Waveguide antenna, detection method and related device

Abstract

The embodiment of the invention provides a waveguide antenna, a detection method and a related device. The waveguide antenna comprises a waveguide cavity, a feed port and a first radiation port, the waveguide antenna is used for working in at least two working frequency ranges; a signal input by the feed port is transmitted through the waveguide cavity and radiated through the first radiation port; the radiation energy of the first radiation port in different working frequency ranges is different. Therefore, the radiation energy of the first radiation port can be changed by changing the working frequency range of the waveguide antenna to realize different detection ranges, so that the waveguide antenna of the same structure can work in different working frequency ranges to meet the detection requirements in different application scenes; and different antenna structures do not need to be designed to meet detection requirements in different application scenes, so that the complexity and the cost of a hardware structure can be reduced.

Description

Technical Field

[0001] The present application relates to the field of millimeter wave radar technology, and in particular to a waveguide antenna, a detection method, and related devices. Background Art

[0002] Waveguide antennas are widely used in millimeter-wave radars due to their high gain. Millimeter-wave radar is one of the core sensors for assisted driving, and the antenna in millimeter-wave radar is a key factor in determining its detection capabilities. Different application scenarios (such as driving mode and parking mode) place different demands on the technical specifications of millimeter-wave radar antennas. For example, compared to driving mode, parking mode requires a larger vertical angle measurement range.

[0003] However, current waveguide antennas cannot meet the detection requirements of different application scenarios. Summary of the Invention

[0004] The embodiments of the present application provide a waveguide antenna, a detection method, and related devices that can meet the detection needs of different application scenarios.

[0005] In a first aspect, an embodiment of the present application provides a waveguide antenna, the waveguide antenna comprising:

[0006] A waveguide cavity, a feeding port, and a first radiation port;

[0007] The waveguide antenna is configured to operate in at least two operating frequency ranges;

[0008] The signal input from the feeding port is transmitted through the waveguide cavity and radiated through the first radiation port;

[0009] The radiation energy of the first radiation port is different in different operating frequency ranges.

[0010] In embodiments of the present application, the waveguide antenna can be configured with different operating frequency ranges, so that the radiation energy of the first radiating port in the waveguide antenna varies in different operating frequency ranges. This allows the radiation energy of the first radiating port to be varied by changing the operating frequency range of the waveguide antenna, thereby achieving different detection ranges. In this way, the same waveguide antenna structure can be used to operate in different operating frequency ranges to meet the detection requirements of different application scenarios, eliminating the need to design different antenna structures to meet the detection requirements of different application scenarios, thereby reducing the complexity and cost of the hardware structure.

[0011] In a possible implementation manner, the waveguide antenna includes at least two first radiation ports that are symmetrical along the feeding port.

[0012] In the above embodiment, the first radiation port is set in a symmetrical manner, so that each pair of first radiation ports symmetrical along the feeding port are equivalent, so that the waveform radiated by the first radiation port is symmetrical, and it is beneficial to the mirror installation of the antenna, reducing the installation difficulty.

[0013] In a possible implementation, the at least two operating frequency ranges correspond to different vertical angle measurement ranges;

[0014] The at least two operating frequency ranges include a first frequency range and a second frequency range, the maximum frequency of the first frequency range is smaller than the minimum frequency of the second frequency range, and the first vertical angle measurement range corresponding to the first frequency range is smaller than the second vertical angle measurement range corresponding to the second frequency range.

[0015] Because the first radiating port in the waveguide antenna radiates different energies in different operating frequency ranges, the waveguide antenna exhibits distinct characteristics when operating in different frequency ranges, adapting to different application scenarios. Consequently, different operating frequency ranges can correspond to different application scenarios (e.g., driving mode versus parking mode), meeting different vertical angle measurement range requirements. In other words, different operating frequency ranges can correspond to different vertical angle measurement ranges.

[0016] In the above embodiment, the waveguide antenna can achieve different vertical angle measurement ranges when operating in different operating frequency ranges. Specifically, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in a lower first frequency range, and a larger vertical angle measurement range when operating in a higher second frequency range. In this way, a waveguide antenna with the same structure can be used to operate in different operating frequency ranges to meet different vertical angle measurement range requirements.

[0017] In a possible implementation, the first frequency range corresponds to a driving mode, and the second frequency range corresponds to a parking mode.

[0018] In the above embodiment, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in the first frequency range, thereby meeting the vertical angle measurement range requirements of the driving mode. When operating in the second frequency range, the waveguide antenna can achieve a larger vertical angle measurement range, thereby meeting the vertical angle measurement range requirements of the parking mode. In this way, the same waveguide antenna structure can be used to operate in different operating frequency ranges to meet the detection requirements of different assisted driving application scenarios.

[0019] In a possible implementation, the radiation energy of the first radiation port in the first frequency range is higher than the radiation energy in the second frequency range, and the radiation energy difference between the first radiation port in the first frequency range and the second frequency range is greater than a first threshold.

[0020] The first threshold value can be understood as the minimum radiation energy difference of the first radiating port in different operating frequency ranges required for the waveguide antenna to meet different vertical angle measurement range requirements when operating in different operating frequency ranges. Therefore, when the radiation energy difference of the first radiating port in the above-mentioned different operating frequency ranges is greater than the first threshold value, the waveguide antenna can meet different vertical angle measurement range requirements when operating in the above-mentioned different operating frequency ranges.

[0021] In the above embodiment, the radiation energy of the first radiation port in the first frequency range is higher than the radiation energy in the second frequency range, and the radiation energy difference between the first radiation port in the first frequency range and the second frequency range is greater than the first threshold value. In this way, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in the first frequency range, and can achieve a larger vertical angle measurement range when operating in the second frequency range, thereby meeting different vertical angle measurement range requirements.

[0022] In a possible implementation manner, the resonant cavity length of the first radiation port is related to the first frequency range.

[0023] The resonant cavity of the first radiation port refers to the resonant cavity required for the electromagnetic wave signal in the waveguide cavity to be effectively radiated through the first radiation port. To enable the first radiation port to effectively radiate the electromagnetic wave signal within the first frequency range, the resonant cavity length of the first radiation port can be designed based on the first frequency range, so that the resonant cavity length of the first radiation port is related to the first frequency range.

[0024] In the above embodiment, the resonant cavity length of the first radiation port is related to the first frequency range, so that the first radiation port can effectively radiate electromagnetic wave signals in the first frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range.

[0025] In a possible implementation, the length of the resonant cavity is the waveguide propagation wavelength of the signal corresponding to the middle frequency of the first frequency range.

[0026] In the above embodiment, the resonant cavity length of the first radiation port can be designed according to the waveguide propagation wavelength of the signal corresponding to the middle frequency of the first frequency range, so that the first radiation port can effectively radiate electromagnetic wave signals in the first frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range.

[0027] In a possible implementation, the waveguide antenna further includes a second radiation port, where the second radiation port is located between the feeding port and the first radiation port, and a radiation energy difference between the second radiation port in the first frequency range and the second frequency range is less than a second threshold.

[0028] The second threshold value can be understood as the maximum radiation energy difference of the second radiating port in different operating frequency ranges required for the waveguide antenna to meet different vertical angle measurement range requirements when operating in different operating frequency ranges. Therefore, when the radiation energy difference of the second radiating port in the above-mentioned different operating frequency ranges is less than the second threshold value, the waveguide antenna can meet the different vertical angle measurement range requirements when operating in the above-mentioned different operating frequency ranges.

[0029] In the above embodiment, the radiation energy of the first radiation port in the first frequency range is higher than the radiation energy in the second frequency range, and the radiation energy difference between the first radiation port in the first frequency range and the second frequency range is greater than the first threshold, and the radiation energy difference between the second radiation port in the first frequency range and the second frequency range is less than the second threshold. In this way, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in the first frequency range, and a larger vertical angle measurement range when operating in the second frequency range, thereby meeting different vertical angle measurement range requirements.

[0030] In a possible implementation manner, the waveguide antenna includes at least two second radiation ports that are symmetrical along the feeding port.

[0031] In the above embodiment, the second radiating ports are designed in a symmetrical manner, so that each pair of second radiating ports symmetrical along the feeding port are equivalent, which is conducive to the mirror image installation of the antenna and reduces the installation difficulty.

[0032] In a possible implementation, the waveguide antenna includes two second radiation ports symmetrically along the feeding port, and a distance between the two second radiation ports is related to the second frequency range and the second vertical angle measurement range.

[0033] The distance between the two second radiation ports refers to the distance between the second radiation ports required for the electromagnetic wave signals in the waveguide cavity to be effectively radiated through the second radiation ports. In order for the second radiation ports to effectively radiate electromagnetic wave signals in both the first frequency range and the second frequency range and to achieve the second vertical angle measurement range in the second frequency range, the distance between the two second radiation ports can be designed based on the second frequency range and the second vertical angle measurement range, so that the distance between the two second radiation ports is related to the second frequency range and the second vertical angle measurement range.

[0034] In the above embodiment, the distance between the two second radiation ports is related to the second frequency range and the second vertical angle measurement range, so that the second radiation port can effectively radiate electromagnetic wave signals in both the first frequency range and the second frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range, and a larger vertical angle measurement range when operating in the second frequency range.

