Composite sensor and vehicle

Abstract

The invention relates to a composite sensor and a vehicle. The invention is completed in view of the situation that a camera and a radar in a composite sensor are integrated, a shell is large, and the arrangement position is limited. A composite sensor and a composite sensor in a vehicle according to the present invention are provided with: a main body having a radar control unit, a camera control unit, a transmission / reception unit connected to the radar control unit, and an image sensor connected to the camera control unit; and an antenna unit which is connected to the transmission / reception unit and is separate from the main body.

Description

Technical Field

[0001] The present disclosure relates to a composite sensor and a vehicle, and for example, to a composite sensor to be mounted on a vehicle and a vehicle equipped with the composite sensor. Background Art

[0002] In recent years, vehicles have been equipped with a variety of sensors, including cameras and radar. Radar uses high-frequency millimeter waves. Therefore, due to the characteristics of light and electromagnetic waves, both cameras and radars have detection ranges that vary depending on their installation locations.

[0003] Research has been conducted on a composite sensor in which a camera and a radar are integrated into a housing (for example, see Patent Documents 1 and 2).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2005-114542

[0007] Patent Document 2: Japanese Patent Application No. 2012-505115 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] However, since the camera and radar are integrated into a combined sensor, the housing is large, limiting its placement. While placement on the exterior of the vehicle is advantageous from the perspective of electromagnetic wave characteristics, a large housing increases the vehicle's air resistance. Furthermore, the large housing restricts the vehicle's exterior design.

[0010] Non-limiting embodiments of the present disclosure contribute to providing a composite sensor capable of suppressing an increase in the air resistance of a vehicle and a restriction on design, and a vehicle including the composite sensor.

[0011] Solutions to the Problem

[0012] A composite sensor according to an embodiment of the present disclosure comprises: a main body having a radar control unit, a camera control unit, a transceiver connected to the radar control unit, and an image sensor connected to the camera control unit; and an antenna unit connected to the transceiver and separate from the main body.

[0013] A vehicle according to an embodiment of the present disclosure is equipped with a composite sensor, which comprises: a main body having a radar control unit, a camera control unit, a transceiver connected to the radar control unit, and an image sensor connected to the camera control unit; and an antenna unit connected to the transceiver and separate from the main body.

[0014] Effects of the Invention

[0015] According to one embodiment of the present disclosure, it is possible to suppress an increase in the air resistance of a vehicle and a restriction on the design. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is the block diagram of the composite sensor.

[0017] Figure 2 This is a schematic diagram showing the appearance of a composite sensor.

[0018] Figure 3 This figure shows an example in which the main body of the composite sensor is installed at the front corner of the roof of a vehicle, and the antenna portion is installed in an L-shape at the upper corner of the windshield.

[0019] Figure 4 This is a schematic diagram showing the appearance of a composite sensor.

[0020] Figure 5 This is a diagram showing another example in which the main body is provided behind the transparent antenna portion provided on the windshield.

[0021] Figure 6 This diagram shows a region in the composite sensor where no transparent electrode is wired.

[0022] Figure 7 This diagram explains what happens when there is an obstacle in the distance when there is a deviation between the center of the camera and the center of the radar.

[0023] Figure 8 This diagram explains the situation where there are obstacles both near and far when there is a deviation between the center of the camera and the center of the radar.

[0024] Figure 9 This diagram explains the situation where obstacles exist both near and far when the center of the camera and the center of the radar coincide with each other.

[0025] Figure 10 This is a diagram showing a configuration example of a composite sensor suitable for a MIMO (Multi Input Multi Output) antenna.

[0026] Figure 11 This is a diagram showing another configuration example of a composite sensor.

[0027] Figure 12 This is a diagram showing another configuration example of a composite sensor suitable for a MIMO antenna.

[0028] Figure 13This figure shows an example of the arrangement of antennas and cameras when two transceivers are used.

[0029] Figure 14 This is a schematic diagram showing the appearance of the main body and antenna unit when two transceiver units are used in the main body.

[0030] Figure 15 This is a schematic diagram showing the appearance of the main body and the antenna unit when two transceiver units are used in the antenna unit.

[0031] Figure 16 This figure shows an example of the arrangement of antennas and cameras when four transceivers are used.

[0032] Figure 17 This is a schematic diagram showing the appearance of the main body and antenna unit when four transceiver units are used in the main body.

[0033] Figure 18 This is a schematic diagram showing the appearance of the main body and the antenna unit when four transceiver units are used in the antenna unit.

[0034] Figure 19 This is an example of arranging the antenna installation area in an L shape.

[0035] Figure 20 This is an example of arranging the antenna installation area in an L shape.

[0036] Figure 21 This is an example of arranging the antenna installation area in an L shape.

[0037] Figure 22 This is an example of arranging the antenna installation area in an L shape.

[0038] Figure 23 This is an example of arranging the antenna installation area in an L shape.

[0039] Figure 24 This is an example of arranging the antenna installation area in an L shape.

[0040] Figure 25 This diagram shows an example in which one antenna system is composed of four antenna elements.

[0041] Figure 26 This diagram shows an example in which one antenna system is composed of six antenna elements.

[0042] Figure 27 This diagram shows an example in which one antenna system is composed of eight antenna elements.

[0043] Figure 28 This diagram shows an example in which one antenna system is composed of eight antenna elements in two rows.

[0044] Figure 29 This diagram shows an example in which one antenna system is composed of eight antenna elements in four rows.

[0045] Figure 30 This is a diagram showing an example of the arrangement of transmission antennas and reception antennas constituting a MIMO antenna.

[0046] Figure 31 This is a diagram showing another example of the offset of the transmitting antenna.

[0047] Figure 32 This is a diagram showing another example of the offset of the transmitting antenna.

[0048] Figure 33 This diagram shows the configuration in which the transmitting antenna and the receiving antenna are represented by their phase centers.

[0049] Figure 34 It is a diagram showing the configuration of virtual receiving antennas.

[0050] Figure 35 This is a diagram showing the angle measurement results.

[0051] Figure 36 This figure shows an example of the arrangement of antennas fed by four transmitting and receiving units.

[0052] Figure 37 This is a diagram showing a simplified antenna configuration.

[0053] Figure 38A It is a diagram showing the configuration of virtual receiving antennas.

[0054] Figure 38B It is a diagram showing the configuration of virtual receiving antennas.

[0055] Figure 39 This is a diagram showing the angle measurement results.

[0056] Figure 40 This is a diagram showing another example of the arrangement of antennas fed by four transmitting and receiving units.

[0057] Figure 41 This is a diagram showing a simplified antenna configuration.

[0058] Figure 42A It is a diagram showing the configuration of virtual receiving antennas.

[0059] Figure 42B It is a diagram showing the configuration of virtual receiving antennas.

[0060] Figure 43 This is a diagram showing the angle measurement results.

[0061] Figure 44 This is a diagram showing another example of the arrangement of antennas fed by two transmitting and receiving units.

[0062] Figure 45 This is a diagram showing a simplified antenna configuration.

[0063] Figure 46 It is a diagram showing the configuration of virtual receiving antennas.

[0064] Figure 47 This is a diagram showing the angle measurement results.

[0065] Figure 48 This is a diagram showing another example of the arrangement of antennas fed by four transmitting and receiving units.

[0066] Figure 49 This is a diagram showing a simplified antenna configuration.

[0067] Figure 50 It is a diagram showing the configuration of virtual receiving antennas.

[0068] Figure 51 This is a diagram showing the angle measurement results.

[0069] Figure 52 This is a diagram showing another example of the arrangement of antennas fed by two transmitting and receiving units.

[0070] Figure 53 This is a diagram showing a simplified antenna configuration.

[0071] Figure 54 It is a diagram showing the configuration of virtual receiving antennas.

[0072] Figure 55 This is a diagram showing the angle measurement results.

[0073] Figure 56 This figure shows an example in which an antenna fed by two transmitting and receiving units is arranged in an L-shaped antenna installation area.

[0074] Figure 57 This is a diagram showing a simplified antenna configuration.

[0075] Figure 58 This is a diagram showing the virtual receiving antenna configuration of an aperture antenna.

[0076] Figure 59 This is a diagram showing the angle measurement results.

[0077] Figure 60 This figure shows an example in which an antenna fed by four transmitting and receiving units is arranged in an L-shaped antenna installation area.

[0078] Figure 61 This is a diagram showing a simplified antenna configuration.

[0079] Figure 62 It is a diagram showing the configuration of virtual receiving antennas.

[0080] Figure 63 This is a diagram showing the angle measurement results.

[0081] Figure 64 This diagram shows an example in which an offset is provided between the transmitting antenna and the receiving antenna of the other antenna.

[0082] Figure 65 This diagram shows the detection range when the camera and radar are installed in the upper part and the detection range when they are installed in the lower part.

[0083] Figure 66 This diagram shows the detection range when the camera and radar are installed at the right end and the detection range when they are installed in the center.

[0084] Figure 67 This diagram shows the detection range when the camera and radar are installed at the right end and the detection range when they are installed in the center.

[0085] Description of Reference Numerals

[0086] 100: Main body

[0087] 110: Interface

[0088] 120: Radar Control Department

[0089] 130: Camera control unit

[0090] 140: Transceiver Department

[0091] 150: Image sensor

[0092] 200: Antenna

[0093] 210: Antenna setting area

[0094] 211: Antenna System

[0095] 212: Antenna element

[0096] 213: Feeder

[0097] 214: Phase Center

[0098] 220: Antenna transceiver

[0099] 230: Feeder

[0100] 300: Cable

[0101] 400: Area without electrodes DETAILED DESCRIPTION

[0102] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The embodiments described below are merely examples, and the present disclosure is not limited to the following embodiments.

[0103] In addition, sometimes overly detailed descriptions are omitted. For example, sometimes a detailed description of well-known matters or a repeated description of substantially the same structure is omitted. This is to avoid the following description from becoming unnecessarily lengthy and to make it easy for those skilled in the art to understand.

[0104] exist Figure 65 In the vehicle 6500 traveling at the top of a slope (the part where an uphill slope turns into a downhill slope) such as near the top of a hill, when the composite sensor mounted on the vehicle 6500 is set on the upper part of the vehicle, it can detect an area above the solid line; when the composite sensor is set on the lower part of the vehicle, it can detect an area above the dotted line.

