part, and the MCU can integrate the functions of the above baseband part, such as the functions of the above signal processor. In addition, it can also provide a communication interface with other on-board devices. The PMIC is the chip that powers the radar hardware system.

[0097] In response to the problem that the current calibration network requires a dedicated calibration channel during calibration, which limits the selection of RF chips and cannot support the channel calibration needs between different chips, the present application provides an antenna device, radar, terminal equipment and vehicle end, involving the field of millimeter wave radar technology, which can effectively solve the above problems and support the channel calibration needs between different chips.

[0098] The antenna device provided in this application will be described below with reference to the accompanying drawings.

[0099] Please refer to FIG. 4 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0100] As shown in FIG4 , the antenna device includes:

[0101] A first radio frequency controller 10, a second radio frequency controller 20, and a delay unit 30; wherein:

[0102] A first radio frequency controller 10, configured to generate a first signal, the first radio frequency controller 10 comprising at least one first transmitting port 101 and / or at least one first receiving port 102;

[0103] A second RF controller 20, configured to generate a second signal, the second RF controller 20 comprising at least one second transmitting port 201 and / or at least one second receiving port 202;

[0104] A first radio frequency signal corresponding to the first signal is transmitted to the air interface through the antenna Tx1 corresponding to the first transmitting port 101, and the first radio frequency signal is used to detect the target;

[0105] The first calibration signal corresponding to the first signal is transmitted to the first receiving port 102 and the second receiving port 202 respectively through the delay unit 30;

[0106] A second radio frequency signal corresponding to the second signal is transmitted to the air interface through the antenna Tx2 corresponding to the second transmitting port 201, and the second radio frequency signal is used to detect the target;

[0107] The second calibration signal corresponding to the second signal is transmitted to the first receiving port 102 and the second receiving port 202 respectively through the delay unit 30;

[0108] The delay unit 30 is used to delay the transmission of the first calibration signal and the second calibration signal.

[0109] It can be understood that the first signal generated by the first RF controller is divided into two signals after passing through the first node 1001, namely the above-mentioned first RF signal and the first calibration signal, and the second signal generated by the second RF controller is divided into two signals after passing through the second node 1002, namely the above-mentioned second RF signal and the second calibration signal.

[0110] It can be understood that the two signals separated from the first signal (the first calibration signal and the first RF signal) have the same signal components, but the energy ratio of the first calibration signal is much lower than the energy ratio of the first RF signal. This allows the antenna device to achieve system calibration using the first calibration signal without affecting the normal detection function of the first RF signal. Similarly, the relationship between the two signals separated from the second signal (the second calibration signal and the second RF signal) is similar to that described above for the first calibration signal and the first RF signal, and will not be further described here.

[0111] It can be understood that the first RF controller 10 in the antenna device generates a first signal, and the first RF signal corresponding to the first signal is transmitted to the air interface through the antenna Tx1 corresponding to the first transmitting port 101 of the first RF controller 10 for detecting the target; the first calibration signal corresponding to the first signal is transmitted to the receiving ports (including but not limited to receiving ports 102 and 202) of each RF controller (including but not limited to the first RF controller 10 and the second RF controller 20) in the antenna device through the delay unit 30 in the antenna device, and a transmission delay will be generated when the first calibration signal passes through the delay unit 30.

[0112] Similarly, the second RF controller 20 in the antenna device generates a second signal, and the second RF signal corresponding to the second signal is transmitted to the air interface through the antenna Tx2 corresponding to the second transmitting port 201 of the second RF controller 20 for detecting the target; the second calibration signal corresponding to the second signal is transmitted to the receiving ports (including but not limited to receiving ports 202 and 102) of each RF controller in the antenna device (including but not limited to the second RF controller 20 and the first RF controller 10) through the delay unit 30 in the antenna device, and a transmission delay will be generated when the second calibration signal passes through the delay unit 30.

[0113] Through the embodiments of the present application, the service transceiver channels of each RF controller are multiplexed to perform loopback transmission of the calibration signal. For example, multiplexing the service transmission channel and reception channel of the first RF controller can enable the first calibration signal to be looped back and transmitted to the first RF controller. For another example, multiplexing the service transmission channel and reception channel of the second RF controller can enable the second calibration signal to be looped back and transmitted to the second RF controller. This can achieve in-system calibration without relying on a dedicated calibration channel, thereby supporting the needs of channel calibration between different chips.

[0114] In addition, a delay unit is used to delay the transmission of each calibration signal, so that the looped calibration signal is temporally distinguished from the leakage energy between the service transceiver channel. For example, the looped first calibration signal is temporally distinguished from the leakage energy between the service transmission channel (the channel corresponding to Tx1) and the receiving channel (the channel corresponding to Rx1) of the first RF controller. For another example, the looped second calibration signal is temporally distinguished from the leakage energy between the service transmission channel (the channel corresponding to Tx2) and the receiving channel (the channel corresponding to Rx2) of the second RF controller. This can reduce the isolation requirements between the service transceiver channels and achieve compact design and high reliability of the device.

[0115] In a possible embodiment, the delay unit 30 includes but is not limited to at least one of the following:

[0116] Serpentine waveguide, cascade resonant cavity;

[0117] The serpentine waveguide is a waveguide with a curved transmission channel (similar to a serpentine shape), and the cascade resonant cavity can be a plurality of resonant cavities connected in a serpentine shape.