[0035] In a possible implementation manner, the distance between the two second radiation ports satisfies the following condition:

[0036]

[0037] Among them, d mm represents the distance between the two second radiation ports, λ max represents the air propagation wavelength of the signal corresponding to the maximum frequency of the second frequency range, and θ represents the second vertical angle measurement range.

[0038] In the above embodiment, the distance between the two second radiation ports can be designed based on the air propagation wavelength of the signal corresponding to the maximum frequency of the second frequency range and the second vertical angle measurement range. In this way, the second radiation port can effectively radiate electromagnetic wave signals in both the first frequency range and the second frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range, and a larger vertical angle measurement range when operating in the second frequency range.

[0039] In a possible implementation, the waveguide antenna includes two first radiation ports symmetrically along the feed port, and a distance between the first radiation port and an adjacent second radiation port satisfies the following condition:

[0040] d mm <d ms <D f

[0041] Among them, d msrepresents the distance between the first radiation port and the adjacent second radiation port, d mm Denotes the distance between the two second radiation ports, D f represents the resonant cavity length of the first radiation port.

[0042] In the above embodiment, the distance between the first radiation port and the adjacent second radiation port can be designed according to the distance between the second radiation ports and the resonant cavity length of the first radiation port. In this way, the first radiation port can effectively radiate electromagnetic wave signals in the first frequency range, but cannot effectively radiate electromagnetic wave signals in the second frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range, and a larger vertical angle measurement range when operating in the second frequency range.

[0043] In a possible implementation manner, the length of the waveguide cavity satisfies the following conditions:

[0044] L wg =d mm +2×D f

[0045] Among them, L wg represents the length of the waveguide cavity.

[0046] In the above embodiment, the length of the waveguide cavity can be designed according to the distance between the second radiation ports and the resonant cavity length of the first radiation port, so that the first radiation port can effectively radiate electromagnetic wave signals in the first frequency range, but cannot effectively radiate electromagnetic wave signals in the second frequency range, and the second radiation port can effectively radiate electromagnetic wave signals in both the first frequency range and the second frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range, and to achieve a larger vertical angle measurement range when operating in the second frequency range.

[0047] In a possible implementation manner, an area of the second radiation port is greater than or equal to an area of the first radiation port.

[0048] When the waveguide antenna operates within a first frequency range, both the first and second radiating ports can effectively radiate electromagnetic wave signals, and the electromagnetic wave signal radiation energy from the second radiating port is stronger than that from the first radiating port, thereby achieving a smaller vertical angle measurement range. When the waveguide antenna operates within a second frequency range, the first radiating port cannot effectively radiate electromagnetic wave signals, but the second radiating port can still radiate relatively strong electromagnetic wave signals, thereby achieving a larger vertical angle measurement range.

[0049] In the above embodiment, the area of the second radiation port is greater than or equal to the area of the first radiation port, so that the radiation energy of the second radiation port is greater than the radiation energy of the first radiation port, thereby helping the waveguide antenna to achieve different vertical angle measurement ranges when operating in different operating frequency ranges.

[0050] In a second aspect, an embodiment of the present application provides a detection method, which can be applied to a detection device. The detection method includes:

[0051] Transmitting a measurement signal via a waveguide antenna;

[0052] The waveguide antenna includes a waveguide cavity, a feeding port, and a first radiation port. The waveguide antenna is used to operate in at least two operating frequency ranges. The measurement signal is input from the feeding port to the waveguide cavity, transmitted through the waveguide cavity, and radiated through the first radiation port. The radiation energy of the first radiation port is different in different operating frequency ranges.

[0053] In the embodiments of the present application, different operating frequency ranges can be configured for the waveguide antenna. By changing the operating frequency range of the waveguide antenna, different detection ranges can be achieved. This allows the same waveguide antenna to operate in different operating frequency ranges to meet the detection needs of different application scenarios, eliminating the need to design different antenna structures to meet the detection needs of different application scenarios. This reduces the complexity and cost of the hardware structure.

[0054] In a possible implementation, the at least two operating frequency ranges correspond to different vertical angle measurement ranges;

[0055] The at least two operating frequency ranges include a first frequency range and a second frequency range, the maximum frequency of the first frequency range is smaller than the minimum frequency of the second frequency range, and the first vertical angle measurement range corresponding to the first frequency range is smaller than the second vertical angle measurement range corresponding to the second frequency range.

[0056] In the above embodiment, the waveguide antenna can achieve different vertical angle measurement ranges when operating in different operating frequency ranges. Specifically, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in a lower first frequency range, and a larger vertical angle measurement range when operating in a higher second frequency range. In this way, a waveguide antenna with the same structure can be used to operate in different operating frequency ranges to meet different vertical angle measurement range requirements.

[0057] In a possible implementation manner, before transmitting the measurement signal through the waveguide antenna, the method further includes:

[0058] receiving a command from a vehicle controller, the command being used to indicate a vehicle operating mode;

[0059] The transmitting of the measurement signal through the waveguide antenna comprises:

[0060] When the vehicle operating mode is the driving mode, the measurement signal in the first frequency range is transmitted through the waveguide antenna; or

[0061] When the vehicle operating mode is the parking mode, the measurement signal in the second frequency range is transmitted through the waveguide antenna.

[0062] In the above embodiment, the detection device can determine its operating frequency range based on instructions from the vehicle controller. When the instruction indicates driving mode, it operates in the first frequency range to achieve a smaller vertical angle measurement range, thereby meeting the vertical angle measurement range requirements of driving mode. When the instruction indicates parking mode, it operates in the second frequency range to achieve a larger vertical angle measurement range, thereby meeting the vertical angle measurement range requirements of parking mode. This allows for flexible response to detection requirements in different assisted driving application scenarios.

[0063] In a possible implementation, the waveguide antenna operates in the first frequency range in a first time period and in the second frequency range in a second time period; wherein the first time period and the second time period are two periodic alternating cycles.

[0064] In the above embodiment, the detection device can periodically switch its operating frequency range, achieving a smaller vertical angle measurement range when operating in a first frequency range and a larger vertical angle measurement range when operating in a second frequency range. This allows for proactive detection within different vertical angle measurement ranges, helping to improve the comprehensiveness of detection.

[0065] In a third aspect, embodiments of the present application provide a detection device comprising the waveguide antenna described in the first aspect or any possible implementation of the first aspect. Exemplarily, the detection device may be a chip, a millimeter-wave radar, or a millimeter-wave radar system.

[0066] In a fourth aspect, embodiments of the present application provide a detection device comprising at least one processor and a communication interface, the communication interface being configured to provide instruction or data input and / or output to the at least one processor, and the at least one processor being configured to execute the detection method described in the second aspect or any possible implementation of the second aspect. Exemplarily, the detection device may be a chip, a millimeter-wave radar, or a millimeter-wave radar system.

[0067] In a fifth aspect, an embodiment of the present application provides a terminal device, which includes the waveguide antenna described in the first aspect or any possible implementation scheme of the first aspect, or includes the detection device described in the third aspect, or includes the detection device described in the fourth aspect.

[0068] In the sixth aspect, an embodiment of the present application provides a vehicle end, which includes the waveguide antenna described in the first aspect or any possible implementation method of the first aspect, or includes the detection device described in the third aspect, or includes the detection device described in the fourth aspect, or includes the terminal device described in the fifth aspect.

[0069] In the seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program or instruction. When the computer program or instruction is executed, the detection method described in the above-mentioned second aspect or any possible implementation method of the second aspect is implemented.

[0070] In an eighth aspect, the present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed, the detection method described in the above-mentioned second aspect or any possible implementation method of the second aspect is implemented.

[0071] The beneficial effects brought about by the third to eighth aspects mentioned above can be referred to the description of the beneficial effects in the first and second aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] 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.

[0073] Figure 1 A schematic diagram of a radar deployment provided in an embodiment of the present application;

[0074] Figure 2 A schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0075] Figure 3 A schematic diagram of a vertical angle measurement range in a driving mode provided in an embodiment of the present application;

[0076] Figure 4 A schematic diagram of a vertical angle measurement range in a parking mode provided in an embodiment of the present application;

[0077] Figure 5 Schematic diagram of microstrip antenna;

[0078] Figure 6 is a schematic diagram of a waveguide antenna;

[0079] Figure 7 A schematic diagram of a waveguide antenna provided in an embodiment of the present application;

[0080] Figure 8 A schematic plan view of a waveguide antenna provided in an embodiment of the present application;

[0081] Figure 9 A schematic diagram comparing the vertical angle measurement ranges of a waveguide antenna provided in an embodiment of the present application when operating in different operating frequency ranges;

[0082] Figure 10 A schematic structural diagram of a detection device provided in an embodiment of the present application;

[0083] Figure 11 A schematic diagram of the structure of an antenna array provided in an embodiment of the present application;

[0084] Figure 12 A flow chart of a detection method provided in an embodiment of the present application;

[0085] Figure 13 A flowchart of another detection method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0086] 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.

[0087] In this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0088] In this application, the terms "first," "second," and the like are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "comprise," "include," and "have," 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.