[0105] Therefore, when the composite sensor is set at the lower part of the vehicle 6500, it is difficult for the composite sensor to detect obstacles of lower height such as the fallen object 6510. As for the vehicle 6520 that is further ahead on the path relative to the top of the hill, it is difficult to detect obstacles of lower height such as the fallen object 6510 unless the composite sensor is set at the lower part of the vehicle 6500. Figure 65 The state is closer than that of the vehicle 6520, otherwise it is difficult to detect the vehicle 6520.

[0106] Therefore, it is effective to install a composite sensor including a camera and a radar on the upper part of the vehicle.

[0107] On the other hand, Figure 66 In the case where the composite sensor is set at the right end of the vehicle 6600, it is possible to detect the obstacle 6620 located on the right side of the solid line in the presence of the front vehicle 6610 shown in the figure, but in the case where the composite sensor is set in the center of the vehicle 6600, it is difficult to detect the obstacle 6620 located on the left side of the dotted line in the presence of the front vehicle 6610.

[0108] Thus, if a leading vehicle 6610 changes lanes to avoid a forward obstacle 6620, if the combined sensors are installed at the left and right ends of vehicle 6600, obstacle 6620 can be identified before the leading vehicle 6610 changes lanes, allowing vehicle 6600 to change lanes sooner. However, if the combined sensors are installed in the center of vehicle 6600, obstacle 6620 cannot be identified by the combined sensors until after the leading vehicle 6610 has completed its lane change, and vehicle 6600 may change lanes too late.

[0109] exist Figure 67In the example, when vehicle 6700 changes lanes to overtake vehicle 6710 ahead, if the combined sensor is located at the right end of vehicle 6700, it can identify obstacle 6720 (see the solid line) before the lane change, thus deciding not to change lanes. However, if the combined sensor is located in the center of vehicle 6700, it is difficult for the combined sensor to identify obstacle 6720 (see the dashed line) until vehicle 6700 completes its lane change. Therefore, vehicle 6700 will not be able to overtake vehicle 6710 ahead until after the lane change.

[0110] Figure 66 and Figure 67 The illustrated situation is also the same when the composite sensor is provided at the left end of the vehicle.

[0111] Therefore, it is effective to install a composite sensor including a camera and a radar on the left and right ends of the vehicle.

[0112] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0113] <Structure>

[0114] Figure 1 The composite sensor shown is mounted on a vehicle, for example.

[0115] The composite sensor includes a main body 100, an antenna unit 200, and a cable 300. The main body 100 includes an interface 110, a radar control unit 120, a camera control unit 130, a transceiver 140, and an image sensor 150. The antenna unit 200 includes an antenna in an antenna installation area 210. Multiple composite sensors can be mounted on a vehicle.

[0116] The interface 110 is connected to the radar control unit 120 and the camera control unit 130 and communicates with the vehicle's ECU (Electronic Control Unit) or other external multi-sensor. The interface 110 multiplexes the results obtained by the camera and the radar to communicate with the ECU.

[0117] The radar control unit 120 communicates with the interface 110 and the transceiver 140 . It controls the radar of the composite sensor and the antenna 200 , which is separate from the main body and is installed in the antenna installation area 210 . The radar control unit 120 is synchronized with the camera control unit 130 .

[0118] The camera control unit 130 communicates with the interface 110 and the image sensor 150 . The camera control unit 130 controls the camera of the composite sensor and controls the image sensor 150 . The camera control unit 130 is synchronized with the radar control unit 120 .

[0119] The transmitting and receiving unit 140 feeds power to the antenna in the antenna installation area 210 of the antenna unit 200 that is separate from the main body based on the control signal from the radar control unit 120 .

[0120] The image sensor 150 (hereinafter referred to as “camera”) includes an image sensor such as a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal Oxide Semiconductor) sensor, and a lens.

[0121] The antenna unit 200 is configured as a separate component from the main body 100 and is connected to the transceiver unit 140 of the main body 100 via a cable 300. In the antenna unit 200, for example, the antenna in the antenna installation area 210, which is formed of a transparent electrode, is disposed on a transparent film, and the antenna unit 200 is transparent as a whole. Alternatively, the antenna unit 200 may not be transparent.

[0122] Cable 300 is composed of flexible printed circuits (FPC), transparent electrode wiring (transparent conductive film), etc. Cable 300 feeds power from transceiver 140 to antenna 200 and transmits electromagnetic waves received by antenna 210 of antenna 200 to transceiver 140 .

[0123] exist Figure 2 In the composite sensor shown, a main body 100 and an antenna unit 200 are connected via a cable 300 .

[0124] Since the antenna unit 200 is formed separately from the main body 100 and the entire antenna unit 200 is transparent, the antenna unit 200 can be installed in various positions.

[0125] exist Figure 3 In this embodiment, since antenna unit 200 is entirely transparent, it can be installed over a wide area without obstructing the driver's field of view. Antenna unit 200 is installed in an L-shape, on both sides of the upper portion of the vehicle's windshield and above both sides. Alternatively, antenna unit 200 may be installed on both sides of the upper portion of the vehicle's windshield.

[0126] If the antennas in the antenna installation region 210 can be installed over a wide area and the opening area can be increased, the efficiency of the antenna can be improved, and the ranging performance and angle measurement performance of the radar can be improved.

[0127] Figure 4 yes Figure 3 FIG2 is a schematic diagram of the appearance of a composite sensor. In the composite sensor, a main body 100 and an L-shaped antenna portion 200 are connected via a cable 300 .

[0128] exist Figure 5 In the embodiment, two main bodies 100 are installed at the front corners of the vehicle cabin, and antenna units 200 are installed in front of the main bodies 100 and in L-shaped areas at the corners of the upper windshield. Antenna units 200 are installed in the L-shaped areas on both sides of the upper windshield and above both sides. If antenna units 200 are not L-shaped, they can also be installed on both sides of the upper windshield.

[0129] By placing the main body 100 in the vehicle cabin, air resistance can be reduced. In addition, since the antenna unit 200 is transparent, the antenna unit 200 can be placed in front of the camera 150. In addition, by placing the antenna unit 200 in front of the main body 100 (camera 150), the central axes of the camera and the radar can be aligned (or approximately aligned), which makes it unnecessary (or only requires simplified) coordinate conversion processing when fusing the camera detection results with the radar detection results. In addition, by making the camera-based detection range and the radar-based detection range aligned or including overlapping portions, fusing the camera-based detection results with the radar-based detection results becomes possible, which can improve detection performance.

[0130] exist Figure 6 In the composite sensor, the main body 100 and the L-shaped antenna unit 200 are connected by a cable 300. The L-shaped antenna unit 200 includes an area 400 (hereinafter also referred to as an "electrode non-installed area") where no electrodes (e.g., antenna, feeder) are wired. Furthermore, this may include cases where the antenna unit 200 is not L-shaped.

[0131] For example, in the antenna unit 200, electrodes (e.g., antenna and feeder) may be arranged in a left region (hereinafter also referred to as "antenna arrangement region") and a right region (antenna arrangement region) different from the electrode non-arrangement region 400 in the horizontal direction (first direction). Figure 6 ).

[0132] Alternatively, in the antenna portion 200, electrodes (e.g., antennas and feed lines) may be arranged in an area (antenna arrangement area) on the left side (or right side) that is inconsistent with the electrode non-arrangement area 400 in the horizontal direction (first direction), and in an area below the electrode non-arrangement area 400 (e.g., an area (antenna arrangement area) that is different from the electrode non-arrangement area 400 in the vertical direction (second direction)). Figures 19-24 ).

[0133] If the antenna unit 200 is placed in front of the image sensor 150, the transparent electrodes of the antenna unit 200 may illuminate due to strong light, thereby interfering with the camera 150 located behind it. Therefore, unless the antenna unit 200 is placed in a location where strong light will not reach (such as inside a vehicle), the electrodes of the antenna unit 200 should not be wired in front of the image sensor 150, even if they are transparent electrodes.

[0134] The detection accuracy of the camera and the radar are evaluated comprehensively. Therefore, as described below, it is preferable to align the center (or central axis, or optical axis) of the camera with the center (or central axis, or optical axis) of the radar so that obstacles recognized by the camera and the radar are consistent.

[0135] like Figure 7 As shown, when vehicle A (obstacle) is far away, the parallax for vehicle A is smaller than the deviation of the camera axis and can be ignored.

[0136] like Figure 8 As shown, in the case where vehicle B (another obstacle) is present closer than vehicle A, if there is a deviation between the center of the camera and the center of the radar, there will be an area that can be observed from the camera but not from the radar, or an area that can be observed from the radar but not from the camera. Figure 8 This example shows an area visible from the camera but not from the radar, created by vehicle B, and vehicle A is present in that area. Therefore, vehicle A is recognized by the camera but not by the radar.

[0137] like Figure 9 As shown, by aligning the center of the camera with the center of the radar, the detection range of the camera and the detection range of the radar can be made to coincide with each other or include overlapping portions. Vehicle A is recognized by the camera and also by the radar.

[0138] Figure 10 The main body 100 shown includes an interface 110, a radar control unit 120, a camera control unit 130, a transceiver 140, and an image sensor 150. The transceiver 140 includes a plurality of transceivers 140-1 and 140-2.

[0139] Among the multiple transceivers 140-1 and 140-2, one transceiver 140-1 (hereinafter referred to as the "master transceiver") operates as a master device for communicating with the radar control unit 120, while the other transceiver 140-2 (hereinafter referred to as the "slave transceiver") synchronizes with the master transceiver 140-1 and operates as a slave device. The slave transceiver 140-2 is connected to the master transceiver 140-1 to communicate.

[0140] Radar control unit 120 is connected to and communicates with master transceiver 140-1. Radar control unit 120 is not directly connected to slave transceiver 140-2, but rather connected via master transceiver 140-1. Master transceiver 140-1 and slave transceiver 140-2 are synchronized. Each transceiver 140-1 and 140-2 is comprised of, for example, an integrated circuit (IC).