[0118] For details, please refer to Figures 5A and 5B, which are schematic structural diagrams of two delay devices provided in embodiments of the present application.

[0119] As shown in Figure 5A, N waveguide segments (waveguide 1, waveguide 2, ..., waveguide N) are sequentially connected to form a waveguide with a curved transmission path (similar to a serpentine). Each calibration signal passes through the N waveguide segments in sequence, and the calibration signal transmission path is the curved transmission path formed by the N waveguide segments. For example, a calibration signal enters port a of waveguide 1, travels along the dotted arrow, exits port b of waveguide 1, enters the input port of the next waveguide segment, passes through the curved transmission path, and then exits the output port of this waveguide segment. After traveling through N waveguide segments, it is finally output from the output port (port d) of waveguide N.

[0120] Typically, the serpentine waveguide shown in Figure 5A can achieve a calibration signal transmission delay ranging from 1 ns to 50 ns. In this case, the calibration signal arrives at the RF controller's receive port significantly later than the energy leakage from the RF controller's service transceiver channel.

[0121] For example, when the leakage energy corresponding to the first signal reaches the receive port of the first RF controller, the first calibration signal corresponding to the first signal may still be transmitting in the serpentine waveguide. By designing the arrival times of the first calibration signal and the leakage energy corresponding to the first signal at the receive ports of each RF controller to be different, the SINR of the first calibration signal can be improved.

[0122] Through the embodiments of the present application, the leakage energy corresponding to the calibration signal and the service signal is separated at the receiving port of each RF controller, which can reduce the isolation requirements between the service transceiver channels and achieve compact design and high reliability of the device.

[0123] As shown in Figure 5B, N resonant cavities (resonant cavity 1, resonant cavity 2, ..., resonant cavity N) are cascaded to form a signal transmission channel. Each calibration signal passes through the N resonant cavities in sequence, and the calibration signal transmission path is the curved transmission channel formed by the N resonant cavities. For example, the calibration signal is input at port a of resonant cavity 1, propagates along the dotted arrow, and passes through resonant cavity 2, resonant cavity 3, ..., resonant cavity N in sequence, and is finally output from the output port (port b) of resonant cavity N.

[0124] Generally, when the calibration signal passes through the cascade resonant cavity shown in Figure 5B, the group velocity change of the RF signal near the resonance point can be used to obtain a larger transmission delay in a limited space, so that the time when the calibration signal arrives at the receiving port of the RF controller is significantly later than the time when the leakage energy of the service transceiver channel of the RF controller reaches the receiving port of the RF controller.

[0125] For example, when the leakage energy corresponding to the second signal reaches the receive port of the second RF controller, the second calibration signal corresponding to the second signal may still be transmitting in the cascade resonant cavity. By designing the arrival times of the second calibration signal and the leakage energy corresponding to the second signal at the receive ports of each RF controller to be different, the SINR of the second calibration signal can be improved.

[0126] Through the embodiments of the present application, the leakage energy corresponding to the calibration signal and the service signal is separated at the receiving port of each RF controller, which can reduce the isolation requirements between the service transceiver channels and achieve compact design and high reliability of the device.

[0127] It is understandable that the delay unit 30 may also include other modules or devices for delaying the transmission of each calibration signal in the calibration system in addition to the above-mentioned serpentine waveguide, cascade resonant cavity, etc., and this application does not impose any limitation on this.

[0128] Through the embodiments of the present application, each calibration signal will generate a transmission delay when passing through the delay unit 30, so that the looped calibration signal and the leakage energy between the service transceiver channels are distinguished in time, thereby improving the SINR of the looped calibration signal and reducing the isolation requirements between the service transceiver channels, thereby achieving a compact design and high reliability of the device.

[0129] In a possible embodiment, the radio frequency controller in the antenna device may be a monolithic microwave integrated circuit (MMIC).

[0130] In a possible embodiment, the antenna device may include multiple radio frequency controllers, which may implement functions similar to those of the first radio frequency controller and / or the second radio frequency controller described above, to achieve in-system calibration.

[0131] Please refer to FIG. 6 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0132] As shown in FIG6 , the antenna device includes:

[0133] A first radio frequency controller 10, a second radio frequency controller 20, and a delay unit 30;

[0134] The connection relationship and signal flow of the first RF controller 10 , the second RF controller 20 , and the delay unit 30 are similar to those of the antenna device shown in FIG. 4 , and are not described again here.

[0135] In addition, the antenna device in the embodiment of the present application further includes:

[0136] A first coupler 401 and a second coupler 402; wherein:

[0137] The first coupler 401 is provided on the transmission channel of the first RF controller 10 , and the second coupler 402 is provided on the transmission channel of the second RF controller 20 ;

[0138] The first coupler 401 is configured to tap a first calibration signal from the first signal, where the signal after the first signal is tapped is a first radio frequency signal;

[0139] The second coupler 402 is configured to tap a second calibration signal from the second signal, where the signal after the second signal is tapped is a second radio frequency signal.

[0140] It can be understood that the position of the first coupler 401 can be the position of the first node 1001 in FIG. 4 , and the position of the second coupler 402 can be the position of the second node 1002 in FIG. 4 .