[0089] The “embodiment” mentioned herein means that the specific features, structures or characteristics described in conjunction with the embodiment 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 is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be understood explicitly and implicitly by those skilled in the art that in the various embodiments of the present application, unless otherwise specified and there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0090] It should be understood that in this application, "at least one" means one or more, and "more than one" means two or more. "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" 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.

[0091] As described in the background technology section, different application scenarios (e.g., driving mode, parking mode, etc.) place different demands on the technical specifications of millimeter-wave radar antennas. However, current waveguide antennas cannot simultaneously meet the detection requirements of different application scenarios. This application provides a waveguide antenna, detection method, and related devices related to the field of millimeter-wave radar technology that can simultaneously meet the detection requirements of different application scenarios.

[0092] In order to more clearly describe the solution of this application, some knowledge related to radar is first introduced below.

[0093] 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.

[0094] 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 of the electromagnetic wave signal. The radar can measure the distance to the target 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 electromagnetic wave signal being transmitted to the radar signal being received by the radar), and c is the speed of light.

[0095] 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 velocity between the target and the radar—can be measured.

[0096] 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 change pattern of the 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.

[0097] 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 within 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, 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.

[0098] 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.

[0099] See also Figure 1 , Figure 1 A schematic diagram of a radar deployment provided in an embodiment of the present application.

[0100] Figure 1 Possible installation locations of several types of Radar are given, which are only examples. In actual use, more or fewer Radars can be selected, and the types can also be adjusted.

[0101] like Figure 1As shown in the figure, the LRR can be installed at the front of the vehicle body as a forward radar; the MRR can be installed at the front and rear of the vehicle body as a forward radar and rear radar; the SRR can be installed at the side of the vehicle body or at the four corners of the vehicle body as a side radar and corner radar. In addition, the MRR can also be installed at the side of the vehicle body or at the four corners of the vehicle body, and the SRR can also be installed at the front or rear of the vehicle body.

[0102] 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.

[0103] See also Figure 2 , Figure 2 A schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0104] like Figure 2 As shown in the figure, the radar includes a monolithic microwave integrated circuit (MMIC), a microcontroller unit (MCU), and a power management integrated circuit (PMIC). The MMIC can integrate the functions of the radio frequency part, and the MCU can integrate the functions of the baseband part, such as the function of the integrated signal processor. In addition, it can also provide a communication interface with other on-board equipment. The PMIC is a chip that supplies power to the radar hardware system.

[0105] Millimeter-wave radar is one of the core sensors for assisted driving and must meet a series of technical specifications, such as detection distance and vertical angle measurement range. Traditional automotive millimeter-wave radar is primarily used for assisted driving in driving mode, which refers to the vehicle's state on the road, including forward movement, lane changes, and turns. Assisted driving in driving mode can include blind spot vehicle detection and warning, lane change assistance, and adaptive cruise control, with vehicles being the primary target.

[0106] The increasing number of assisted driving applications has led to new requirements for millimeter-wave radar. For example, in addition to the existing assisted driving in driving mode, the demand for assisted driving in parking mode has been raised. Parking mode refers to the vehicle being parked, including searching for a parking space, parking in, and out of a parking space. Assisted driving in parking mode can include detecting low obstacles near the vehicle.

[0107] Driving mode and parking mode have different requirements for millimeter-wave radar technical specifications. For example, the vertical angle measurement range required by parking mode is larger than that required by driving mode. The vertical angle measurement range refers to the maximum angle that can be measured in the vertical dimension. For example, in driving mode, the vertical angle measurement range is between 18° and 30°, which is sufficient for vehicle detection; in parking mode, the vertical angle measurement range is 80° or above, which is sufficient for detecting low obstacles near the vehicle.

[0108] See also Figure 3 , Figure 3 This is a schematic diagram of the vertical angle measurement range in a driving mode provided by an embodiment of the present application. Figure 4 , Figure 4 A schematic diagram of the vertical angle measurement range in a parking mode provided in an embodiment of the present application. Figure 3 and Figure 4 It can be seen that the vertical angle measurement range in parking mode is greater than that in driving mode.

[0109] In addition, the detection distance required by the parking mode may be smaller than the detection distance required by the driving mode. For example, the detection distance in the parking mode may be reduced to 1 / 2 of the detection distance in the driving mode, or even lower.

[0110] Vehicle-mounted millimeter-wave radar generally uses antenna array technology. The vehicle-mounted millimeter-wave radar antenna can be a microstrip antenna or a waveguide antenna. When the vertical dimension of the antenna array has a spacing between two antennas (denoted as d ant ) satisfies the following conditions. In principle, the antenna array can meet the measurement requirements within the vertical angle measurement range α.

[0111]

[0112] Where λ0 is the wavelength of the signal transmitted by the antenna in the air.

[0113] Currently, after the antenna structure is designed, its corresponding vertical angle measurement range is fixed. If you want to obtain a larger or smaller vertical angle measurement range, you need to adjust or redesign the antenna structure. In other words, the same antenna structure cannot currently meet the measurement requirements of different vertical angle measurement ranges at the same time.

[0114] See also Figure 5 , Figure 5 is a schematic diagram of a microstrip antenna. Figure 5 As shown in (a) and (c) in the figure, the antenna has more oscillators in the vertical dimension, which can achieve higher gain and smaller vertical angle measurement range (no more than 18°). If you want to obtain a larger vertical angle measurement range, you need to reduce the number of antenna oscillators in the vertical dimension. Figure 5 As shown in (b) and (d), the antenna has 4 oscillators in the vertical dimension, which is Figure 5 For (a) and (c) in the figure, the number of oscillators is reduced, which can improve the vertical angle measurement range, but will lead to a corresponding decrease in gain.

[0115] See also Figure 6 , Figure 6 The figure is a schematic diagram of a waveguide antenna. Waveguide antennas have higher gain than microstrip antennas. Figure 6 As shown in (a), the antenna has four radiation ports in the vertical dimension, which can meet the gain requirements of the millimeter wave radar, and the vertical angle measurement range can reach 30°. If you want to further improve the vertical angle measurement range, you need to reduce the number of radiation ports in the vertical dimension. Figure 6 As shown in (b), the number of radiating ports in the vertical dimension of the antenna is 2, which is relatively Figure 6 For example, in (a), the number of radiation ports is reduced, which enables a larger vertical angle measurement range, but also results in a decrease in gain.

[0116] Whether it is a microstrip antenna or a waveguide antenna, increasing the vertical angle measurement range by reducing the number of oscillators or the number of radiation ports will result in a decrease in antenna gain, which in turn reduces the detection range of the millimeter wave radar and cannot meet the detection range requirements of the driving mode. In order to meet the detection requirements of both driving mode and parking mode, the relevant technology adopts the following solutions:

[0117] Solution 1: Using two antennas within a single millimeter-wave radar. These two antennas have different structural designs and support different vertical angle measurement ranges, corresponding to driving and parking modes, respectively. However, this solution reduces the millimeter-wave radar's detection range due to the limited number of transceiver channels. Increasing the detection range by increasing the number of transceiver channels would also increase the size, complexity, and cost of the millimeter-wave radar.

[0118] Option 2: Install two millimeter-wave radars on the vehicle, each with different vertical angle measurement ranges, corresponding to driving and parking modes. However, this solution increases installation difficulty and the complexity and cost of both the millimeter-wave radar and the vehicle.

[0119] In view of this, the present application provides a waveguide antenna, a detection method and related devices, relating to the field of millimeter wave radar technology, which can meet the detection needs in different application scenarios without increasing the complexity and cost of the hardware structure.

[0120] The waveguide antenna provided in the embodiments of the present application is described below with reference to the accompanying drawings.

[0121] See also Figure 7 , Figure 7 A schematic diagram of a waveguide antenna provided in an embodiment of the present application.

[0122] like Figure 7 As shown, the waveguide antenna includes: a waveguide cavity C, a feeding port P0 and N first radiation ports.

[0123] Wherein, N is an integer greater than or equal to 1. For example, Figure 7 In the waveguide antenna shown, N=2, and the N first radiation ports include the first radiation port S1 and the first radiation port S2. It should be understood that N=2 is merely an example of a possible embodiment and should not limit the embodiments of the present application. In other examples, N can also be another integer greater than 1.

[0124] like Figure 7 As shown, the waveguide cavity C is in the shape of a rectangular parallelepiped. Optionally, the right-angled sides of the rectangular parallelepiped can be designed with arc transitions. It should be understood that the rectangular parallelepiped shape here is only used as a possible exemplary illustration and should not constitute a limitation on the embodiments of the present application. In other examples, the waveguide cavity C can also be a cavity of other shapes.

[0125] like Figure 7As shown, the length, width, and height of the waveguide cavity C are denoted as the first direction x, the second direction y, and the third direction z, respectively. Each of the first direction x, the second direction y, and the third direction z is perpendicular to each other. The plane formed by the first direction x and the second direction y (denoted as the xy plane) is perpendicular to the third direction z. The plane formed by the first direction x and the third direction z (denoted as the xz plane) is perpendicular to the second direction y. The plane formed by the second direction y and the third direction z (denoted as the yz plane) is perpendicular to the first direction x.