[0141] The antenna unit 200 includes a plurality of antenna installation areas 210 - 1 and 210 - 2 . A plurality of transceivers 140 - 1 and 140 - 2 are provided on the main body 100 corresponding to the antenna installation areas 210 - 1 and 210 - 2 .

[0142] The transceiver 140 - 1 is connected to the antenna in the antenna installation area 210 - 1 via a cable 300 - 1 , and the transceiver 140 - 2 is connected to the antenna in the antenna installation area 210 - 2 via a cable 300 - 2 .

[0143] Figure 11 The antenna unit 200 shown in FIG. 1 has an antenna installed in an antenna installation area 210, an antenna transceiver 220, and a feeder 230. The main body 100 has the antenna installed in an antenna installation area 210, an antenna transceiver 220, and a feeder 230. Figure 10 The structure shown in FIG. 1 is the same as that shown in FIG. 1 . The transceiver 160 is connected to the antenna transceiver 220 of the antenna unit and communicates with the antenna unit. The transceiver 160 has Figure 1 and Figure 10 The structure of the transceiver unit 140 is the same as that described above, but it is different in that it is connected to the antenna transceiver unit 220 of the antenna unit 200 to perform communication.

[0144] The antenna in the antenna installation area 210 is fed by the antenna transceiver 220 via the feeder line 230 , and transmits the received electromagnetic waves to the antenna transceiver 220 via the feeder line 230 .

[0145] The antenna transceiver 220 communicates with the transceiver 160 of the main body via a cable 300 .

[0146] Figure 12The antenna unit 200 shown includes: antennas in multiple antenna installation areas 210-1 and 210-2; multiple antenna transceiver units 220-1 and 220-2; and feeders 230-1 and 230-2. Figure 11 The structures shown are the same, so the description is omitted.

[0147] Among the multiple antenna transceivers 220-1 and 220-2, one antenna transceiver 220-1 (hereinafter referred to as the "master antenna transceiver") operates as a master device for communicating with the transceiver 160, while the other antenna transceiver 220-2 (hereinafter referred to as the "slave antenna transceiver") synchronizes with the master antenna transceiver 220-1 and operates as a slave device. Either transceiver can be used as the master transceiver.

[0148] The master antenna transceiver 220-1 and the slave antenna transceiver 220-2 are synchronized. The master antenna transceiver 220-1 communicates with the main transceiver 160, and the slave antenna transceiver 220-2 communicates with the main transceiver 160 via the master antenna transceiver 220-1. The transceiver 160 and each antenna transceiver 220 are composed of, for example, integrated circuits.

[0149] The antennas in antenna installation area 210-1 are fed by main antenna transceiver section 220-1 via feeder line 230-1 and transmit received electromagnetic waves to main antenna transceiver section 220-1 via feeder line 230-1. The antennas in antenna installation area 210-2 are fed by sub antenna transceiver section 220-2 via feeder line 230-2 and transmit received electromagnetic waves to sub antenna transceiver section 220-2 via feeder line 230-2.

[0150] according to Figure 10 and Figure 12 In the structure shown, the antennas in the antenna installation areas 210 - 1 and 210 - 2 can be fed by the transceiver 140 of the main body 100 or by the antenna transceiver 220 - 1 and 220 - 2 of the antenna unit 200 .

[0151] Figure 13 1 shows an example of arrangement of antenna installation areas 210-1 and 210-2 and camera 150 when two transceivers are used. An antenna transceiver may be used instead of a transceiver.

[0152] In this example, the camera 150 is arranged between the antenna installation area 210 - 1 and the antenna installation area 210 - 2 .

[0153] Figure 14Transceiver 140-1, shown as a master, communicates with radar control unit 120, while transceiver 140-2 operates as a slave. Master transceiver 140-1 and slave transceiver 140-2 are synchronized. The antenna installed in antenna installation area 210-1 is fed by master transceiver 140-1 via cable 300-1, while the antenna installed in antenna installation area 210-2 is fed by slave transceiver 140-2 via cable 300-2.

[0154] An electrode non-installation region 400 exists between the antenna installation region 210 - 1 and the antenna installation region 210 - 2 , and the body 100 and the antenna unit 200 are arranged so that the FOV (Field of View) of the camera 150 is within this region.

[0155] The antennas installed in the antenna installation areas 210 - 1 and 210 - 2 may be fed by the antenna transceivers 220 - 1 and 220 - 2 of the antenna unit 200 .

[0156] Figure 15 The antenna transceiver 220-1 shown in the figure acts as a master device, communicating with the main unit's transceiver 160. The antenna transceiver 220-2 acts as a slave device. The master antenna transceiver 220-1 and the slave antenna transceiver 220-2 are synchronized. The antennas in the antenna installation area 210-1 are fed by the master antenna transceiver 220-1 via a feeder 230-1, while the antennas in the antenna installation area 210-2 are fed by the slave antenna transceiver 220-2 via a feeder 230-2. Feeders 230-1 and 230-2 can be wired, such as cables, connectors, or FPCs, or electromagnetic coupling can be used.

[0157] An electrode non-installation region 400 exists between the antenna installation region 210 - 1 and the antenna installation region 210 - 2 , and the body 100 and the antenna unit 200 are arranged so that the FOV (Field of View) of the camera 150 is within this region.

[0158] In addition, Figure 15 In the embodiment, the antenna transceiver units 220-1 and 220-2 are arranged on a substrate. For example, the substrate may be arranged in a place other than the glass such as a pillar or a roof of the vehicle.

[0159] Figure 16Of the four transceiver units 140-1 to 140-4 shown, one transceiver unit 140-1 operates as a master device, while the other transceiver units 140-2 to 140-4 operate as slave devices. The master transceiver unit 140-1 and the slave transceiver units 140-2 to 140-4 are synchronized. The master transceiver unit 140-1 and the one slave transceiver unit 140-2 feed the antenna in the antenna installation area 210-1, while the other two slave transceiver units 140-3 and 140-4 feed the antenna in the antenna installation area 210-2. A camera 150 is positioned between the antenna installation areas 210-1 and 210-2. An antenna transceiver unit may also be used in place of a transceiver unit.

[0160] That is, the antenna in one antenna installation area 210 - 1 is fed by the master transceiver and the slave transceiver, and the antenna in the other antenna installation area 210 - 2 is fed by the slave transceiver.

[0161] exist Figure 17 In this example, transceiver 140-1 operates as the master device, communicating with radar control unit 120, while transceivers 140-2 through 140-4 operate as slave devices. Master transceiver 140-1 and slave transceivers 140-2 through 140-4 are synchronized. Antennas in antenna installation area 210-1 are fed by master transceiver 140-1 and slave transceiver 140-2 via cable 300-1, while antennas in antenna installation area 210-2 are fed by slave transceivers 140-2 and 140-3 via cable 300-2.

[0162] An electrode non-installation region 400 exists between the antenna installation region 210 - 1 and the antenna installation region 210 - 2 , and the body 100 and the antenna unit 200 are arranged so that the FOV (Field of View) of the camera 150 is within this region.

[0163] The antennas in the antenna installation areas 210 - 1 and 210 - 2 may be fed by the antenna transceivers 220 - 1 to 220 - 4 of the antenna unit 220 .

[0164] exist Figure 18In the example, antenna transceiver 220-1 acts as a master device, communicating with the main body's transceiver 160, while antenna transceivers 220-2 through 220-4 act as slave devices. Master antenna transceiver 220-1 and slave antenna transceivers 220-2 through 220-4 are synchronized. The antennas in antenna installation area 210-1 are fed by master antenna transceiver 220-1 and slave antenna transceiver 220-2 via feeders 230-1 and 230-2, while the antennas in antenna installation area 210-2 are fed by slave antenna transceivers 220-3 and 220-4 via feeders 230-3 and 230-4. Feeders 230-1 through 230-4 can be wired, such as cables, connectors, or FPCs, or electromagnetic coupling can be used.

[0165] An electrode non-installation region 400 exists between the antenna installation region 210 - 1 and the antenna installation region 210 - 2 , and the body 100 and the antenna unit 200 are arranged so that the FOV (Field of View) of the camera 150 is within this region.

[0166] In addition, Figure 18 In the embodiment, the antenna transceiver units 220-1 to 220-4 are arranged on a substrate. For example, the substrate may be arranged at a place other than the glass such as a pillar or a roof of the vehicle.

[0167] according to Figures 13 to 18 Antenna setting areas 210-1 and 210-2 are arranged on both sides of the camera 150. The antennas in each antenna setting area 210-1 and 210-2 are fed by each transceiver unit via each feeder line. Therefore, the configuration of the antenna and feeder line in the FOV of the camera 150 can be omitted, the line length of the feeder line on the transparent film can be shortened, the feed loss can be reduced, and the degradation of the radar distance performance can be prevented.

[0168] In addition, since antennas are arranged on both sides of the FOV of the camera 150, the virtual receiving antenna aperture can be expanded, and the radar angle measurement accuracy and angle measurement resolution can be improved.

[0169] exist Figures 19 to 24 In the embodiment, the camera 150 is arranged at the corner formed by the antenna installation areas 210-1 and 210-2 arranged in an L shape. Figures 13 to 18 The same, so other descriptions are omitted.

[0170] Next, the detailed structure of antenna installation area 210 is described. Antenna installation area 210 is composed of one or more antenna systems 211. One or more antenna systems 211 are matrix antennas with a structure in which multiple antenna elements 212 are connected by a feeder line 213. Antenna system 211 may also be an antenna system other than a matrix antenna, or may be composed of a single antenna element.

[0171] exist Figures 25 to 29 In the figure, a black square represents a single antenna element (e.g., a patch antenna). Regarding antenna directivity, the more antenna elements arranged in a single antenna system, the narrower the directional beamwidth and the higher the directional gain. For each antenna system, the number of antenna elements is determined to achieve the desired radar detection range.

[0172] Figures 25 to 29 The antenna elements 212 are arranged at intervals of 1 / 2 the wavelength λ (hereinafter referred to as "λ / 2") of the frequency (or center frequency) of the electromagnetic waves being transmitted or received. The antenna elements 212 may be arranged in a single row or in multiple rows.