[0141] It is understood that the first coupler 401 is provided on the transmit channel of the first RF controller 10 (i.e., the channel corresponding to the transmit antenna Tx1) and is used to tap the first calibration signal from the first signal generated by the first RF controller 10. After being tapped, the first signal becomes the first RF signal transmitted to the air interface. It is understood that the energy ratio of the first calibration signal tapped from the first signal is significantly lower than that of the first RF signal. This allows the antenna device to achieve system calibration using the first calibration signal without affecting the normal detection function of the first RF signal.

[0142] Similarly, the second coupler 402 is provided on the transmit channel of the second RF controller 20 (i.e., the channel corresponding to the transmit antenna Tx2) and is used to tap a second calibration signal from the second signal generated by the second RF controller 20. After tapping, the second signal becomes the second RF signal transmitted to the air interface. It will be appreciated that the energy ratio of the second calibration signal tapped from the second signal is significantly lower than that of the second RF signal. This allows the antenna assembly to achieve system calibration using the second calibration signal without affecting the normal detection function of the second RF signal.

[0143] Similarly, couplers may also be provided on the transmission channels of other radio frequency controllers in the antenna device to achieve functions similar to those of the first coupler and the second coupler, and this application does not impose any restrictions on this.

[0144] Through the embodiments of the present application, a coupler is used to extract part of the energy from the service transmission channel as a calibration signal for loopback transmission, and the service transceiver channels of each RF controller are multiplexed. There is no need to rely on a dedicated calibration channel, thereby supporting the channel calibration needs between different chips.

[0145] In a possible embodiment, the first coupler 401 and the second coupler 402 may include but are not limited to a small-aperture directional coupler, a cross-slot coupler, and other modules or devices for tapping signals.

[0146] Through the embodiments of the present application, various couplers can be used to tap out part of the energy from the service transmission channel as a calibration signal for loopback transmission, thereby realizing loopback transmission of various calibration signals within the system, thereby achieving calibration within the system.

[0147] Please refer to FIG. 7 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0148] As shown in FIG7 , the antenna device includes:

[0149] A first radio frequency controller 10, a second radio frequency controller 20, and a delay unit 30;

[0150] The connection relationship and signal flow of the first RF controller 10 , the second RF controller 20 , and the delay unit 30 are similar to those of the antenna device shown in FIG. 4 , and are not described again here.

[0151] As shown in FIG7 , the antenna device further includes:

[0152] A first coupler 401 and a second coupler 402;

[0153] The connection relationship and signal flow between the first coupler 401 and the second coupler 402 are similar to those of the antenna device shown in FIG6 , and are not described again here.

[0154] In addition, the antenna device in the embodiment of the present application further includes:

[0155] a third coupler 403 and a fourth coupler 404;

[0156] The third coupler 403 is provided on the receiving channel of the first RF controller 10 , and the fourth coupler 404 is provided on the receiving channel of the second RF controller 20 ;

[0157] The third coupler 403 is configured to couple the first calibration signal and the second calibration signal to the first RF controller 10;

[0158] The fourth coupler 404 is configured to couple the first calibration signal and the second calibration signal to the second RF controller 20 .

[0159] It can be understood that the position of the third coupler 403 can be the position of the third node 1003 in FIG. 4 , and the position of the fourth coupler 404 can be the position of the fourth node 1004 in FIG. 4 .

[0160] It can be understood that the third coupler 403 is set on the receiving channel of the first RF controller 10 (i.e., the channel corresponding to the receiving antenna Rx1), and is used to couple various calibration signals in the system (including but not limited to the first calibration signal and the second calibration signal) to the first RF controller 10.

[0161] Similarly, the fourth coupler 404 is set on the receiving channel of the second RF controller 20 (i.e., the channel corresponding to the receiving antenna Rx2) to couple various calibration signals in the system (including but not limited to the first calibration signal and the second calibration signal) to the second RF controller 20.

[0162] Similarly, couplers may also be provided on the receiving channels of other radio frequency controllers in the antenna device to achieve functions similar to those of the third coupler and the fourth coupler, and this application does not impose any restrictions on this.

[0163] Through the embodiments of the present application, a coupler is used to couple each calibration signal to the corresponding RF controller, so that loopback transmission of each calibration signal within the system can be achieved, thereby realizing calibration within the system.

[0164] In a possible embodiment, the third coupler 403 and the fourth coupler 404 may include but are not limited to modules or devices for coupling signals, such as a pinhole directional coupler and a cross-slot coupler.

[0165] Through the embodiments of the present application, various couplers can be used to couple various calibration signals to the corresponding RF controllers, thereby realizing loopback transmission of various calibration signals within the system, thereby achieving intra-system calibration.

[0166] Please refer to FIG8 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0167] As shown in FIG8 , the antenna device includes:

[0168] A first radio frequency controller 10, a second radio frequency controller 20, and a delay unit 30;

[0169] The connection relationship and signal flow of the first RF controller 10 , the second RF controller 20 , and the delay unit 30 are similar to those of the antenna device shown in FIG. 4 , and are not described again here.

[0170] As shown in FIG8 , the antenna device further includes:

[0171] A first coupler 401 and a second coupler 402;

[0172] The connection relationship and signal flow between the first coupler 401 and the second coupler 402 are similar to those of the antenna device shown in FIG6 , and are not described again here.