[0126] In one possible design, Figure 7 As shown, the first radiation ports (S1, S2) are arranged on the first surface (the top surface in the figure) of the waveguide cavity C, and the first radiation ports (S1, S2) are arranged along the first direction x, and the feeding port P0 is arranged on the second surface (the side surface in the figure) of the waveguide cavity C. The first surface is parallel to the xy plane, and the second surface is parallel to the xz plane. In this case, the second surface is adjacent to and perpendicular to the first surface. In another possible design, the feeding port P0 can also be arranged on the third surface (the bottom surface in the figure) of the waveguide cavity C, and the third surface is parallel to the xy plane. In this case, the third surface is opposite to and parallel to the first surface.

[0127] In one possible design, the waveguide cavity C can be an air waveguide cavity, i.e., the interior of the waveguide cavity C is filled with air. In another possible design, the waveguide cavity C can be a dielectric waveguide cavity, i.e., the interior of the waveguide cavity C is filled with a suitable dielectric, where the dielectric here refers to a medium for transmitting electromagnetic wave signals. In yet another possible design, the waveguide cavity C can be a gap waveguide (GW) cavity.

[0128] The above-mentioned waveguide antenna is used to operate in at least two operating frequency ranges. The signal input to the feeding port P0 is transmitted through the waveguide cavity C and radiated through the first radiation port (S1, S2). The radiation energy of the first radiation port (S1, S2) is different in different operating frequency ranges.

[0129] Specifically, an electromagnetic wave signal is input from the feed port P0 into the waveguide cavity C. The electromagnetic wave signal is transmitted within the waveguide cavity C and can be radiated out through the first radiation ports (S1, S2). The radiation energy of the first radiation ports (S1, S2) is associated with the operating frequency range. Under different operating frequency ranges, the radiation energy of the first radiation ports (S1, S2) varies, and therefore the detection range (e.g., detection distance and vertical angle measurement range) of the radiation energy of the first radiation ports (S1, S2) also varies.

[0130] In one possible case, when the waveguide antenna operates in a lower operating frequency range, the radiation energy of the first radiation port (S1, S2) is higher, and it can be considered that the first radiation port (S1, S2) can effectively radiate electromagnetic wave signals, which can improve the gain of the waveguide antenna and the concentration of the radiation energy of the waveguide antenna, thereby achieving a larger detection distance and a smaller vertical angle measurement range.

[0131] In another possible case, when the waveguide antenna operates in a higher operating frequency range, the radiation energy of the first radiation port (S1, S2) is low, and it can be considered that the first radiation port (S1, S2) cannot effectively radiate electromagnetic wave signals, which will reduce the gain of the waveguide antenna and the concentration of the radiation energy of the waveguide antenna, thereby achieving a smaller detection distance and a larger vertical angle measurement range.

[0132] In embodiments of the present application, the waveguide antenna can be configured with different operating frequency ranges, so that the radiation energy of the first radiating port in the waveguide antenna varies in different operating frequency ranges. This allows the radiation energy of the first radiating port to be varied by changing the operating frequency range of the waveguide antenna, thereby achieving different detection ranges. In this way, the same waveguide antenna structure can be used to operate in different operating frequency ranges to meet the detection requirements of different application scenarios, eliminating the need to design different antenna structures to meet the detection requirements of different application scenarios, thereby reducing the complexity and cost of the hardware structure.

[0133] See also Figure 8 , Figure 8 This is a schematic plan view of a waveguide antenna provided in an embodiment of the present application. It is understood that, Figure 8 The waveguide antenna shown may be implemented as a standalone embodiment; alternatively, Figure 8 The waveguide antenna shown can also be understood as the above Figure 7 A deformation or supplement of the waveguide antenna in this case, Figure 8 It can be understood as the above Figure 7 The waveguide antenna is shown in a top view in the third direction z.

[0134] like Figure 8 As shown, the waveguide antenna includes: a waveguide cavity C, a feed port P0, and two first radiation ports (S1, S2). The waveguide antenna is configured to operate in at least two operating frequency ranges. A signal inputted at the feed port P0 is transmitted through the waveguide cavity C and radiated through the first radiation ports (S1, S2). The radiation energy of the first radiation ports (S1, S2) varies in different operating frequency ranges.

[0135] In a possible embodiment, the at least two operating frequency ranges correspond to different vertical angle measurement ranges.

[0136] Because the first radiating port in the waveguide antenna radiates different energies in different operating frequency ranges, the waveguide antenna exhibits distinct characteristics when operating in different frequency ranges, adapting to different application scenarios. Consequently, different operating frequency ranges can correspond to different application scenarios (e.g., driving mode versus parking mode), meeting different vertical angle measurement range requirements. In other words, different operating frequency ranges can correspond to different vertical angle measurement ranges.

[0137] For each of the at least two operating frequency ranges mentioned above, the vertical angle measurement range corresponding to the operating frequency range refers to the vertical angle measurement range that can be achieved when the waveguide antenna operates in the operating frequency range.

[0138] The at least two operating frequency ranges mentioned above correspond to different vertical angle measurement ranges, that is, the waveguide antenna can achieve different vertical angle measurement ranges when operating in different operating frequency ranges.

[0139] Optionally, the at least two operating frequency ranges include a first frequency range and a second frequency range, the maximum frequency of the first frequency range is less than the minimum frequency of the second frequency range, and the first vertical angle measurement range corresponding to the first frequency range is less than the second vertical angle measurement range corresponding to the second frequency range.

[0140] The maximum frequency of the first frequency range is less than the minimum frequency of the second frequency range. That is, any frequency in the first frequency range is less than any frequency in the second frequency range. The first frequency range can be understood as the lower operating frequency range of the at least two operating frequency ranges. The second frequency range can be understood as the higher operating frequency range of the at least two operating frequency ranges.

[0141] The first vertical angle measurement range refers to the vertical angle measurement range that the waveguide antenna can achieve when operating in the first frequency range. The second vertical angle measurement range refers to the vertical angle measurement range that the waveguide antenna can achieve when operating in the second frequency range. The first vertical angle measurement range is smaller than the second vertical angle measurement range. That is, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in the lower operating frequency range (i.e., the first frequency range), and can achieve a larger vertical angle measurement range when operating in the higher operating frequency range (i.e., the second frequency range).

[0142] Exemplarily, the waveguide antenna operates in the vehicle-mounted millimeter-wave radar frequency band (e.g., 76GHz to 81GHz), the first frequency range is 76GHz to 77GHz, and the corresponding first vertical angle measurement range is 30°, and the second frequency range is 79GHz to 81GHz, and the corresponding second vertical angle measurement range is 80°.

[0143] It should be understood that the operating frequency band of the waveguide antenna, the division of the first frequency range and the second frequency range, and the corresponding first vertical angle measurement range and second vertical angle measurement range are not limited to the above examples and can be set according to actual application scenarios or needs. For example, the operating frequency band of the waveguide antenna can be extended to non-76GHz~81GHz, such as the 140GHz frequency band that may be used for automotive millimeter wave radar in the future. For another example, the first frequency range can be 76GHz~76.4GHz, and the second frequency range can be 80GHz~81GHz. For another example, the first vertical angle measurement range can be 60°, and the second vertical angle measurement range can be 90°.

[0144] See also Figure 9 , Figure 9 A schematic diagram comparing the vertical angle measurement ranges of a waveguide antenna provided in an embodiment of the present application when operating in different operating frequency ranges. Figure 9 (a) corresponds to the first frequency range (76 GHz to 77 GHz), wherein the horizontal axis (Angle) represents the vertical angle measurement range of the waveguide antenna when operating in the first frequency range (i.e., the first vertical angle measurement range), and the vertical axis (Gain) represents the gain of the waveguide antenna when operating in the first frequency range (referred to as the first gain). Figure 9 Panel (b) corresponds to the second frequency range (79 GHz to 81 GHz). The horizontal axis (Angle) represents the vertical angle measurement range of the waveguide antenna when operating in the second frequency range (i.e., the second vertical angle measurement range), and the vertical axis (Gain) represents the gain of the waveguide antenna when operating in the second frequency range (referred to as the second gain). As can be seen from the figure, the second vertical angle measurement range (approximately 90°) is larger than the first vertical angle measurement range (approximately 60°). Furthermore, the second gain is comparable to the first gain.

[0145] In the embodiments of the present application, the waveguide antenna can achieve different vertical angle measurement ranges when operating in different operating frequency ranges. Specifically, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in a lower first frequency range, and a larger vertical angle measurement range when operating in a higher second frequency range. In this way, the same waveguide antenna structure can be used to operate in different operating frequency ranges to meet different vertical angle measurement range requirements.

[0146] In a possible embodiment, the first frequency range corresponds to a driving mode, and the second frequency range corresponds to a parking mode.

[0147] The vertical angle measurement range required by the driving mode is smaller, so the first frequency range can correspond to the driving mode. That is, in the driving mode, the waveguide antenna can be operated in the first frequency range to achieve a smaller vertical angle measurement range, thereby meeting the driving mode's requirements for the vertical angle measurement range.

[0148] The parking mode requires a larger vertical angle measurement range, so the second frequency range can correspond to the parking mode. That is, in the parking mode, the waveguide antenna can operate in the second frequency range to achieve a larger vertical angle measurement range, thereby meeting the parking mode's requirements for the vertical angle measurement range.