[0173] When each antenna system 211 is mounted on a vehicle, for example, in order to reduce the directional beam width in the vertical direction, each antenna system 211 is mounted so that the antenna elements 212 are arranged in the vertical direction of the vehicle.

[0174] Figures 25 to 29 The phase center of each antenna system 211 is denoted by 214. The distance between the antenna systems 211 is calculated using the distance between the phase centers 214.

[0175] exist Figure 30 , as an example of the arrangement of antenna systems (hereinafter, also simply referred to as "antennas") constituting MIMO antennas, an example of the arrangement of antenna elements is shown in which three antenna systems 211 of eight elements are arranged as transmitting antennas and four antenna systems 211 of eight elements are arranged as receiving antennas in each antenna installation area 210. Figure 30 In the figures that follow, the antenna elements of the transmitting antennas are represented by white blocks, and the antenna elements of the receiving antennas are represented by black blocks.

[0176] For example, the antennas in the antenna installation area 210-1 are Figure 10 The main transceiver 140-1 is fed with power, and the antenna of the antenna setting area 210-2 is provided by Figure 10 Alternatively, the antenna in the antenna installation area 210-1 is fed from the transceiver 140-2. Figure 12 The main antenna transceiver 220-1 shown is fed by the antenna in the antenna setting area 210-2. Figure 12 The shown slave antenna is fed from the transceiver section 220-2.

[0177] exist Figure 30 In the description that follows, an example is described in which an 8-element matrix antenna is used as the antenna system 211 , but the antenna system 211 may have another configuration.

[0178] exist Figure 30 In the example, antenna system 211 with receiving antennas (hereinafter also referred to as "receiving antennas") is located near camera 150, and antenna system 211 with transmitting antennas (hereinafter also referred to as "transmitting antennas") is located far from camera 150. Radar transmission waves (e.g., chirp signals or pulse compression waves) are transmitted from each transmitting antenna. Alternatively, the radar transmission waves may be transmitted in a time-division manner at predetermined intervals from each transmitting antenna, or simultaneously multiplexed and transmitted using Doppler multiplexing or code multiplexing.

[0179] The receiving antennas are arranged at intervals Dr in a first direction (horizontal direction), and the transmitting antennas are staggered with each being offset by Dt2 in a second direction (vertical direction) orthogonal to the first direction, and are arranged at intervals Dt1 in the first direction.

[0180] The distance between the receiving antennas at the farthest position from the camera 150 among the antennas is Dra. The distance between the transmitting antennas at the closest position from the camera 150 among the antennas is Dta.

[0181] The transmitting antennas (Tx#1, Tx#6) located farthest from the camera 150 have no offset in the second direction, and the closer the transmitting antennas are to the camera 150, the greater the offset in the second direction.

[0182] Here, let Dcamera be the length of the camera 150's FOV in the first direction, and let Dc be the distance between the receiving antennas (Rx#4, Rx#5) located closest to the camera 150. In this case, satisfying Dc > Dcamera prevents antenna element 212 from being placed within the camera 150's FOV.

[0183] Alternatively, other offsets may be given to the transmitting antennas.

[0184] exist Figure 31 In the figure, the transmitting antennas (Tx#3, Tx#4) arranged at the position closest to the camera 150 have no offset in the second direction, and the farther the transmitting antenna is from the camera 150, the greater the offset in the second direction.

[0185] exist Figure 32 In the antenna setting area 210-1 on one side, the transmitting antenna (Tx#1) configured at the position farthest from the camera 150 has no offset in the second direction, and the closer the transmitting antenna is to the camera 150, the greater the offset in the second direction.

[0186] In the antenna setting area 210-2 on the other side, the transmitting antenna (Tx#4) configured at the position closest to the camera 150 has no offset in the second direction, and the farther the transmitting antenna is from the camera 150, the greater the offset in the second direction.

[0187] Figure 33 It is simplified by using the phase center to represent the transmitting antenna and the receiving antenna. Figure 30 Figure 1 shows the antenna configuration. Dt1, Dt2, and Dr are all equal, for example, λ / 2. Furthermore, for example, Dc is 8.5λ, Dra is 11.5λ, and Dta is 14.5λ. Dc, Dra, and Dta may also have other values.

[0188] Figure 34 is with Figure 33 The virtual receiving antenna configuration corresponding to the aperture antenna.

[0189] exist Figure 34 In the example, when Tx#1 transmits electromagnetic waves and Rx#1 to Rx#8 receive them, the virtual antennas (VAs) are VA#1 to VA#8. Furthermore, when Tx#2 transmits electromagnetic waves and Rx#1 to Rx#8 receive them, the virtual antennas are VA#9 to VA#16. Furthermore, when Tx#3 transmits electromagnetic waves and Rx#1 to Rx#8 receive them, the virtual antennas are VA#17 to VA#24.

[0190] When Tx#4 transmits electromagnetic waves and Rx#1 to Rx#8 receive them, the virtual antennas are VA#25 to VA#32. Furthermore, when Tx#5 transmits electromagnetic waves and Rx#1 to Rx#8 receive them, the virtual antennas are VA#33 to VA#40. Furthermore, when Tx#6 transmits electromagnetic waves and Rx#1 to Rx#8 receive them, the virtual antennas are VA#41 to VA#48.

[0191] Therefore, the distance between VA#1 and VA#2 in the first direction is Dr, the distance between VA#4 and VA#5 in the first direction is Dc, and the distance between VA#17 and VA#25 in the first direction is Dta. In addition, the distance between VA#1 and VA#9 in the first direction is Dt1, and the distance in the second direction is Dt2.

[0192] Figure 35 Indicates that Figure 33 Angle measurement results when configuring each antenna element (Fourier beamforming method), Figure 35 (a) represents the power at the vertical angle, Figure 35 (b) represents the power with respect to the horizontal angle, Figure 35(c) represents the power corresponding to the horizontal and vertical directions. Figure 35 (a) and (b) detect the main lobe that becomes the peak of the received power in the true value direction of the target object (horizontal 0 degrees and vertical 0 degrees). Figure 35 From (c), we can see that the vertical beam width is about 36 degrees, and the horizontal beam width is about 2 degrees.

[0193] By arranging the antenna system 211 of the receiving antennas at intervals Dr (e.g., λ / 2) in the horizontal direction, grating lobes can be suppressed even when electrode-free regions 400 (the field of view of camera 150) exist between the antennas. Furthermore, since the aperture length of the MIMO virtual receiving antenna can be extended in the horizontal direction, radar angle measurement performance can be improved. Specifically, horizontal angle measurement accuracy and resolution can be enhanced.

[0194] Figure 36 This is an example of an antenna configuration fed by four transceivers. Figure 37 Simplified record Figure 36 Antenna configuration.

[0195] Figure 37 The following example is shown: each antenna setting area 210-1, 210-2 each has two antenna setting areas, namely, an antenna setting area far from the camera (hereinafter referred to as "far area") 210-1-1, 210-2-2, and an antenna setting area 210-1-2, 210-2-1 close to the camera (hereinafter referred to as "near area"), and in each antenna setting area, 3 transmitting antennas are configured in the part far from the camera 150, and 4 receiving antennas are configured in the part close to the camera 150.

[0196] Here, the transmitting antenna and receiving antenna of the remote area 210-1-1 are Figure 10 The main transceiver 140-1 is fed by the transmitting antenna and receiving antenna of the near area 210-1-2. Figure 10 The shown slave transceiver 140 - 2 is fed with power.

[0197] In addition, the transmitting antenna and receiving antenna of the near area 210-2-1 are Figure 16 The transmission antenna and receiving antenna of the remote area 210-2-2 are fed from the transceiver 140-3. Figure 16 The shown slave transceiver 140 - 4 is fed with power.

[0198] Furthermore, each antenna may have more than three antenna areas, and the transmitting antennas and receiving antennas of multiple antenna areas may be fed by a single transceiver unit. Alternatively, each transmitting antenna and receiving antenna may be fed by the antenna transceiver unit 220 of the antenna unit.

[0199] In addition, although four receiving antennas are arranged at positions closer to the camera 150 in each near area and each far area, and a transmitting antenna is arranged at a farther position, when the length of the FOV of the camera 150 in the first direction is set to Dcamera and the distance between the receiving antennas (Rx#8, Rx#9) closest to the camera 150 in each near area is set to Dc, by making Dc>Dcamera, the antenna element 212 can be avoided from being arranged in the FOV of the camera 150.

[0200] Here, the distance between the receiving antennas (Rx#5, Rx#12) configured at the farthest position from the camera 150 in each near area is set as Dra, and the distance between the transmitting antennas (Tx#6, Tx#7) configured at the closest position to the camera 150 in each near area is set as Dta.

[0201] Furthermore, the distance between the far region 210-1-1 and the near region 210-1-2, and the distance between the near region 210-2-1 and the far region 210-2-2 are both denoted as Ds.

[0202] The transmitting antennas in each far area are staggered and arranged with an offset of Dt2 in the second direction, and are arranged with an interval of Dt1 in the first direction. The transmitting antennas (Tx#1, Tx#12) configured at the position farthest from the camera 150 have no offset in the second direction. The closer the transmitting antenna is to the camera 150, the greater the offset in the second direction.

[0203] The transmitting antennas in each near zone are staggered with an offset of Dt2 in the second direction and arranged at intervals of Dt1 in the first direction. The transmitting antennas (Tx#4 and Tx#9) located farthest from camera 150 in each near zone are further offset by Dt2 in the second direction relative to the transmitting antennas (Tx#3 and Tx#10) located closest to camera 150 in the far zone. The closer the transmitting antennas in each near zone are to camera 150, the greater the offset in the second direction.

[0204] The receiving antennas of each antenna area are arranged at intervals Dr in the first direction.

[0205] The configuration of the transmitting antennas and receiving antennas of the near zones 210-1-2 and 210-2-1 is the same as that of the far zones 210-1-1 and 210-2-2 in the first direction, but different in the second direction.

[0206] Furthermore, Dt1, Dt2, and Dr are all λ / 2. For example, Dc is 11λ, Dra is 14λ, Dta is 17λ, and Ds is 5.5λ. Dc, Dra, Dta, and Ds may also have other values.