[0173] As shown in FIG8 , the antenna device further includes:

[0174] a third coupler 403 and a fourth coupler 404;

[0175] The connection relationship and signal flow between the third coupler 403 and the fourth coupler 404 are similar to those of the antenna device shown in FIG. 7 , and are not described again here.

[0176] In addition, the antenna device in the embodiment of the present application further includes:

[0177] Combiner 501 and splitter 502;

[0178] The combiner 501 is used to combine the first calibration signal and the second calibration signal to the delay unit 30;

[0179] The splitter 502 is configured to split the first calibration signal passing through the delay unit 30 to the first receiving port 102 and the second receiving port 202 , and to split the second calibration signal passing through the delay unit 30 to the first receiving port 102 and the second receiving port 202 .

[0180] It can be understood that the position of the above-mentioned combiner 501 can be the position of the transmission node of the first calibration signal and the second calibration signal, and the position of the above-mentioned splitter 502 can be the position of the transmission node where the delay unit 30 transmits the calibration signal to the third coupler 403 and the fourth coupler 404 respectively.

[0181] It can be understood that the combiner 501 is used to combine various calibration signals (including but not limited to the first calibration signal and the second calibration signal) in the system to the delay unit 30, so as to delay the transmission of each calibration signal.

[0182] The splitter 502 is configured to split each calibration signal within the system (including but not limited to the first calibration signal and the second calibration signal) to each RF controller. For example, the splitter 502 splits the first calibration signal into N sub-signals, and transmits each of the N sub-signals to each RF controller through its receiving channel, where N is the number of RF controllers within the antenna assembly participating in the system calibration.

[0183] Optionally, the splitter 502 in the antenna device of the embodiment of the present application can be a power splitter, which is used to split one calibration signal into N sub-signals and transmit them to each RF controller respectively. At this time, the combiner 501 can be the reverse use of the function of the power splitter, that is, it is used to combine multiple calibration signals into the delay unit 30.

[0184] Through the embodiments of the present application, loopback transmission of various calibration signals within the system can be achieved, thereby realizing calibration within the system.

[0185] In a possible embodiment, the calibration signal passing through the combiner 501 is a time division, frequency division, or code division signal.

[0186] It can be understood that when each calibration signal passes through the combiner 501, it can be transmitted in time division, frequency division or code division to ensure the isolation of the calibration signal on each branch channel.

[0187] In a possible embodiment, the combiner 501 and splitter 502 may include but are not limited to modules or devices such as a waveguide bridge and a serial feed coupler for combining or splitting signals.

[0188] Among them, the waveguide bridge can also be called a hybrid junction or a hybrid joint.

[0189] Through the embodiments of the present application, various types of combiners and splitters can be used to achieve loopback transmission of various calibration signals within the system.

[0190] Please refer to FIG. 9 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0191] As shown in FIG9 , the antenna device includes:

[0192] A first radio frequency controller 10, a second radio frequency controller 20, and a delay unit 30;

[0193] The connection relationship and signal flow of the first RF controller 10 , the second RF controller 20 , and the delay unit 30 are similar to those of the antenna device shown in FIG. 4 , and are not described again here.

[0194] As shown in FIG9 , the antenna device further includes:

[0195] A first coupler 401 and a second coupler 402;

[0196] The connection relationship and signal flow between the first coupler 401 and the second coupler 402 are similar to those of the antenna device shown in FIG6 , and are not described again here.

[0197] As shown in FIG9 , the antenna device further includes:

[0198] a third coupler 403 and a fourth coupler 404;

[0199] The connection relationship and signal flow between the third coupler 403 and the fourth coupler 404 are similar to those of the antenna device shown in FIG. 7 , and are not described again here.

[0200] As shown in FIG9 , the antenna device further includes:

[0201] Combiner 501 and splitter 502;

[0202] The connection relationship and signal flow of the combiner 501 and the splitter 502 are similar to those of the antenna device shown in FIG8 , and are not described again here.

[0203] In addition, the antenna device in the embodiment of the present application further includes:

[0204] Processing unit 60; wherein:

[0205] A processing unit 60 is configured to obtain target transmission parameters according to the transmission parameters of the first calibration signal and the transmission parameters of the second calibration signal, where the target transmission parameters include a target amplitude and / or a target phase of the signal;

[0206] The processing unit 60 is further configured to scale the amplitudes of the first calibration signal and the second calibration signal to target amplitudes and / or align the phases of the first calibration signal and the second calibration signal to target phases according to the target transmission parameters.

[0207] It is understood that the processing unit 60 is configured to obtain target transmission parameters based on the transmission parameters of each calibration signal (including but not limited to the first calibration signal and the second calibration signal), wherein the target transmission parameters include but are not limited to information such as the target amplitude and target phase of the signal. The processing unit 60 then aligns the transmission parameters of each calibration signal (including but not limited to the first calibration signal and the second calibration signal) with the target transmission parameters. For example, the processing unit 60 scales the amplitudes of the first calibration signal and the second calibration signal to the target amplitudes and aligns the phases of the first calibration signal and the second calibration signal to the target phases.