[0149] In one possible implementation, a detection device (e.g., a millimeter-wave radar) including a waveguide antenna can identify a vehicle's driving mode. For different driving modes, the waveguide antenna can be configured to operate in different operating frequency ranges, thereby radiating different energies. Specifically, when the detection device identifies the vehicle's driving mode as driving, the waveguide antenna is configured to operate in a first frequency range; when the detection device identifies the vehicle's driving mode as parking, the waveguide antenna is configured to operate in a second frequency range.

[0150] In the embodiments of the present application, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in the first frequency range, thereby meeting the vertical angle measurement range requirements of the driving mode. When operating in the second frequency range, the waveguide antenna can achieve a larger vertical angle measurement range, thereby meeting the vertical angle measurement range requirements of the parking mode. In this way, the same waveguide antenna structure can be used to operate in different operating frequency ranges to meet the detection requirements of different assisted driving application scenarios.

[0151] In a possible embodiment, a radiation energy difference of the first radiation port in different operating frequency ranges is greater than a first threshold.

[0152] The first threshold value can be understood as the minimum radiation energy difference of the first radiating port in different operating frequency ranges required for the waveguide antenna to meet different vertical angle measurement range requirements when operating in different operating frequency ranges. Therefore, when the radiation energy difference of the first radiating port in the above-mentioned different operating frequency ranges is greater than the first threshold value, the waveguide antenna can meet different vertical angle measurement range requirements when operating in the above-mentioned different operating frequency ranges.

[0153] It is understandable that the specific value of the above-mentioned first threshold can be set according to the actual application scenario or requirements, and the embodiments of the present application do not limit this.

[0154] In a possible embodiment, the radiation energy of the first radiation port in the first frequency range is higher than the radiation energy in the second frequency range, and the radiation energy difference between the first radiation port in the first frequency range and the second frequency range is greater than a first threshold.

[0155] Taking the first radiation ports (S1, S2) as an example, when the waveguide antenna operates within a first frequency range, the radiation energy of the first radiation ports (S1, S2) is relatively high, and the first radiation ports (S1, S2) can be considered to be able to effectively radiate electromagnetic wave signals. When the waveguide antenna operates within a second frequency range, the radiation energy of the first radiation ports (S1, S2) is relatively low, and the first radiation ports (S1, S2) can be considered to be unable to effectively radiate electromagnetic wave signals. The difference in radiation energy of the first radiation ports (S1, S2) between the first frequency range and the second frequency range is greater than a first threshold, which enables the waveguide antenna to achieve different vertical angle measurement ranges when operating within the first frequency range and the second frequency range.

[0156] In an embodiment of the present application, the radiation energy of the first radiation port in the first frequency range is higher than the radiation energy in the second frequency range, and the difference in radiation energy of the first radiation port in the first frequency range and the second frequency range is greater than a first threshold value. In this way, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in the first frequency range, and can achieve a larger vertical angle measurement range when operating in the second frequency range, thereby meeting different vertical angle measurement range requirements.

[0157] In a possible embodiment, the two first radiation ports ( S1 , S2 ) are symmetrical along the feeding port P0 .

[0158] by Figure 7 or Figure 8 Taking the two first radiating ports (S1 and S2) shown as an example, the first radiating port S1 and the first radiating port S2 are symmetrical about the feeding port P0, and the first radiating port S1 and the first radiating port S2 can be regarded as a pair of first radiating ports symmetrical about the feeding port P0. Specifically, the distance between the first radiating port S1 and the feeding port P0 in the first direction x is equal to the distance between the first radiating port S2 and the feeding port P0 in the first direction x.

[0159] Optionally, the first radiation port S1 and the first radiation port S2 have the same design. For example, the first radiation port S1 and the first radiation port S2 have the same shape, size, medium, etc. The medium used by the first radiation port can be air or other medium that can be used to transmit electromagnetic wave signals.

[0160] In an embodiment of the present application, the first radiation port is set in a symmetrical manner, so that each pair of first radiation ports symmetrical along the feeding port are equivalent. In this way, the waveform radiated by the first radiation port is symmetrical, which is conducive to the mirror installation of the antenna and reduces the difficulty of installation.

[0161] In a possible embodiment, the resonant cavity length of the first radiation port is related to the first frequency range.

[0162] The resonant cavity of the first radiation port refers to the resonant cavity required for the electromagnetic wave signal in the waveguide cavity to be effectively radiated through the first radiation port. To enable the first radiation port to effectively radiate the electromagnetic wave signal within the first frequency range, the resonant cavity length of the first radiation port can be designed based on the first frequency range, so that the resonant cavity length of the first radiation port is related to the first frequency range.

[0163] In an embodiment of the present application, the resonant cavity length of the first radiation port is related to the first frequency range, so that the first radiation port can effectively radiate electromagnetic wave signals in the first frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range.

[0164] In a possible embodiment, the resonant cavity length of the first radiation port is the waveguide propagation wavelength of the signal corresponding to the middle frequency in the first frequency range.

[0165] Assume that the first frequency range (denoted as f1) is [f 1min , f 1max ], then the middle frequency of the first frequency range (denoted as f 1mid ) can be (f 1min +f 1max ) / 2. The middle frequency f of the first frequency range 1mid The corresponding signal waveguide propagation wavelength (denoted as λ f1mid ), refers to the middle frequency f of the first frequency range where the waveguide antenna operates 1mid The wavelength of the electromagnetic wave signal propagating in the waveguide cavity.

[0166] For example, λ f1mid It can be calculated by the following formula:

[0167] λ f1mid =v / f 1mid

[0168] Where v represents the propagation velocity of the electromagnetic wave signal in the waveguide cavity.

[0169] In an embodiment of the present application, the resonant cavity length of the first radiation port can be designed according to the waveguide propagation wavelength of the signal corresponding to the middle frequency of the first frequency range, so that the first radiation port can effectively radiate electromagnetic wave signals in the first frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range.

[0170] In a possible embodiment, the waveguide antenna further includes K second radiation ports, where the second radiation ports are located between the feeding port and the first radiation port.

[0171] Wherein, K is an integer greater than or equal to 1. For example, Figure 7 or Figure 8 In the waveguide antenna shown, K = 2, and the K second radiation ports include the second radiation port M1 and the second radiation port M2. It should be understood that K = 2 is merely an example of a possible embodiment and should not limit the embodiments of the present application. In other examples, K can also be another integer greater than 1.

[0172] like Figure 7 or Figure 8 As shown, the waveguide antenna includes four radiating ports, namely, two first radiating ports (S1, S2) and two second radiating ports (M1, M2). The second radiating port M1 is located between the feed port P0 and the first radiating port S1, and the second radiating port M2 is located between the feed port P0 and the first radiating port S2. It should be understood that in other examples, the waveguide antenna may also include more radiating ports, such as five or six radiating ports. When the waveguide antenna includes five radiating ports, the feed port may be located at the middle radiating port among the five radiating ports.

[0173] The above-mentioned waveguide antenna is used to operate in at least two operating frequency ranges, the signal input to the feed port P0 is transmitted through the waveguide cavity C and radiated through the first radiation port (S1, S2) and the second radiation port (M1, M2), the radiation energy difference of the first radiation port (S1, S2) in different operating frequency ranges is greater than a first threshold, and the radiation energy difference of the second radiation port (M1, M2) in different operating frequency ranges is less than a second threshold.

[0174] The second threshold value can be understood as the maximum radiation energy difference of the second radiating port in different operating frequency ranges required for the waveguide antenna to meet different vertical angle measurement range requirements when operating in different operating frequency ranges. Therefore, when the radiation energy difference of the second radiating port in the above-mentioned different operating frequency ranges is less than the second threshold value, the waveguide antenna can meet the different vertical angle measurement range requirements when operating in the above-mentioned different operating frequency ranges.

[0175] It is understandable that the specific value of the above-mentioned second threshold can be set according to the actual application scenario or requirements, and the embodiments of the present application do not limit this.

[0176] Optionally, the above-mentioned at least two operating frequency ranges include a first frequency range and a second frequency range, the radiation energy difference of the first radiation port (S1, S2) in the first frequency range and the second frequency range is greater than a first threshold, and the radiation energy difference of the second radiation port (M1, M2) in the first frequency range and the second frequency range is less than a second threshold.

[0177] Specifically, when the waveguide antenna operates within a first frequency range, both the first radiation port (S1, S2) and the second radiation port (M1, M2) can effectively radiate electromagnetic wave signals. Therefore, the waveguide antenna can rely on the first radiation port (S1, S2) and the second radiation port (M1, M2) to radiate electromagnetic wave signals, thereby achieving a smaller vertical angle measurement range. When the waveguide antenna operates within a second frequency range, the second radiation port (M1, M2) can still effectively radiate electromagnetic wave signals, while the radiation energy of the first radiation port (S1, S2) is significantly reduced, and can be regarded as being unable to effectively radiate electromagnetic wave signals. Therefore, the waveguide antenna mainly relies on the second radiation port (M1, M2) to radiate electromagnetic wave signals, thereby achieving a larger vertical angle measurement range.

[0178] In an embodiment of the present application, the radiation energy of the first radiation port in the first frequency range is higher than the radiation energy in the second frequency range, and the radiation energy difference between the first radiation port in the first frequency range and the second frequency range is greater than the first threshold, and the radiation energy difference between the second radiation port in the first frequency range and the second frequency range is less than the second threshold. In this way, the waveguide antenna can achieve a smaller vertical angle measurement range when operating in the first frequency range, and can achieve a larger vertical angle measurement range when operating in the second frequency range, thereby meeting different vertical angle measurement range requirements.