[0207] Figure 38A and Figure 38B is with Figure 37 The virtual receiving antenna configuration corresponding to the opening antenna. Figure 38A In FIG, the virtual receiving antennas corresponding to Tx#1 to Tx#6 are shown in dark colors. Figure 38B In FIG, the virtual receiving antennas associated with Tx#7 to Tx#12 are shown in dark colors.

[0208] Figure 38A The positions shown in light-colored squares in Figure 38B The position of the virtual antenna is shown as a dark square, Figure 38B The positions shown in light-colored squares in Figure 38A The positions of the virtual antennas are shown as dark squares. Figure 38B Can be used with Figure 38A Similarly, the four virtual receiving antennas on the lower left are given numbers.

[0209] exist Figure 38A and Figure 38B In the example, when Tx#1 transmits electromagnetic waves and Rx#1 to Rx#16 receive them, the virtual antennas are VA#1 to VA#16. Furthermore, when Tx#2 transmits electromagnetic waves and Rx#1 to Rx#16 receive them, the virtual antennas are VA#17 to VA#32. Furthermore, when Tx#3 transmits electromagnetic waves and Rx#1 to Rx#16 receive them, the virtual antennas are VA#33 to VA#48.

[0210] When Tx#4 transmits electromagnetic waves and Rx#1 to Rx#16 receive them, the virtual antennas are VA#49 to VA#64. Furthermore, when Tx#5 transmits electromagnetic waves and Rx#1 to Rx#16 receive them, the virtual antennas are VA#65 to VA#80. Furthermore, when Tx#6 transmits electromagnetic waves and Rx#1 to Rx#16 receive them, the virtual antennas are VA#81 to VA#96.

[0211] Therefore, the distance between VA#1 and VA#2 in the first direction is Dr, the distance between VA#4 and VA#8 in the first direction is Ds, the distance between VA#8 and VA#9 in the first direction is Dc, and the distance between VA#9 and VA#13 in the first direction is Ds. The distance between VA#1 and VA#17 in the first direction is Dt1, and the distance in the second direction is Dt2.

[0212] Furthermore, when Tx#7 transmits electromagnetic waves and Rx#1 to Rx#4 receive them, the virtual antennas are VA#97 to VA#100. Furthermore, the distance between VA#81 and VA#97 in the first direction is Dta.

[0213] In addition, there are Figure 38A The virtual receiving antenna and Figure 38B For example, when Dt1, Dt2, and Dr are all λ / 2, Dc is 11λ, Dra is 14λ, Dta is 17λ, and Ds is 5.5λ, VA#99 is at the same position as VA#89, and VA#100 is at the same position as VA#90.

[0214] Figure 39 Indicates that Figure 37 Angle measurement results when configuring each antenna element (Fourier beamforming method), Figure 39 (a) represents the power at the vertical angle, Figure 39 (b) represents the power with respect to the horizontal angle, Figure 39 (c) represents the power corresponding to the horizontal and vertical directions. Figure 39 (a) and (b) detect the main lobe that becomes the peak of the received power in the true value direction of the target object (horizontal 0 degrees and vertical 0 degrees). Figure 39 From (c), we can see that the vertical beam width is about 17 degrees, and the horizontal beam width is about 1 degree.

[0215] By configuring the antenna system 211 of the receiving antenna to be arranged at intervals Dr (e.g., λ / 2) in the horizontal direction, grating lobes can be suppressed even when there is an electrode non-installation area 400 (FOV area of ​​the camera 150) between the antennas.

[0216] In addition, by configuring the transmitting antennas in each transmitting antenna in a manner with different offsets, the aperture length of the MIMO virtual receiving antenna can be extended in the horizontal and vertical directions, thereby improving the radar angle measurement performance, specifically, the angle measurement accuracy and resolution in the horizontal and vertical directions can be improved.

[0217] In addition, the offset of the transmitting antenna in each antenna area may also be another offset. Alternatively, the farther the transmitting antenna is from the camera, the greater the offset in the second direction. Alternatively, the farther the transmitting antenna is from the camera in the antenna setting area 210-1 on one side, the greater the offset in the second direction, and the closer the transmitting antenna is to the camera in the antenna setting area 210-2 on the other side, the greater the offset in the second direction. For more information about the offset of the transmitting antenna, please refer to Figures 31 to 33 .

[0218] Figure 40 This shows an example in which, in each antenna installation area 210 , six 1×8-element transmitting antennas are arranged in an area farther from the camera, and eight 1×8-element receiving antennas are arranged in an area closer to the camera. Figure 41 Simplified record Figure 40 Antenna configuration.

[0219] In the antenna installation area 210-1 on one side, three transmitting antennas (Tx#1 to Tx#3) far from the camera 150 among the six transmitting antennas and four receiving antennas (Rx#1 to Rx#4) far from the camera 150 among the eight receiving antennas constitute an antenna installation area 210-1-1. Figure 16 The main transceiver section 140 - 1 is shown to be powered.

[0220] In the antenna installation area 210-1 on one side, three transmitting antennas (Tx#4 to Tx#6) of the six transmitting antennas that are closer to the camera 150 and four receiving antennas (Rx#5 to Rx#8) of the eight receiving antennas that are closer to the camera 150 form another antenna installation area 210-1-2. Figure 16 The shown slave transceiver 140 - 2 is fed with power.

[0221] In the other antenna installation area 210-2, three transmitting antennas (Tx#7 to Tx#9) close to the camera 150 among the six transmitting antennas and four receiving antennas (Rx#9 to Rx#12) close to the camera 150 among the eight receiving antennas constitute an antenna installation area 210-2-1. Figure 16 The shown slave transceiver 140 - 3 is fed with power.

[0222] In the other antenna installation area 210-2, three transmitting antennas (Tx#10 to Tx#12) far from the camera 150 among the six transmitting antennas and four receiving antennas (Rx#13 to Rx#16) far from the camera 150 among the eight receiving antennas constitute another antenna installation area 210-1-2. Figure 16 The shown slave transceiver 140 - 4 is fed with power.

[0223] In addition, each antenna may be fed by three or more transmitting and receiving units.

[0224] Here, let Dcamera be the length of the camera 150's FOV in the first direction, and let Dc be the distance between the receiving antennas (Rx#8 and Rx#9) closest to the camera. In this case, by ensuring that Dc is greater than Dcamera, it is possible to avoid placing antenna element 212 within the camera 150's FOV.

[0225] Furthermore, let Dra be the distance between the receiving antennas (Rx#1 and Rx#16) located farthest from camera 150, and let Dta be the distance between the transmitting antennas (Tx#6 and Tx#7) located closest to camera 150. In this case, the antenna arrangement satisfies Dc > Dcamera and Dta > Dra.

[0226] Furthermore, the transmitting antennas of each antenna are staggered with an offset of Dt2 in the second direction and arranged at intervals of Dt1 in the first direction. Regarding the transmitting antennas of each antenna, the transmitting antennas (Tx#1 and Tx#12) located farthest from camera 150 have no offset in the second direction, while the closer the transmitting antennas are to camera 150, the greater the offset in the second direction.

[0227] Furthermore, the receiving antennas of each antenna are arranged at intervals Dr in the first direction.

[0228] Dt1, Dt2, and Dr are all λ / 2. For example, Dc is 11λ, Dra is 18λ, and Dta is 25λ. Furthermore, Dc, Dra, and Dta may have other values.

[0229] Figure 42A and Figure 42B express Figure 41 Virtual receiving antenna configuration for the aperture antenna in . Figure 42A 、 Figure 42B Can be used with Figure 38A 、 Figure 38B The same is understood. Figure 42A The virtual receiving antenna and Figure 42B The virtual receiving antenna positions may be the same.

[0230] exist Figure 43 In the figure, it is shown that Figure 41 Angle measurement results when configuring each antenna element (Fourier beamforming method). Figure 43 (a) represents the power at the vertical angle, Figure 43 (b) represents the power with respect to the horizontal angle, Figure 43 (c) represents the power corresponding to the horizontal and vertical directions. Figure 43 (a) and (b) detect the main lobe that becomes the peak of the received power in the true value direction of the target object (horizontal 0 degrees and vertical 0 degrees). Figure 43 From (c), we can see that the vertical beam width is about 28 degrees, and the horizontal beam width is about 2 degrees.

[0231] By configuring the antenna system 211 of the receiving antennas of each antenna to be arranged at an interval Dr (e.g., λ / 2) in the horizontal direction, grating lobes can be suppressed even if there is an electrode non-setting area 400 (FOV area of ​​the camera 150) between the antennas.

[0232] In addition, since the aperture length of the MIMO virtual receiving antenna can be extended in the horizontal direction, the radar angle measurement performance can be improved, specifically, the angle measurement accuracy and resolution in the horizontal direction can be improved.

[0233] Alternatively, the offset of the transmitting antennas in each antenna area may be another offset. Alternatively, the offset in the second direction may be greater for transmitting antennas farther from the camera.

[0234] exist Figure 44 、 Figure 45 In one antenna installation area 210-1, four receiving antennas (Rx#1 to Rx#4) are arranged in an area close to the camera 150, and three transmitting antennas (Tx#1 to Tx#3) are arranged in an area far from the camera 150. In the other antenna installation area 210-2, three transmitting antennas (Tx#4 to Tx#6) are arranged in an area close to the camera 150, and four receiving antennas (Rx#5 to Rx#8) are arranged in an area far from the camera 150.

[0235] In each antenna, the receiving antennas are arranged at intervals Dr in a first direction, and the transmitting antennas are staggered and arranged in a second direction orthogonal to the first direction, each offset by Dt2 and arranged at intervals Dt1 in the first direction.

[0236] The transmitting antenna (Tx#1) configured at the position farthest from the camera 150 in the antenna setting area 210-1 on one side has no offset in the second direction. The closer the transmitting antenna is to the camera 150, the greater the offset in the second direction.

[0237] The transmitting antenna (Tx#4) configured at the position closest to the camera 150 in the antenna setting area 210-2 on the other side has the same offset as the transmitting antenna (Tx#3) with the largest offset in the antenna setting area 210-1 on one side. The farther the transmitting antenna is from the camera 150, the greater the offset in the second direction.