[0208] Optionally, the target transmission parameters are obtained based on the transmission parameters of each calibration signal. The average value / median value / mode value of the transmission parameters of each calibration signal can be used as the target transmission parameter, or the transmission parameters of one of the calibration signals can be used as the target transmission parameter, etc. This application does not impose any restrictions on this.

[0209] Through the embodiments of the present application, the calibration signal looped back on the service channel of each RF controller can be used to implement in-system calibration without relying on a dedicated calibration channel, and can support the needs of channel calibration between different chips.

[0210] In combination with the structural schematic diagrams of the antenna device shown in any one of FIG. 4 to FIG. 9 above, the present application also provides several corresponding three-dimensional structural diagrams of the antenna device.

[0211] Please refer to FIG. 10 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0212] As shown in FIG10 , the antenna device includes a plurality of radio frequency controllers, specifically including but not limited to a first radio frequency controller, an Nth radio frequency controller, and so on, where N is an integer greater than 1.

[0213] The antenna device in the embodiment of the present application uses an open waveguide antenna to achieve radiation of service signal energy to the air interface. It is understandable that the open waveguide antenna may correspond to the transmitting antenna Tx1 and / or Tx2 in Figure 4 above.

[0214] The antenna device in the embodiment of the present application adopts a small-hole directional coupler to tap out part of the energy from the transmission channel of the service signal as a calibration signal for the loopback transmission of the calibration signal. For example, a small-hole directional coupler is used to tap out part of the energy from the transmission channel of the service signal of the first radio frequency controller as a calibration signal, which is transmitted from the calibration port a to port 1 of the combiner (waveguide bridge A); a small-hole directional coupler is used to tap out part of the energy from the transmission channel of the service signal of the Nth radio frequency controller as a calibration signal, which is transmitted from the calibration port b to port N of the combiner (waveguide bridge A). It can be understood that the small-hole directional coupler may correspond to the first coupler 401 and / or the second coupler 402 in Figure 6 above. The calibration port a may correspond to the port through which the first coupler 401 in Figure 6 transmits to the delay unit 30, and the calibration port b may correspond to the port through which the second coupler 402 in Figure 6 transmits to the delay unit 30.

[0215] The antenna device in the embodiment of the present application uses a 180° waveguide bridge as a combiner to combine the calibration signals, output them from the output port (port output), and transmit them to the delay unit. It is understood that the 180° waveguide bridge can correspond to the combiner 501 in Figure 8 above.

[0216] It is understood that the antenna device in the embodiment of the present application may include multiple RF controllers. For the sake of simplicity and clarity in the illustrations and text, Figure 10 only shows the first and Nth RF controllers, and this should not constitute a limitation on the embodiment of the present application. Accordingly, the combiner (waveguide bridge A) in the antenna device may include multiple receiving ports. For the sake of simplicity and clarity in the illustrations and text, the combiner (waveguide bridge A) in Figure 10 only shows two receiving ports (Port 1 and Port N), and this should not constitute a limitation on the embodiment of the present application.

[0217] Through the embodiments of the present application, a small-aperture directional coupler is used to extract part of the energy from the service transmission channel as a calibration signal for loopback transmission, multiplexing the service transceiver channels of each RF controller, eliminating the need to rely on a dedicated calibration channel, thereby supporting the channel calibration needs between different chips. In addition, a combiner (waveguide bridge A) is used to combine the various calibration signals within the system into a delay unit, thereby delaying the transmission of each calibration signal. The leakage energy corresponding to the calibration signal and the service signal arrives at different times at the receiving ports of each RF controller, separating the two in time, thereby improving the SINR of the calibration signal.

[0218] Please refer to FIG. 11 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0219] As shown in FIG11 , the antenna device includes but is not limited to a combiner (waveguide bridge A), a serpentine waveguide, and a splitter (waveguide bridge B).

[0220] The combiner (waveguide bridge A) uses a 180° waveguide bridge to combine the calibration signals received by the receiving ports (port 1, ..., port N), output them from the output port (port output), and transmit them to the serpentine waveguide.

[0221] The serpentine waveguide in the embodiment of the present application is a waveguide with a curved transmission channel (similar to a serpentine shape) and is used to delay the transmission of each calibration signal. The calibration signal transmission delay can be in the range of 1ns to 50ns. For details, please refer to the description of Figure 5A above and will not be repeated here.

[0222] The serpentine waveguide delays the transmission of the calibration signal to the receiving port (port input) of the splitter (waveguide bridge B). The splitter (waveguide bridge B) uses a 180° waveguide bridge to split the received calibration signal into multiple sub-signals, which are output from each output port (port 1, ..., port N) to each RF controller, realizing loopback transmission of each calibration signal within the system, thereby achieving intra-system calibration.

[0223] It can be understood that the combiner (waveguide bridge A) in the embodiment of the present application can correspond to the combiner 501 in Figure 8 above, the serpentine waveguide can correspond to the delay unit 30 in Figure 8 above, and the splitter (waveguide bridge B) can correspond to the splitter 502 in Figure 8 above.

[0224] Through the embodiments of the present application, each calibration signal generates a transmission delay when passing through the delay unit, which temporally separates the looped calibration signal from the leakage energy between the service transceiver channels. This improves the SINR of the looped calibration signal and reduces the isolation requirements between the service transceiver channels, achieving a compact design and high reliability for the device. Furthermore, by multiplexing the service transceiver channels of each RF controller, there is no need to rely on a dedicated calibration channel, thus supporting the channel calibration requirements between different chips.