[0179] In a possible embodiment, the two second radiation ports ( M1 , M2 ) are symmetrical along the feeding port P0 .

[0180] by Figure 7 or Figure 8 Taking the two second radiating ports (M1 and M2) shown as an example, the second radiating port M1 and the second radiating port M2 are symmetrical about the feeding port P0, and the second radiating port M1 and the second radiating port M2 can be regarded as a pair of second radiating ports symmetrical about the feeding port P0. Specifically, the distance between the second radiating port M1 and the feeding port P0 in the first direction x is equal to the distance between the second radiating port M2 and the feeding port P0 in the first direction x.

[0181] Optionally, the second radiation port M1 and the second radiation port M2 adopt the same design. For example, the second radiation port M1 and the second radiation port M2 have the same shape, size, medium, etc. The medium used by the second radiation port can be air or other medium that can be used to transmit electromagnetic waves.

[0182] In an embodiment of the present application, the second radiation port is designed in a symmetrical manner, so that each pair of second radiation ports symmetrical along the feed port are equivalent. In this way, the waveform radiated by the second radiation port is symmetrical, which is conducive to the mirror installation of the antenna and reduces the difficulty of installation.

[0183] In a possible embodiment, the distance between the two second radiation ports (M1, M2) is related to the second frequency range and the second vertical angle measurement range.

[0184] The distance between the two second radiation ports (M1, M2) refers to the distance between the second radiation ports required for the electromagnetic wave signals in the waveguide cavity to be effectively radiated through the second radiation ports. In order to enable the second radiation ports to effectively radiate electromagnetic wave signals in both the first frequency range and the second frequency range and to achieve the second vertical angle measurement range in the second frequency range, the distance between the two second radiation ports (M1, M2) can be designed based on the second frequency range and the second vertical angle measurement range, so that the distance between the two second radiation ports (M1, M2) is related to the second frequency range and the second vertical angle measurement range.

[0185] Optionally, the distance between the two second radiation ports (M1, M2) refers to the geometric center distance between the two second radiation ports (M1, M2). Figure 8 As shown, the second radiation ports (M1, M2) are rectangles, and the distance between the two second radiation ports (M1, M2) refers to the distance between the geometric centers of the two rectangles (denoted as d in the figure). mm ).

[0186] In an embodiment of the present application, the distance between the two second radiation ports is related to the second frequency range and the second vertical angle measurement range, so that the second radiation port can effectively radiate electromagnetic wave signals in both the first frequency range and the second frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range, and a larger vertical angle measurement range when operating in the second frequency range.

[0187] In a possible embodiment, the distance d between the two second radiation ports (M1, M2) is mm The following conditions are met:

[0188]

[0189] Among them, λ max represents the air propagation wavelength of the signal corresponding to the maximum frequency of the second frequency range, and θ represents the second vertical angle measurement range.

[0190] Assume that the second frequency range (denoted as f2) is [f 2min , f 2max ], then the maximum frequency of the second frequency range is f 2max The maximum frequency f of the second frequency range 2max The corresponding signal propagation wavelength λ max , refers to the maximum frequency f of the waveguide antenna operating in the second frequency range 2max The wavelength of the electromagnetic wave signal propagating in the air.

[0191] For example, λ max It can be calculated by the following formula:

[0192] λ max =c / f 2max

[0193] Where c represents the propagation speed of electromagnetic wave signals in the air.

[0194] In an embodiment of the present application, the distance between the two second radiation ports can be designed based on the air propagation wavelength of the signal corresponding to the maximum frequency of the second frequency range and the second vertical angle measurement range. In this way, the second radiation port can effectively radiate electromagnetic wave signals in both the first frequency range and the second frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range, and a larger vertical angle measurement range when operating in the second frequency range.

[0195] Understandably, d mm The following conditions are also met:

[0196]

[0197] Among them, J M1 represents the length of the second radiation port M1 in the first direction x, J M2 J represents the length of the second radiation port M2 in the first direction x. When the second radiation port M1 and the second radiation port M2 adopt the same design, the lengths of the second radiation port M1 and the second radiation port M2 in the first direction x are the same (denoted as J M ), then d mm Greater than the length J of the second radiation port (M1, M2) in the first direction x M .

[0198] In a possible embodiment, a distance between a first radiation port and an adjacent second radiation port satisfies the following condition:

[0199] d mm <d ms <D f

[0200] Among them, d ms Denotes the distance between the first radiation port and the adjacent second radiation port, D f represents the resonant cavity length of the first radiation port.

[0201] like Figure 7 or Figure 8 As shown, the first radiation port S1 is adjacent to the second radiation port M1, and the first radiation port S2 is adjacent to the second radiation port M2. The two first radiation ports (S1, S2) adopt the same design and are symmetrical along the feed port P0, and the two second radiation ports (M1, M2) adopt the same design and are symmetrical along the feed port P0. The distance between the first radiation port S1 and the second radiation port M1 is equal to the distance between the first radiation port S2 and the second radiation port M2, both denoted as d ms The resonant cavity length of the first radiation port S1 is equal to the resonant cavity length of the first radiation port S2, both expressed as D f .

[0202] Understandably, d ms The following conditions are met:

[0203]

[0204] Among them, J M represents the length of the second radiation port (M1, M2) in the first direction x, J S represents the length of the first radiation port (S1, S2) in the first direction x.

[0205] In an embodiment of the present application, the distance between the first radiation port and the adjacent second radiation port can be designed based on the distance between the second radiation ports and the resonant cavity length of the first radiation port. In this way, the first radiation port can effectively radiate electromagnetic wave signals in the first frequency range, but cannot effectively radiate electromagnetic wave signals in the second frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range, and a larger vertical angle measurement range when operating in the second frequency range.

[0206] In a possible embodiment, the length of the waveguide cavity satisfies the following conditions:

[0207] L wg =d mm +2×D f

[0208] Among them, L wg Indicates the length of the waveguide cavity.

[0209] For example, Figure 8 As shown, the length L of the waveguide cavity wg Equal to the distance between the second radiation port M1 and the second radiation port M2 (ie d mm ), the distance from the second radiation port M1 to the top of the waveguide cavity (that is, the resonant cavity length D of the first radiation port S1 f ) and the distance from the second radiation port M2 to the bottom of the waveguide cavity (that is, the resonant cavity length D of the first radiation port S2 f ) the sum of the three.

[0210] In an embodiment of the present application, the length of the waveguide cavity can be designed based on the distance between the second radiation ports and the length of the resonant cavity of the first radiation port, so that the first radiation port can effectively radiate electromagnetic wave signals in the first frequency range, but cannot effectively radiate electromagnetic wave signals in the second frequency range, and the second radiation port can effectively radiate electromagnetic wave signals in both the first frequency range and the second frequency range, thereby helping the waveguide antenna to achieve a smaller vertical angle measurement range when operating in the first frequency range, and to achieve a larger vertical angle measurement range when operating in the second frequency range.

[0211] In a possible embodiment, an area of the second radiation port is greater than or equal to an area of the first radiation port.

[0212] For example, Figure 7 or Figure 8 As shown, the area of the first radiation port (S1, S2) refers to the area of the cross section of the first radiation port (S1, S2) parallel to the xy plane, and the area of the second radiation port (M1, M2) refers to the area of the cross section of the second radiation port (M1, M2) parallel to the xy plane. The area of the second radiation port (M1, M2) is greater than or equal to the area of the first radiation port (S1, S2). When the waveguide antenna operates in a first frequency range, both the first radiation port (S1, S2) and the second radiation port (M1, M2) can effectively radiate electromagnetic wave signals, and the electromagnetic wave signal radiation energy of the second radiation port (M1, M2) is stronger than the electromagnetic wave signal radiation energy of the first radiation port (S1, S2), thereby achieving a smaller vertical angle measurement range. When the waveguide antenna operates in a second frequency range, the first radiation port (S1, S2) cannot effectively radiate electromagnetic wave signals, but the second radiation port (M1, M2) can still radiate relatively strong electromagnetic wave signals, thereby achieving a larger vertical angle measurement range.

[0213] In an embodiment of the present application, the area of the second radiation port is greater than or equal to the area of the first radiation port, so that the radiation energy of the second radiation port is greater than the radiation energy of the first radiation port, thereby helping the waveguide antenna to achieve different vertical angle measurement ranges when operating in different operating frequency ranges.

[0214] In addition, in a possible embodiment, a method for preparing a waveguide antenna is also provided. The specific process of the preparation method is as follows:

[0215] Method 1: The waveguide cavity, feeding port and radiation port can be obtained by opening the mold through plastic layering, then electroplating is performed on the surface of each mold, and finally the waveguide antenna including the waveguide cavity, feeding port and radiation port is obtained by layer brazing.

[0216] Among them, the process of plastic layered mold opening is as follows: the plastic is first heated and melted in the bottom of the injection molding machine, and then, pushed by the screw of the injection molding machine, enters the mold cavity through the injection molding machine nozzle and the mold pouring system. The plastic cools and hardens into shape, and the product is demolded to obtain the product.