[0238] Here, the length of the first direction of the FOV of camera 150 is set to Dcamera. In addition, the distance between the antennas (transmitting antennas or receiving antennas) arranged closest to the camera is set to Dc. That is, for example, the distance between the receiving antenna (Rx#4) arranged closest to camera 150 in antenna installation area 210-1 on one side and the transmitting antenna (Tx#4) arranged closest to camera 150 in antenna installation area 210-2 on the other side is set to Dc.

[0239] In this case, by setting Dc>Dcamera, it is possible to avoid arranging the antenna element 212 within the FOV of the camera 150 .

[0240] In addition, the distance between the receiving antennas (Rx#1, Rx#8) located at the farthest position from the camera 150 among each antenna is set as Dra, and the distance between the transmitting antennas (Tx#3, Tx#4) located at the closest position to the camera 150 among each antenna is set as Dta.

[0241] Here, Dt1, Dt2, and Dr are all λ / 2. Furthermore, for example, Dc is 8.5λ, Dra is 11.5λ, and Dta is 14.5λ. In this case, the distance in the first direction between Tx#3 and Rx#1 in antenna installation area 210-1 is 3λ / 2, while the distance in the first direction between Tx#6 and Rx#5 in antenna installation area 210-2 is 2λ. However, these values ​​may be different and may not be the same.

[0242] Furthermore, the horizontal arrangement of the transmitting antenna and the receiving antenna of one antenna and the horizontal arrangement of the transmitting antenna and the receiving antenna of the other antenna may be different. In addition, Dc, Dra, and Dta may also have other values.

[0243] exist Figure 46 In the Figure 45 Virtual receiving antenna configuration for the aperture antenna in . Figure 46 Can be used with Figure 34 Understand the same. Figure 46 VA#28 and VA#21 are in the same position.

[0244] exist Figure 47 In the figure, it is shown that Figure 45 Angle measurement results when configuring each antenna element (Fourier beamforming method). Figure 47 (a) represents the power at the vertical angle, Figure 47 (b) represents the power with respect to the horizontal angle, Figure 47 (c) represents the power corresponding to the horizontal and vertical directions. Figure 47 (a) and (b) detect the main lobe that becomes the peak of the received power in the true value direction of the target object (horizontal 0 degrees and vertical 0 degrees). Figure 47 From (c), we can see that the vertical beam width is about 28 degrees, and the horizontal beam width is about 2 degrees.

[0245] By configuring the antenna system 211 of the receiving antennas of each antenna to be arranged at an interval Dr (e.g., λ / 2) in the horizontal direction, grating lobes can be suppressed even if there is an electrode non-setting area 400 (FOV area of ​​the camera 150) between the antennas.

[0246] In addition, since the aperture length of the MIMO virtual receiving antenna can be extended in the horizontal and vertical directions, the radar angle measurement performance can be improved. Specifically, the angle measurement accuracy and resolution in the horizontal and vertical directions can be improved.

[0247] exist Figure 48 、 Figure 49 In the near areas 210-1-2 and 210-2-1 of the antennas, the transmitting antennas (Tx#4 to Tx#6, Tx#7 to Tx#9) are arranged closer to camera 150, while the receiving antennas (Rx#5 to Rx#8, Rx#9 to Rx#12) are arranged farther from camera 150. Here, the transmitting antennas (Tx#6 and Tx#7) closest to camera 150 are arranged without offset in the second direction, while the transmitting antennas farther from camera 150 are arranged with a greater offset in the second direction.

[0248] In each antenna's far area 210-1-1 and 210-2-2, the receiving antennas (Rx#1 to Rx#4, Rx#13 to Rx#16) are arranged relatively close to camera 150, while the transmitting antennas (Tx#1 to Tx#3, Tx#10 to Tx#12) are arranged relatively far from camera 150. Furthermore, the transmitting antennas (Tx#1 and Tx#12) farthest from camera 150 are arranged without offset in the second direction, while transmitting antennas closer to camera 150 are arranged with a greater offset in the second direction.

[0249] In addition, the receiving antennas of each antenna are arranged at intervals Dr in the first direction, and the transmitting antennas of each antenna are staggered and arranged in a second direction orthogonal to the first direction with an offset of Dt2 and arranged at intervals Dt1 in the first direction.

[0250] Here, the length of the FOV of the camera 150 in the first direction is denoted as Dcamera, and the distance between the transmitting antennas (Tx#6, Tx#7) located closest to the camera 150 among the antennas is denoted as Dc.

[0251] In this case, by setting Dc>Dcamera, it is possible to avoid arranging the antenna element 212 within the FOV of the camera 150 .

[0252] In addition, the distance between the receiving antennas (Rx#8, Rx#9) configured at the position closest to the camera 150 in each antenna is set as Dra, and the distance between the transmitting antennas (Tx#4, Tx#9) configured at the position farthest from the camera 150 in the near area of ​​each antenna is set as Dta.

[0253] In addition, in the antenna setting area 210-1 on one side, the distance between the transmitting antenna (Tx#4) configured at the position farthest from the camera in the near area and the transmitting antenna system 211 (Tx#3) configured at the position closest to the camera in the far area is set to Dtb.

[0254] Furthermore, in the antenna setting area 210-2 of the other party, the distance between the transmitting antenna (Tx#9) configured at the position farthest from the camera in the near area and the antenna system 211 (Tx#10) of the transmitting antenna configured at the position closest to the camera in the far area is set to Dtc.

[0255] In this case, Dt1, Dt2, and Dr are all λ / 2. Furthermore, for example, Dc is 12λ, Dra is 14λ, Dta is 17λ, and Dtb and Dtc are 6.5λ. Dtb and Dtc can also be different. Furthermore, Dc, Dra, Dta, Dtb, and Dtc can also have other values. As an example, the spacing in the first direction between Tx#3 and Rx#1, the spacing in the first direction between Tx#4 and Rx#8, the spacing in the first direction between Tx#9 and Rx#9, and the spacing in the first direction between Tx#10 and Rx#16 are set to 1.5λ. However, other values ​​may be used, and they do not need to be the same.

[0256] exist Figure 50 In the Figure 49 Virtual receiving antenna configuration for the aperture antenna in . Figure 50 Can be used with Figure 34 Similarly, the virtual antenna when Tx#1 transmits electromagnetic waves and Rx#9 to Rx#16 receive them overlaps with the virtual antenna when Tx#7 transmits electromagnetic waves and Rx#1 to Rx#8 receive them.

[0257] exist Figure 51 In the figure, it is shown that Figure 49 Angle measurement results when configuring each antenna element (Fourier beamforming method). Figure 51 (a) represents the power at the vertical angle, Figure 51 (b) represents the power with respect to the horizontal angle, Figure 51 (c) represents the power corresponding to the horizontal and vertical directions. Figure 51 (a) and (b) detect the main lobe that becomes the peak of the received power in the true value direction of the target object (horizontal 0 degrees and vertical 0 degrees). Figure 51 From (c), we can see that the vertical beam width is about 36 degrees, and the horizontal beam width is about 1 degree.

[0258] By configuring the antenna system 211 of the receiving antennas of each antenna to be arranged at an interval Dr (e.g., λ / 2) in the horizontal direction, grating lobes can be suppressed even if there is an electrode non-setting area 400 (FOV area of ​​the camera 150) between the antennas.

[0259] In addition, since the aperture length of the MIMO virtual receiving antenna can be extended in the horizontal and vertical directions, the radar angle measurement performance can be improved. Specifically, the angle measurement accuracy and resolution in the horizontal and vertical directions can be improved.

[0260] exist Figure 52 、 Figure 53 In one antenna installation area 210-1, four receiving antennas (Rx#1-Rx#4) are arranged closer to camera 150, while transmitting antennas (Tx#1-Tx#3) are arranged farther from camera 150. Transmitting antenna (Tx#1), ​​which is farthest from camera 150, is arranged without offset in the second direction, while transmitting antennas closer to camera 150 are arranged with greater offset in the second direction. The receiving antennas (Rx#1-Rx#4) are arranged at equal intervals Dr in the first direction, while the transmitting antennas (Tx#1-Tx#3) are staggered in a second direction orthogonal to the first direction, each offset by Dt2. They are arranged at equal intervals Dt1 in the first direction.

[0261] In the other antenna installation area 210-2, the receiving antennas (Rx#5 to Rx#8) are arranged closer to the camera 150, and the transmitting antennas (Tx#4 to Tx#6) are arranged farther from the camera 150. The receiving antennas (Rx#5 to Rx#8) are arranged at equal intervals DR in the first direction, and the transmitting antennas (Tx#4 to Tx#6) are arranged at intervals Dt3 and Dt4 in the first direction.

[0262] The distance between the receiving antennas (Rx#4, Rx#5) located closest to the camera 150 is defined as Dc. In this case, by setting Dc>Dcamera, the antennas can be prevented from being placed within the FOV of the camera 150.

[0263] In addition, the distance between the receiving antennas (Rx#1, Rx#8) among each antenna configured at the position farthest from the camera 150 is set to Dra, and the distance between the transmitting antennas (Tx#3, Tx#4) among each antenna configured at the position closest to the camera 150 is set to Dta.

[0264] In this case, Dt1, Dt2, and Dr are all λ / 2. On the other hand, for example, Dc is 8.5λ, Dra is 11.5λ, Dta is 14.5λ, Dt3 is 12λ, and Dt4 is 12λ. Dc, Dra, Dta, Dt3, and Dt4 may also have other values. For example, the spacing between Tx#3 and Rx#1 in the first direction, and the spacing between Tx#4 and Rx#8 in the first direction, are set to 1.5λ. However, other values ​​may be used, and they do not need to be the same.

[0265] exist Figure 54 In the Figure 53 Virtual receiving antenna configuration for the aperture antenna in . Figure 54 Can be used with Figure 34 Understand the same.

[0266] exist Figure 55 In the figure, it is shown that Figure 53 Angle measurement results when configuring each antenna element (Fourier beamforming method). Figure 55 (a) represents the power at the vertical angle, Figure 55 (b) represents the power with respect to the horizontal angle, Figure 55 (c) represents the power corresponding to the horizontal and vertical directions. Figure 55 (a) and (b) detect the main lobe that becomes the peak of the received power in the true value direction of the target object (horizontal 0 degrees and vertical 0 degrees). Figure 55 From (c), we can see that the vertical beam width is about 36 degrees, and the horizontal beam width is about 0.9 degrees.