[0225] Please refer to FIG. 12 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0226] As shown in FIG12 , the antenna device includes multiple RF controllers, including but not limited to a first RF controller, an Nth RF controller, and so on, where N is an integer greater than 1. The antenna device also includes a combiner (waveguide bridge A), a serpentine waveguide, and a splitter (waveguide bridge B).

[0227] The antenna device in the embodiment of the present application can be understood as a combination of the antenna devices shown in FIG. 10 and FIG. 11 .

[0228] The small-aperture directional coupler in the first RF controller taps off some energy from the service signal's transmit channel as the first calibration signal, outputting it from calibration port a to receive port 1 of the combiner (waveguide bridge A). Similarly, the small-aperture directional coupler in the Nth RF controller taps off some energy from the service signal's transmit channel as the Nth calibration signal, outputting it from calibration port b to receive port N of the combiner (waveguide bridge A).

[0229] The combiner (waveguide bridge A) is used to combine various calibration signals (including but not limited to the first calibration signal and the Nth calibration signal), output them from the output port (port output), and transmit them to the serpentine waveguide.

[0230] The serpentine waveguide is used to delay the transmission of each calibration signal and transmit the calibration signal with a delayed time to the receiving port (port input) of the splitter (waveguide bridge B).

[0231] The splitter (waveguide bridge B) is used to split a received calibration signal into multiple sub-signals, which are output from each output port (port 1, ..., port N) to each RF controller, thereby realizing loopback transmission of each calibration signal within the system, thereby realizing calibration within the system. For example, the splitter (waveguide bridge B) splits the received first calibration signal into N sub-signals, which are output from port 1 to the calibration port c of the first RF controller, thereby being transmitted to the first RF controller, and from port N to the calibration port d of the Nth RF controller, thereby being transmitted to the Nth RF controller. For another example, the splitter (waveguide bridge B) splits the received Nth calibration signal into N sub-signals, which are output from port 1 to the calibration port c of the first RF controller, thereby being transmitted to the first RF controller, and from port N to the calibration port d of the Nth RF controller, thereby being transmitted to the Nth RF controller.

[0232] It can be understood that the above-mentioned calibration port c may correspond to the port of the third coupler 403 in Figure 8 receiving the transmission information from the splitter 502, and the above-mentioned calibration port d may correspond to the port of the fourth coupler 404 in Figure 8 receiving the transmission information from the splitter 502.

[0233] Through the embodiments of the present application, the service transceiver channels of each RF controller are reused for loopback transmission of calibration signals, achieving in-system calibration without relying on dedicated calibration channels, thereby supporting the need for channel calibration between different chips. Furthermore, a delay unit is used to delay the transmission of each calibration signal, separating the looped calibration signal from the leakage energy between the service transceiver channels in time. This reduces the isolation requirements between the service transceiver channels and achieves a compact design and high reliability for the device.

[0234] Please refer to FIG. 13 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0235] As shown in FIG13 , the antenna device includes a plurality of radio frequency controllers, specifically including but not limited to a first radio frequency controller, an Nth radio frequency controller, and so on, where N is an integer greater than 1.

[0236] The antenna device in the embodiment of the present application uses a slot waveguide antenna to achieve radiation of service signal energy to the air interface. It is understandable that the slot waveguide antenna may correspond to the transmitting antenna Tx1 and / or Tx2 in Figure 4 above.

[0237] The antenna device in the embodiment of the present application adopts a cross-slot coupler to tap out part of the energy from the transmission channel of the service signal as a calibration signal for loopback transmission of the calibration signal. For example, a cross-slot coupler is used to tap out part of the energy from the transmission channel of the service signal of the first radio frequency controller as a calibration signal, and transmit it to the combiner (serial feed coupler A); a cross-slot coupler is used to tap out part of the energy from the transmission channel of the service signal of the Nth radio frequency controller as a calibration signal, and transmit it to the combiner (serial feed coupler A). It can be understood that the cross-slot coupler may correspond to the first coupler 401 and / or the second coupler 402 in Figure 6 above.

[0238] The antenna device in the embodiment of the present application uses a serially fed coupler as a combiner to combine the calibration signals and transmit them to the delay unit. This reduces the complexity, insertion loss, and isolation requirements of the calibration system. It is understood that the serially fed coupler may correspond to combiner 501 in FIG. 8 .

[0239] It can be understood that the antenna device in the embodiment of the present application may include multiple RF controllers. In order to make the illustrations and text descriptions more concise and clear, Figure 10 only shows the first RF controller and the Nth RF controller, which should not constitute a limitation on the embodiment of the present application.

[0240] Through the embodiments of the present application, a cross-slot coupler is used to extract part of the energy from the service transmission channel as a calibration signal for loopback transmission, multiplexing the service transceiver channels of each RF controller, eliminating the need to rely on a dedicated calibration channel, thereby supporting the channel calibration needs between different chips. In addition, a combiner (serial feed coupler A) is used to combine the various calibration signals in the system into a delay unit, thereby delaying the transmission of each calibration signal. The leakage energy corresponding to the calibration signal and the service signal arrives at different times at the receiving ports of each RF controller, separating the two in time, thereby improving the SINR of the calibration signal.