[0217] Plastic electroplating is to cover the plastic surface with a metal layer to give it metallic properties. The specific process is: surface cleaning, solvent treatment, conditioning treatment, and sensitization.

[0218] Brazing refers to a method of joining metals by simultaneously heating a filler metal (a material below the melting point of the workpiece) and the workpiece to the filler metal's melting point. Liquid filler metal then fills the gap between the solid workpieces, creating a metallic connection. During brazing, the oxide film and oil stains on the contact surface of the parent metal must be removed to facilitate capillary action after the filler metal melts, increasing the filler metal's wettability and capillary flow.

[0219] Method 2: The waveguide cavity, feeding port and radiation port can also be machined in layers, and then the waveguide cavity, feeding port and first radiation port are formed by welding to obtain a waveguide antenna.

[0220] The waveguide antenna obtained by the above preparation method can change the radiation energy of the radiation port by changing the operating frequency range of the waveguide antenna to achieve different detection ranges. In this way, the waveguide antenna of the same structure can be used to operate in different operating frequency ranges to meet the detection needs in different application scenarios, without the need to design different antenna structures to meet the detection needs in different application scenarios, thereby reducing the complexity and cost of the hardware structure.

[0221] For example, the above-mentioned waveguide antenna preparation method can be used to obtain Figure 7 、 Figure 8 The waveguide antenna shown in any one of the above, the structural characteristics and functional characteristics of the waveguide antenna can be referred to above Figure 7 、 Figure 8 The description is not repeated here.

[0222] The detection device involved in the embodiment of the present application is described below.

[0223] See also Figure 10 , Figure 10 A schematic structural diagram of a detection device provided in an embodiment of the present application.

[0224] like Figure 10 As shown, the detection device 100 includes a control unit 110 , a signal generator 120 , a transmitter 130 , a receiver 140 , an antenna array 150 , a digital signal processing unit 160 and a communication module 170 .

[0225] The antenna array 150 includes at least one transmitting antenna 151 and at least one receiving antenna 152. The transmitting antenna 151 is connected to the output of the transmitter 130, and the receiving antenna 152 is connected to the input of the receiver 140. The transmitting antenna 151 and the receiving antenna 152 can both use the waveguide antenna described in the above embodiment, for example Figure 7 or Figure 8 The waveguide antenna shown.

[0226] The control unit 110 may be connected to the signal generator 120 , the transmitter 130 , the receiver 140 and the digital signal processing unit 160 to configure, control and manage the signal generator 120 , the transmitter 130 , the receiver 140 and the digital signal processing unit 160 .

[0227] The signal generator 120 can generate an electromagnetic wave signal (referred to as a measurement signal) according to the instructions of the control unit 110 and output the measurement signal to the transmitter 130. The transmitter 130 can amplify the measurement signal and output it to the transmitting antenna 151, which is used to radiate the measurement signal. The receiving antenna 152 is used to receive the reflected signal (referred to as the target signal) corresponding to the measurement signal and output it to the receiver 140. The receiver 140 can amplify, filter, frequency-convert, and convert the analog signal to a digital signal, and output the processed target signal to the digital signal processing unit 160. The digital signal processing unit 160 can calculate target information such as the distance, speed, and angle of the target based on the processed target signal.

[0228] The communication module 170 is used to exchange information such as instructions and data between the detection device 100 and an external device (e.g., the assisted driving system controller 200). For example, the control unit 110 can receive instructions from the assisted driving system controller 200 via the communication module 170. For another example, the digital signal processing unit 160 can report target information to the assisted driving system controller 200 via the communication module 170, and the assisted driving system controller 200 can output corresponding vehicle control instructions (e.g., braking instructions) to the vehicle system based on the target information.

[0229] See also Figure 11 , Figure 11 A schematic diagram of the structure of an antenna array provided in an embodiment of the present application.

[0230] like Figure 11 As shown, the antenna array 150 includes two transmitting antennas 151 and four receiving antennas 152. The transmitting antennas 151 are connected to the transmitter 130, and the receiving antennas 152 are connected to the receiver 140. It should be understood that the number of transmitting antennas and receiving antennas here is only a possible example and should not limit the embodiments of the present application. In other examples, the antenna array may also include more or fewer transmitting antennas and / or receiving antennas.

[0231] The transmitting antenna 151 can be used Figure 7 or Figure 8 The waveguide antenna shown, the transmitting antenna 151 includes a waveguide cavity C, a feeding port P0, two first radiation ports (S1, S2) and two second radiation ports (M1, M2). The measurement signal output by the transmitter 130 is input from the feeding port P0 to the waveguide cavity C. The measurement signal is transmitted through the waveguide cavity C and radiated through the first radiation port (S1, S2) and the second radiation port (M1, M2).

[0232] The receiving antenna 152 may be a Figure 7 or Figure 8 The waveguide antenna shown, the receiving antenna 152 includes a waveguide cavity C, a feeding port P0, two first radiation ports (S1, S2) and two second radiation ports (M1, M2), and the target signal corresponding to the measurement signal is input into the waveguide cavity C from the first radiation port (S1, S2) and the second radiation port (M1, M2). The target signal is transmitted through the waveguide cavity C and output to the receiver 140 through the feeding port P0.

[0233] The antenna array 150 can achieve different vertical angle measurement ranges when operating in different operating frequency ranges. For example, the antenna array 150 can be configured with two operating frequency ranges, namely, the first frequency range [f 1min , f 1max ] and the second frequency range [f2min , f 2max ], where f 1max Less than f 2min The antenna array 150 is in the first frequency range [f 1min , f 1max ], the vertical angle measurement range that can be achieved is δ, and in the second frequency range [f 2min , f 2max ]The vertical angle measurement range that can be achieved when working under Greater than δ.

[0234] The vertical spacing (denoted as d1) between at least two antennas in the antenna array 150 satisfies the following conditions:

[0235]

[0236] Among them, d1 can be the vertical distance between two transmitting antennas, or the vertical distance between two receiving antennas, or the vertical distance between one transmitting antenna and one receiving antenna. Figure 11 In the antenna array shown, d1 is the vertical distance between the two receiving antennas. λ1 represents the maximum operating frequency f of the antenna array. 2max The corresponding signal wavelength, that is, the antenna array operates at the maximum operating frequency f 2max The wavelength of the electromagnetic wave signal propagating in the air. It can also be understood as the maximum vertical angle measurement range supported by the antenna array.

[0237] It should be noted that, for a detailed description of the transmitting antenna 151 and the receiving antenna 152 in the above-mentioned antenna array 150, reference can be made to the description of the waveguide antenna in the previous embodiment, which will not be repeated here.

[0238] The present application also provides a detection device, which includes the waveguide antenna provided in the above embodiment. Exemplarily, the detection device can be a chip, a millimeter wave radar, or a millimeter wave radar system.

[0239] The following describes the detection method involved in the embodiments of the present application.

[0240] The detection method includes: transmitting a measurement signal through a waveguide antenna. The waveguide antenna is the waveguide antenna described in the above embodiment, for example Figure 7 or Figure 8 The waveguide antenna shown is not described in detail here.

[0241] When the waveguide antenna operates in different operating frequency ranges, the measurement signal it transmits can achieve different detection ranges. For example, when the waveguide antenna operates in a lower frequency range, the measurement signal it transmits can achieve a smaller vertical angle measurement range; when the waveguide antenna operates in a higher frequency range, the measurement signal it transmits can achieve a larger vertical angle measurement range.

[0242] In the embodiments of the present application, different operating frequency ranges can be configured for the waveguide antenna. By changing the operating frequency range of the waveguide antenna, different detection ranges can be achieved. This allows the same waveguide antenna to operate in different operating frequency ranges to meet the detection needs of different application scenarios, eliminating the need to design different antenna structures to meet the detection needs of different application scenarios. This reduces the complexity and cost of the hardware structure.

[0243] See also Figure 12 , Figure 12 This is a flow chart of a detection method provided in an embodiment of the present application. For example, the detection method can be applied to Figure 10 The detection device 100 is shown.

[0244] like Figure 12 As shown, the detection method may include but is not limited to the following steps S121 to S123.

[0245] S121: Receive instructions from the vehicle controller.

[0246] The instruction is used to indicate the vehicle operating mode. Optionally, the vehicle operating mode includes a driving mode and a parking mode. Specifically, the vehicle controller sends an instruction to the detection device, and the detection device can determine whether the vehicle is in the driving mode or the parking mode based on the instruction.

[0247] S122: When the instruction indicates the driving mode, a measurement signal in the first frequency range is transmitted through the waveguide antenna.

[0248] Specifically, when the command indicates driving mode, the detection device operates in a first frequency range, generates a measurement signal within the first frequency range via a signal generator, and transmits the measurement signal within the first frequency range via a waveguide antenna. The waveguide antenna then receives a first reflected signal corresponding to the measurement signal within the first frequency range. The digital signal processing unit processes the first reflected signal to obtain target information within the first vertical angle measurement range, and returns the target information to the vehicle controller.

[0249] S123: When the instruction indicates the parking mode, transmitting a measurement signal in a second frequency range via the waveguide antenna.