[0267] By configuring the antenna system 211 of the receiving antennas of each antenna to be arranged at an interval Dr (e.g., λ / 2) in the horizontal direction, grating lobes can be suppressed even if there is an electrode non-setting area 400 (FOV area of ​​the camera 150) between the antennas.

[0268] In addition, since the aperture length of the MIMO virtual receiving antenna can be extended in the horizontal and vertical directions, the radar angle measurement performance can be improved. Specifically, the angle measurement accuracy and resolution in the horizontal and vertical directions can be improved.

[0269] exist Figure 56 、 Figure 57In the example, antenna installation area 210-1 is arranged so as to be aligned with camera 150 in the second direction. The receiving antennas (Rx#5-Rx#8) in the area closer to camera 150 and the transmitting antennas (Tx#4-Tx#6) in the area farther from camera 150 are aligned in the second direction. The receiving antennas are arranged at equal intervals Dr1 in the first direction, and the transmitting antennas are arranged at equal intervals Dt1 in the first direction and offset by Dt2 in the second direction.

[0270] The antennas in one antenna installation area 210-1 are fed by the main transceiver unit 140-1. The receiving antenna (Rx#5) farthest from the other antenna in one antenna installation area 210-1 and the transmitting antenna (Tx#4) farthest from the other antenna are located at the same position in the first direction.

[0271] The antennas in the other antenna installation area 210-2 are arranged in a first direction aligned with camera 150. The receiving antennas (Rx#1 to Rx#4) in the area closer to camera 150 and the transmitting antennas (Tx#1 to Tx#3) in the area farther from camera 150 are aligned in the first direction. The receiving antennas are arranged at equal intervals Dr1 in the first direction, while the transmitting antennas are arranged at intervals Dt3 and Dt4 in the first direction. The antennas in the other antenna installation area 210-2 are fed by the transmitter-receiver unit 140-2.

[0272] In addition, the distance between the transmitting antenna (Tx#6) closest to the other antenna among one party's antennas and the transmitting antenna (Tx#1) closest to the camera 150 among the other party's antennas in the first direction is set to Dt5, and the distance in the second direction is set to Dt6.

[0273] Furthermore, the distance in the first direction between the receiving antenna (Rx#8) closest to the other antenna and the receiving antenna (Rx#1) closest to the camera 150 is set to Dr3, and the distance in the second direction is set to Dr2.

[0274] In this case, Dt1, Dt2, and Dr1 are all λ / 2. For example, Dr2 is 4λ, Dr3 is λ, Dt3 and Dt4 are 2λ, Dt5 is 7λ, and Dt6 is 7.5λ. Dt3, Dt4, Dt5, Dt6, Dr2, and Dr3 may also have other values.

[0275] exist Figure 58 In the Figure 57 Virtual receiving antenna configuration for the aperture antenna in . Figure 58 Can be used with Figure 34 Understand the same.

[0276] exist Figure 59 In the figure, it is shown that Figure 57 Angle measurement results when configuring each antenna element (Fourier beamforming method). Figure 59 (a) represents the power at the vertical angle, Figure 59 (b) represents the power with respect to the horizontal angle, Figure 59 (c) represents the power corresponding to the horizontal and vertical directions. Figure 59 (a) and (b) detect the main lobe that becomes the peak of the received power in the true value direction of the target object (horizontal 0 degrees and vertical 0 degrees). Figure 59 From (c), we can see that the vertical beam width is about 10 degrees, and the horizontal beam width is about 9 degrees.

[0277] Since the aperture length of the MIMO virtual receiving antenna can be extended in the horizontal and vertical directions, the radar angle measurement performance can be improved. Specifically, the angle measurement accuracy and resolution in the horizontal and vertical directions can be improved.

[0278] exist Figure 60 、 Figure 61 In the example, antenna installation area 210-1 is arranged so as to align with camera 150 in the second direction. Eight receiving antennas (Rx#1 to Rx#8) in the area closer to camera 150 and six transmitting antennas (Tx#1 to Tx#6) in the area farther from camera 150 are arranged in the second direction. The receiving antennas are arranged at equal intervals Dr1 in the first direction, while the transmitting antennas are arranged at equal intervals Dt1 in the first direction and offset by Dt2 in the second direction.

[0279] Among the transmitting antennas and receiving antennas in one antenna installation area 210-1, the four receiving antennas (Rx#5 to Rx#8) and the three transmitting antennas (Tx#4 to Tx#6) closer to the other antenna constitute one antenna installation area 210-1-1, and are fed by the main transceiver unit 140-1.

[0280] Of the transmitting antennas and receiving antennas in one antenna installation area 210-1, four receiving antennas (Rx#1 to Rx#4) and three transmitting antennas (Tx#1 to Tx#3) farther from the other antenna constitute the other antenna installation area 210-1-2, and are fed by the slave transceiver 140-2.

[0281] The antennas in antenna installation area 210-2 are arranged in a first direction aligned with camera 150. Near area 210-2-1 and far area 210-2-2 are spaced apart in the first direction. The antennas in near area 210-2-1 and far area 210-2-2 are arranged identically. The four receive antennas (Rx#9-Rx#12, Rx#13-Rx#16) are spaced equally apart in the first direction at intervals of Dr1, while the transmit antennas (Tx#7-Tx#9, Tx#10-Tx#12) are spaced apart at intervals of Dt3 and Dt4 in the first direction.

[0282] The antenna in the near area 210-2-1 of the other antenna installation area 210-2 is fed by the slave transceiver 140-3, and the antenna in the far area 210-2-2 of the other antenna installation area 210-2 is fed by the slave transceiver 140-4.

[0283] The position in the first direction of the receiving antenna (Rx#2) second farthest from the other antenna installation area 210-2 in one antenna installation area 210-1 is the same as the position in the first direction of the transmitting antenna (Tx#1) farthest from the other antenna.

[0284] The distance in the first direction between the transmitting antenna (Tx#6) closest to the antenna setting area 210-2 of one side in the antenna setting area 210-1 of the other side and the transmitting antenna (Tx#7) closest to the antenna setting area 210-1 of one side in the antenna setting area 210-2 of the other side is set to Dt5, and the distance in the second direction is set to Dt6.

[0285] In addition, the distance in the first direction between the receiving antenna (Rx#8) closest to the antenna of the other party in the antenna setting area 210-1 of one party and the receiving antenna (Rx#9) closest to the camera 150 in the antenna setting area 210-2 of the other party is set to Dr3, and the distance in the second direction is set to Dr2.

[0286] Furthermore, in the antenna setting area 210-2 of the other party, the distance in the first direction between the receiving antenna (Rx#12) farthest from the camera in the near area 210-2-1 and the receiving antenna (Rx#13) closest to the camera in the far area 210-2-2 is set to Dr4, and the distance in the first direction between the transmitting antenna (Tx#9) farthest from the camera in the near area 210-2-1 and the transmitting antenna (Tx#10) closest to the camera in the far area 210-2-2 is set to Dt8.

[0287] In this case, Dt1, Dt2, and Dr1 are all λ / 2. For example, Dr2 is 4λ, Dr3 is 1.5λ, Dr4 is 11.5λ, Dt3 and Dt4 are 4λ, Dt5 is 5λ, Dt6 is 5.5λ, and Dt8 is 8λ. Dr2, Dr3, Dr4, Dt3, Dt4, Dt5, Dt6, and Dt8 may also have other values.

[0288] exist Figure 62 In the Figure 61 Virtual receiving antenna configuration for the aperture antenna in . Figure 62 Can be used with Figure 34 Understand the same.

[0289] exist Figure 63 In the figure, it is shown that Figure 61 Angle measurement results when configuring each antenna element (Fourier beamforming method). Figure 63 (a) represents the power at the vertical angle, Figure 63 (b) represents the power with respect to the horizontal angle, Figure 63 (c) represents the power corresponding to the horizontal and vertical directions. Figure 63 (a) and (b) detect the main lobe that becomes the peak of the received power in the true value direction of the target object (horizontal 0 degrees and vertical 0 degrees). Figure 63 From (c), we can see that the vertical beam width is about 6 degrees, and the horizontal beam width is about 2 degrees.

[0290] Since the aperture length of the MIMO virtual receiving antenna can be extended in the horizontal and vertical directions, the radar angle measurement performance can be improved. Specifically, the angle measurement accuracy and resolution in the horizontal and vertical directions can be improved.

[0291] exist Figure 64 In the Figure 60 In the example of the other antenna installation area 210-2, an offset Dt7 is provided between the transmitting antennas (Tx#7 to Tx#12) and the receiving antennas (Rx#9 to Rx#16). By providing the offset, the mutual coupling between the transmitting antennas and the receiving antennas can be reduced.

[0292] In addition, Figure 56 、 Figure 60 , an example is shown in which the camera 150 is arranged with the antenna installation area 210-1 on one side in the second direction and with the antenna installation area 210-2 on the other side in the first direction, but the present invention is not limited thereto. For example, the camera 150 may be arranged with the antenna installation area 210-1 on one side in the first direction and with the antenna installation area 210-2 on the other side in the second direction.

[0293] The above describes various antenna configurations for this embodiment. It should be noted that the configuration of the antenna system fed by each transceiver is arbitrary, whether the transmitting antenna is placed to the right or left of the receiving antenna. Furthermore, the transmitting and receiving antennas can be arranged in various configurations in the first and second directions.

[0294] In addition, the transmitting antenna and the receiving antenna may be interchanged. For example, a receiving antenna may be placed at a location described as a transmitting antenna in this disclosure, and a transmitting antenna may be placed at a location described as a receiving antenna.

[0295] Furthermore, the spacing between the antennas can be other than that disclosed herein. Furthermore, while Dt1, Dt2, and Dr are all set to the same value, they can also be different. Furthermore, when the radar detection range has a narrow field of view, spacing greater than λ / 2 (e.g., approximately 0.55 to 0.8λ) can be used.

[0296] In addition, which transceiver feeds which antenna is arbitrary, and a so-called nested arrangement is also possible. One of the transceivers is the master transceiver, and the others are slaves, but which transceiver is the master is arbitrary.