[0241] Please refer to FIG. 14 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0242] As shown in FIG14 , the antenna device includes but is not limited to a combiner (serial feed coupler A), a cascade resonant cavity, and a splitter (serial feed coupler B).

[0243] The combiner (serial feed coupler A) adopts a serial feeding method to combine the calibration signals received from the cross slot couplers of the RF controllers and transmit them to the cascade resonant cavity.

[0244] The cascade resonant cavity in this embodiment is composed of N resonant cavities (resonant cavity 1, resonant cavity 2, ..., resonant cavity N) connected in cascade to form a signal transmission channel. This is used to delay the transmission of each calibration signal. This can utilize the group velocity variation of the RF signal near the resonant point to achieve a greater transmission delay within a limited space. For details, please refer to the description of Figure 5B above and will not be repeated here.

[0245] The cascade resonant cavity transmits the calibration signal with a time delay to the splitter (serial feed coupler B). The splitter (serial feed coupler B) uses a serial feed method to split the received calibration signal into multiple sub-signals, which are output from each output port to each RF controller respectively, realizing loopback transmission of each calibration signal within the system, thereby achieving intra-system calibration.

[0246] It can be understood that the combiner (serial fed coupler A) in the embodiment of the present application may correspond to the combiner 501 in Figure 8 above, the cascade resonant cavity may correspond to the delay unit 30 in Figure 8 above, and the splitter (serial fed coupler B) may correspond to the splitter 502 in Figure 8 above.

[0247] Through the embodiments of the present application, each calibration signal generates a transmission delay when passing through the delay unit, which temporally separates the looped calibration signal from the leakage energy between the service transceiver channels. This improves the SINR of the looped calibration signal and reduces the isolation requirements between the service transceiver channels, achieving a compact design and high reliability for the device. Furthermore, by multiplexing the service transceiver channels of each RF controller, there is no need to rely on a dedicated calibration channel, thus supporting the channel calibration requirements between different chips.

[0248] Please refer to FIG. 15 , which is a schematic structural diagram of an antenna device provided in an embodiment of the present application.

[0249] As shown in FIG15 , the antenna device includes multiple RF controllers, including but not limited to a first RF controller, an Nth RF controller, and so on, where N is an integer greater than 1. The antenna device also includes a combiner (serial feed coupler A), a cascade resonant cavity, and a splitter (serial feed coupler B).

[0250] The antenna device in the embodiment of the present application can be understood as a combination of the antenna devices shown in FIG. 13 and FIG. 14 .

[0251] The cross-slot coupler in the first RF controller taps off a portion of the energy in the service signal's transmit channel as the first calibration signal, outputting it from the calibration port to the receive port of the combiner (serial feed coupler A). Similarly, the cross-slot coupler in the Nth RF controller taps off a portion of the energy in the service signal's transmit channel as the Nth calibration signal, outputting it from the calibration port to the receive port of the combiner (serial feed coupler A).

[0252] The combiner (serial feed coupler A) is used to combine various calibration signals (including but not limited to the first calibration signal and the Nth calibration signal) and transmit them to the cascade resonant cavity through port a of the cascade resonant cavity.

[0253] The cascade resonant cavity is used to delay the transmission of each calibration signal and transmit the calibration signal with a delayed time to the splitter (serial feed coupler B) through port b.

[0254] It can be understood that port a of the cascade resonant cavity may correspond to the input port of the delay unit 30 in FIG. 8 , and port b of the cascade resonant cavity may correspond to the output port of the delay unit 30 in FIG. 8 .

[0255] The splitter (serial feed coupler B) is used to split a received calibration signal into multiple sub-signals, which are output from each output port respectively and transmitted to each RF controller through the cross-slot coupler of each RF controller, thereby realizing loopback transmission of each calibration signal within the system, thereby realizing calibration within the system. For example, the splitter (serial feed coupler B) splits the received first calibration signal into N sub-signals, which are output to the calibration port of the first RF controller respectively, thereby being transmitted to the first RF controller, and output to the calibration port of the Nth RF controller respectively, thereby being transmitted to the Nth RF controller. For another example, the splitter (serial feed coupler B) splits the received Nth calibration signal into N sub-signals, which are output to the calibration port of the first RF controller respectively, thereby being transmitted to the first RF controller, and output to the calibration port of the Nth RF controller respectively, thereby being transmitted to the Nth RF controller.

[0256] Through the embodiments of the present application, the service transceiver channels of each RF controller are reused for loopback transmission of calibration signals, achieving in-system calibration without relying on dedicated calibration channels, thereby supporting the need for channel calibration between different chips. Furthermore, a delay unit is used to delay the transmission of each calibration signal, separating the looped calibration signal from the leakage energy between the service transceiver channels in time. This reduces the isolation requirements between the service transceiver channels and achieves a compact design and high reliability for the device.

[0257] It should be understood that the antenna devices shown in Figures 10 to 15 above are merely exemplary examples of antenna devices and should not be construed as limiting the present application. Any combination of antenna devices resulting from reasonable variations of the structures of any of the antenna devices shown in Figures 4 to 9 above falls within the scope of protection of this application.