[0250] Specifically, when the command indicates parking mode, the detection device operates in a second frequency range, generates a measurement signal in the second frequency range through a signal generator, and transmits the measurement signal in the second frequency range through a waveguide antenna. The waveguide antenna then receives a second reflected signal corresponding to the measurement signal in the second frequency range. The digital signal processing unit processes the second reflected signal to obtain target information within the second vertical angle measurement range, and returns the target information to the vehicle controller.

[0251] In this embodiment of the present application, the detection device can determine its operating frequency range based on instructions from the vehicle controller. When the instruction indicates driving mode, the detection device operates in a first frequency range to achieve a smaller vertical angle measurement range, thereby meeting the vertical angle measurement range requirements of driving mode. When the instruction indicates parking mode, the detection device operates in a second frequency range to achieve a larger vertical angle measurement range, thereby meeting the vertical angle measurement range requirements of parking mode. This allows for flexible response to detection requirements in different assisted driving application scenarios.

[0252] See also Figure 13 , Figure 13 This is a flow chart of another detection method provided in an embodiment of the present application. For example, the detection method can be applied to Figure 10 The detection device 100 is shown.

[0253] like Figure 13 As shown, the detection method may include but is not limited to the following steps S131 to S132.

[0254] S131: Transmitting a measurement signal in a first frequency range through a waveguide antenna during a first time period.

[0255] S132: Transmitting a measurement signal in a second frequency range through the waveguide antenna during a second time period.

[0256] The first period and the second period are two periodic alternating periods. The detection device operates in the first frequency range during the first period, and in the second frequency range during the second period. In other words, the detection device can automatically switch operating frequency ranges. For example, after operating in the first frequency range for a period of time, it automatically switches to the second frequency range. After operating in the second frequency range for a period of time, it automatically switches back to the first frequency range, and so on.

[0257] Specifically, when the detection device operates within a first frequency range, a signal generator generates a measurement signal within the first frequency range and transmits the measurement signal through a waveguide antenna. Subsequently, a first reflected signal corresponding to the measurement signal within the first frequency range is received by the waveguide antenna and processed by a digital signal processing unit to obtain target information within the first vertical angle measurement range. This target information is then returned to the vehicle controller.

[0258] When the detection device operates in the second frequency range, the signal generator generates a measurement signal in the second frequency range and transmits the measurement signal in the second frequency range through the waveguide antenna. The waveguide antenna then receives a second reflected signal corresponding to the measurement signal in the second frequency range. The digital signal processing unit processes the second reflected signal to obtain target information within the second vertical angle measurement range, and returns the target information to the vehicle controller.

[0259] In the embodiment of the present application, the detection device can periodically switch its operating frequency range. When operating in a first frequency range, a smaller vertical angle measurement range can be achieved, and when operating in a second frequency range, a larger vertical angle measurement range can be achieved. This allows for active detection within different vertical angle measurement ranges, helping to improve the comprehensiveness of detection.

[0260] The present application also provides a detection device comprising at least one processor and a communication interface, wherein the communication interface is configured to provide instruction or data input and / or output to the at least one processor, and the at least one processor is configured to execute the method described in the above method embodiment. For example, the detection device may be a chip, a millimeter-wave radar, or a millimeter-wave radar system.

[0261] An embodiment of the present application provides a terminal device that includes the waveguide antenna or detection device provided in the above embodiments. For example, the terminal device can be a transportation vehicle, such as a car, truck, aircraft, drone, slow-moving transport vehicle, spacecraft, or ship, 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 detection devices provided in this application can be deployed on the terminal device.

[0262] An embodiment of the present application also provides a vehicle end, which includes the waveguide antenna or detection device or terminal equipment provided in the above embodiment.

[0263] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method shown in the above method embodiment can be implemented.

[0264] The present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed, the method shown in the above method embodiment can be implemented.

[0265] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A waveguide antenna, characterized in that: include: A waveguide cavity, a feeding port, and a first radiation port; The waveguide antenna is configured to operate in at least two operating frequency ranges; The signal input from the feeding port is transmitted through the waveguide cavity and radiated through the first radiation port; The radiation energy of the first radiation port is different in different operating frequency ranges.

2. The waveguide antenna according to claim 1, wherein The waveguide antenna includes at least two first radiation ports symmetrically along the feeding port.

3. The waveguide antenna according to claim 1 or 2, characterized in that: The at least two operating frequency ranges correspond to different vertical angle measurement ranges; The at least two operating frequency ranges include a first frequency range and a second frequency range, the maximum frequency of the first frequency range is smaller than the minimum frequency of the second frequency range, and the first vertical angle measurement range corresponding to the first frequency range is smaller than the second vertical angle measurement range corresponding to the second frequency range.

4. The waveguide antenna according to claim 3, wherein: The first frequency range corresponds to a driving mode, and the second frequency range corresponds to a parking mode.

5. The waveguide antenna according to claim 3 or 4, characterized in that: The radiation energy of the first radiation port in the first frequency range is higher than the radiation energy in the second frequency range, and the radiation energy difference between the first radiation port in the first frequency range and the second frequency range is greater than a first threshold.

6. The waveguide antenna according to claim 5, characterized in that The resonant cavity length of the first radiation port is related to the first frequency range.

7. The waveguide antenna according to claim 6, wherein: The length of the resonant cavity is the waveguide propagation wavelength of the signal corresponding to the middle frequency of the first frequency range.

8. The waveguide antenna according to any one of claims 3 to 7, characterized in that The waveguide antenna further includes a second radiation port, which is located between the feeding port and the first radiation port. The radiation energy difference between the second radiation port in the first frequency range and the second frequency range is less than a second threshold.

9. The waveguide antenna according to claim 8, wherein: The waveguide antenna includes at least two second radiation ports symmetrically along the feeding port.

10. The waveguide antenna according to claim 9, wherein: The waveguide antenna includes two second radiation ports symmetrically along the feeding port, and a distance between the two second radiation ports is related to the second frequency range and the second vertical angle measurement range.

11. The waveguide antenna according to claim 10, wherein: The distance between the two second radiation ports meets the following conditions: Among them, d mm represents the distance between the two second radiation ports, λ max represents the air propagation wavelength of the signal corresponding to the maximum frequency of the second frequency range, and θ represents the second vertical angle measurement range.

12. The waveguide antenna according to claim 10 or 11, characterized in that: The waveguide antenna includes two first radiation ports symmetrically along the feed port, and a distance between the first radiation port and an adjacent second radiation port satisfies the following condition: d mm <d ms <D f Among them, d ms represents the distance between the first radiation port and the adjacent second radiation port, d mm Denotes the distance between the two second radiation ports, D f represents the resonant cavity length of the first radiation port.

13. The waveguide antenna according to claim 12, wherein: The length of the waveguide cavity meets the following conditions: L wg =d mm +2×D f Among them, L wg represents the length of the waveguide cavity.

14. The waveguide antenna according to any one of claims 8 to 13, characterized in that An area of the second radiation port is greater than or equal to an area of the first radiation port.

15. A detection device, characterized in that: The detection device comprises the waveguide antenna according to any one of claims 1 to 14.

16. A detection method, characterized in that: The method comprises: Transmitting a measurement signal via a waveguide antenna; The waveguide antenna includes a waveguide cavity, a feeding port, and a first radiation port. The waveguide antenna is used to operate in at least two operating frequency ranges. The measurement signal is input from the feeding port to the waveguide cavity, transmitted through the waveguide cavity, and radiated through the first radiation port. The radiation energy of the first radiation port is different in different operating frequency ranges.

17. The method according to claim 16, characterized in that The at least two operating frequency ranges correspond to different vertical angle measurement ranges; The at least two operating frequency ranges include a first frequency range and a second frequency range, the maximum frequency of the first frequency range is smaller than the minimum frequency of the second frequency range, and the first vertical angle measurement range corresponding to the first frequency range is smaller than the second vertical angle measurement range corresponding to the second frequency range.

18. The method according to claim 17, characterized in that Before transmitting the measurement signal through the waveguide antenna, the method further includes: receiving a command from a vehicle controller, the command being used to indicate a vehicle operating mode; The transmitting of the measurement signal through the waveguide antenna comprises: When the vehicle operating mode is the driving mode, the measurement signal in the first frequency range is transmitted through the waveguide antenna; or When the vehicle operating mode is the parking mode, the measurement signal in the second frequency range is transmitted through the waveguide antenna.

19. The method according to claim 17, wherein The waveguide antenna operates in the first frequency range in a first time period and in the second frequency range in a second time period; wherein the first time period and the second time period are two periodic alternating cycles.

20. A detection device, characterized in that: The detection device includes at least one processor and a communication interface, wherein the communication interface is used to provide instruction or data input and / or output to the at least one processor, and the at least one processor is used to execute the method according to any one of claims 16 to 19.

21. A terminal device, characterized in that: The terminal device includes the waveguide antenna according to any one of claims 1 to 14, or the detection device according to claim 15, or the detection device according to claim 20.

22. A vehicle end, characterized in that: The vehicle end includes the waveguide antenna according to any one of claims 1 to 14, or the detection device according to claim 15, or the detection device according to claim 20, or the terminal device according to claim 21.

23. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program or instructions, and when the computer program or instructions are executed, the method according to any one of claims 16 to 19 is implemented.

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