[0258] The present application provides a chip, which includes the antenna device provided in the present application.

[0259] This application provides a radar or radar system, which includes the antenna device or the aforementioned chip provided in this application. It should be noted that there may be smart sensors that integrate multiple sensors. If the smart sensor includes millimeter wave detection capabilities, the smart sensor may also be referred to as a millimeter wave radar or millimeter wave radar system.

[0260] This application provides a terminal device that includes the antenna device provided herein. For example, the terminal device can be a transportation vehicle, such as a car, truck, aircraft, drone, slow-moving transport vehicle, spacecraft, or ship, or any other vehicle used in any possible scenario. It can also be any device capable of carrying a millimeter-wave detection device, such as surveying and mapping equipment. One or more antenna devices provided herein are deployed on the terminal device.

[0261] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An antenna device, characterized in that: include: A first radio frequency controller, a second radio frequency controller, and a delay unit; wherein: The first radio frequency controller is configured to generate a first signal, wherein the first radio frequency controller includes at least one first transmitting port and / or at least one first receiving port; The second radio frequency controller is configured to generate a second signal, the second radio frequency controller comprising at least one second transmitting port and / or at least one second receiving port; A first radio frequency signal corresponding to the first signal is transmitted to an air interface through an antenna corresponding to the first transmitting port, where the first radio frequency signal is used to detect a target; The first calibration signal corresponding to the first signal is transmitted to the first receiving port and the second receiving port respectively through the delay unit; A second radio frequency signal corresponding to the second signal is transmitted to the air interface through the antenna corresponding to the second transmitting port, and the second radio frequency signal is used to detect the target; The second calibration signal corresponding to the second signal is transmitted to the first receiving port and the second receiving port respectively through the delay unit; The delay unit is used to delay the transmission of the first calibration signal and the second calibration signal.

2. The antenna device according to claim 1, wherein The delay unit includes at least one of the following: a serpentine waveguide, a cascade resonant cavity.

3. The antenna device according to claim 1 or 2, characterized in that The antenna device further comprises: a first coupler and a second coupler; The first coupler is arranged on the transmission channel of the first radio frequency controller, and the second coupler is arranged on the transmission channel of the second radio frequency controller; The first coupler is configured to tap the first calibration signal from the first signal, wherein the signal after the first signal is tapped is the first radio frequency signal; The second coupler is used to tap the second calibration signal from the second signal, and the signal after the second signal is tapped is the second radio frequency signal.

4. The antenna device according to claim 3, wherein: The antenna device further comprises: a third coupler and a fourth coupler; The third coupler is provided on the receiving channel of the first radio frequency controller, and the fourth coupler is provided on the receiving channel of the second radio frequency controller; The third coupler is configured to couple the first calibration signal and the second calibration signal to the first radio frequency controller; The fourth coupler is configured to couple the first calibration signal and the second calibration signal to the second RF controller.

5. The antenna device according to claim 3 or 4, characterized in that: The first coupler and / or the second coupler and / or the third coupler and / or the fourth coupler include at least one of the following: a small hole directional coupler, a cross slot coupler.

6. The antenna device according to any one of claims 1 to 5, characterized in that The antenna device further comprises: combiners and splitters; The combiner is used to combine the first calibration signal and the second calibration signal to the delay unit; The splitter is used to split the first calibration signal passing through the delay unit to the first receiving port and the second receiving port, and to split the second calibration signal passing through the delay unit to the first receiving port and the second receiving port.

7. The antenna device according to claim 6, wherein: The first calibration signal and the second calibration signal passing through the combiner are time division, frequency division or code division signals.

8. The antenna device according to claim 6 or 7, characterized in that: The combiner and / or the splitter includes at least one of the following: a waveguide bridge, a serial feed coupler.

9. The antenna device according to any one of claims 1 to 8, characterized in that: The first radio frequency controller and / or the second radio frequency controller include a monolithic microwave integrated circuit (MMIC).

10. The antenna device according to any one of claims 1 to 9, characterized in that: The antenna device includes a plurality of the first radio frequency controllers and / or a plurality of the second radio frequency controllers.

11. The antenna device according to any one of claims 1 to 10, characterized in that: The first calibration signal and the leakage energy corresponding to the first signal arrive at different times at the receiving port, and the second calibration signal and the leakage energy corresponding to the second signal arrive at different times at the receiving port.

12. The antenna device according to any one of claims 1 to 11, characterized in that: The antenna device further includes a processing unit; The processing unit is configured to obtain target transmission parameters according to the transmission parameters of the first calibration signal and the transmission parameters of the second calibration signal, wherein the target transmission parameters include a target amplitude and / or a target phase of the signal; The processing unit is further configured to scale the amplitudes of the first calibration signal and the second calibration signal to the target amplitudes and / or align the phases of the first calibration signal and the second calibration signal to the target phases according to the target transmission parameters.

13. A radar, characterized in that: The radar includes the antenna device according to any one of claims 1 to 12.

14. A terminal device, characterized in that: The terminal device includes the antenna apparatus according to any one of claims 1 to 12, or the radar according to claim 13.

15. A vehicle end, characterized in that: The vehicle end includes the antenna device according to any one of claims 1 to 12, or the radar according to claim 13.

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