[0297] Furthermore, although the case where each antenna is fed by the transceiver unit 140 has been described, it is also possible that the antenna is fed by the transceiver unit 220 .

[0298] Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to these embodiments. It is obvious that those skilled in the art will be able to conceive of various variations or modifications within the scope of the claims. It should be understood that these variations or modifications also fall within the technical scope of the present disclosure. In addition, the various structural elements in the embodiments may be arbitrarily combined without departing from the scope of the present disclosure.

[0299] In the above description, the term "unit" used in connection with each component can be replaced with other terms such as "assembly," "circuitry," "device," "unit," or "module." Furthermore, the composite sensor may be configured to be executed by a CPU using a program stored in memory.

[0300] (1) A composite sensor according to an embodiment of the present disclosure includes: a main body having a radar control unit, a camera control unit, a transceiver connected to the radar control unit, and an image sensor connected to the camera control unit; and an antenna unit connected to the transceiver and separate from the main body.

[0301] (2) A composite sensor according to one embodiment of the present disclosure is the composite sensor according to (1), wherein a transparent electrode is used in the antenna portion.

[0302] (3) A composite sensor according to one embodiment of the present disclosure is a composite sensor according to (2), wherein the antenna unit is arranged in front of the main body, and the detection range based on the image sensor and the detection range based on the radar include overlapping detection ranges.

[0303] (4) A composite sensor according to one embodiment of the present disclosure is the composite sensor according to (3), wherein the antenna portion includes an electrode non-installation region located in front of the image sensor and having no electrodes wired thereto.

[0304] (5) A composite sensor according to one embodiment of the present disclosure is the composite sensor according to (4), wherein the antenna section includes an antenna provided in the first antenna installation area and an antenna arranged in the second antenna installation area.

[0305] (6) A composite sensor according to one embodiment of the present disclosure is a composite sensor, wherein, in the composite sensor of (5), the first antenna setting area and the second antenna setting area are different areas in a first direction, and the electrode non-setting area is provided between the first antenna setting area and the second antenna setting area.

[0306] (7) A composite sensor according to one embodiment of the present disclosure is a composite sensor, wherein, in the composite sensor of (5), the first antenna setting area is an area different from the electrode non-setting area in the first direction, and the second antenna setting area is an area different from the electrode non-setting area in the second direction.

[0307] (8) A composite sensor according to one embodiment of the present disclosure is the composite sensor according to (2), wherein the antenna unit includes a plurality of transmitting antennas and a plurality of receiving antennas.

[0308] (9) A composite sensor according to one embodiment of the present disclosure is a composite sensor according to (8), wherein the transmitting antenna or the receiving antenna is composed of a plurality of antenna elements.

[0309] (10) A composite sensor according to one embodiment of the present disclosure is the composite sensor according to (2), wherein the antenna portion is disposed on a side portion of an upper portion of a windshield of a vehicle.

[0310] (11) A composite sensor according to one embodiment of the present disclosure is the composite sensor according to (2), wherein the antenna portion is arranged in an L-shape on the side of the upper portion of the windshield of the vehicle and on the upper portion of the side.

[0311] (12) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (5), the transceiver unit has a master transceiver unit and at least one slave transceiver unit, the master transceiver unit communicates with the radar control unit, and the slave transceiver unit communicates with the master transceiver unit and is synchronized with the master transceiver unit.

[0312] (13) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (12), the main transceiver feeds the antenna included in the setting area of ​​one of the first antenna setting area and the second antenna setting area, and the at least one slave transceiver feeds the antenna included in the setting area of ​​the other of the first antenna setting area and the second antenna setting area.

[0313] (14) A composite sensor according to an embodiment of the present disclosure is a composite sensor according to (12), wherein at least one of the slave transceivers includes one of the slave transceivers to feed power to an antenna included in one of the first antenna setting area and the second antenna setting area.

[0314] (15) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (12), at least one portion included in the transceiver unit feeds power from the transceiver unit to the antenna included in the first antenna setting area, and the portion outside the transceiver unit feeds power from the transceiver unit to the antenna included in the second antenna setting area.

[0315] (16) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (5), among the antennas included in the first antenna setting area and the second antenna setting area, one of the transmitting antenna and the receiving antenna is arranged and configured in a first direction, and the other of the transmitting antenna and the receiving antenna is arranged and configured in the first direction in a manner with an offset in a second direction, and the second direction is a direction different from the first direction.

[0316] (17) A composite sensor according to one embodiment of the present disclosure is the composite sensor of (16), wherein the offset in the second direction in the first antenna installation area is different from the offset in the second direction in the second antenna installation area.

[0317] (18) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (5), among the antennas included in the first antenna setting area and the second antenna setting area, one of the transmitting antenna and the receiving antenna is arranged and configured in a first direction, and the other of the transmitting antenna and the receiving antenna is arranged and configured in the first direction in a manner with an offset in a second direction, the second direction is a direction different from the first direction, and the offset in the second direction in the first antenna setting area is the same as the offset in the second direction in the second antenna setting area.

[0318] (19) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (5), one of the transmitting antenna and the receiving antenna included in the first antenna setting area is arranged in a first direction different from the second direction in a manner with an offset in the second direction, and one of the transmitting antenna and the receiving antenna included in the second antenna setting area is arranged at an interval larger than the following aperture length, wherein the aperture length is the aperture length of the other of the transmitting antenna and the receiving antenna arranged in the first direction in the first antenna setting area and the second antenna setting area.

[0319] (20) A composite sensor according to an embodiment of the present disclosure is a composite sensor according to (5), wherein one of the transmitting antenna and the receiving antenna included in the first antenna setting area and the second antenna setting area is arranged in a first direction, the other of the transmitting antenna and the receiving antenna included in the first antenna setting area is arranged in the first direction in a manner with an offset in a second direction, the second direction being a direction different from the first direction, and the other of the transmitting antenna and the receiving antenna included in the second antenna setting area is arranged at an interval larger than the following aperture length, the aperture length being the aperture length of the one of the transmitting antenna and the receiving antenna arranged in the first direction in the first antenna setting area or the second antenna setting area.

[0320] (21) A composite sensor according to an embodiment of the present disclosure is a composite sensor according to (5), wherein the antenna section includes an antenna transceiver section, and the antenna transceiver section communicates with the transceiver section to feed power to the antenna.

[0321] (22) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (21), the antenna transceiver unit has a main antenna transceiver unit and at least one slave antenna transceiver unit, the main antenna transceiver unit is connected to the transceiver unit, and the slave antenna transceiver unit is connected to the main antenna transceiver unit and is synchronized with the main antenna transceiver unit.

[0322] (23) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (22), the main antenna transceiver feeds the antenna included in the setting area of ​​one of the first antenna setting area and the second antenna setting area, and the at least one slave antenna transceiver feeds the antenna included in the setting area of ​​the other of the first antenna setting area and the second antenna setting area.

[0323] (24) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (22), one of the at least one slave antenna transceiver included in the at least one slave antenna transceiver feeds power to an antenna included in a setting area of ​​one of the first antenna setting area and the second antenna setting area.

[0324] (25) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (22), at least one portion included in the antenna transceiver unit feeds the antenna in the first antenna setting area from the antenna transceiver unit, and the portion outside the antenna transceiver unit feeds the antenna in the second antenna setting area from the antenna transceiver unit.

[0325] (26) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (22), among the antennas included in the first antenna setting area and the second antenna setting area, one of the transmitting antenna and the receiving antenna is arranged and configured in a first direction, and the other of the transmitting antenna and the receiving antenna is arranged and configured in the first direction in a manner with an offset in a second direction, and the second direction is a direction different from the first direction.

[0326] (27) A composite sensor according to one embodiment of the present disclosure is a composite sensor according to (26), wherein the offset in the second direction in the first antenna setting area is different from the offset in the second direction in the second antenna setting area.

[0327] (28) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (22), among the antennas included in the first antenna setting area and the second antenna setting area, one of the transmitting antenna and the receiving antenna is arranged and configured in a first direction, and the other of the transmitting antenna and the receiving antenna is arranged and configured in the first direction in a manner with an offset in a second direction, the second direction is a direction different from the first direction, and the offset in the second direction in the first antenna setting area is the same as the offset in the second direction in the second antenna setting area.

[0328] (29) A composite sensor according to an embodiment of the present disclosure is a composite sensor according to (22), wherein one of the transmitting antenna and the receiving antenna included in the first antenna setting area is arranged in a first direction different from the second direction in a manner having an offset in the second direction, and one of the transmitting antenna and the receiving antenna included in the second antenna setting area is arranged at an interval larger than the following aperture length, wherein the aperture length is the aperture length of the other of the transmitting antenna and the receiving antenna arranged in the first direction in the first antenna setting area and the second antenna setting area.

[0329] (30) A composite sensor according to an embodiment of the present disclosure is a composite sensor as follows, namely, in the composite sensor of (22), one of the transmitting antenna and the receiving antenna included in the first antenna setting area and the second antenna setting area is arranged in a first direction, the other of the transmitting antenna and the receiving antenna included in the first antenna setting area is arranged in the first direction in a manner with an offset in a second direction, the second direction being a direction different from the first direction, and the other of the transmitting antenna and the receiving antenna included in the second antenna setting area is arranged at an interval larger than the following aperture length, the aperture length being the aperture length of the one of the transmitting antenna and the receiving antenna arranged in the first direction in the first antenna setting area or the second antenna setting area.

[0330] (31) A vehicle according to one embodiment of the present disclosure is equipped with the composite sensor of (1).

[0331] Industrial Applicability

[0332] One aspect of the present disclosure is useful for composite sensors.

Claims

1. A composite sensor, characterized in that: have: a main body having a radar control unit, a camera control unit, a transceiver connected to the radar control unit, and an image sensor connected to the camera control unit; and The antenna part is connected to the transceiver part and is separate from the main body.

2. The composite sensor according to claim 1, wherein: A transparent electrode is used in the antenna portion.

3. The composite sensor according to claim 1, wherein: The antenna unit is disposed in front of the main body, and a detection range of the image sensor and a detection range of the radar include overlapping detection ranges.

4. The composite sensor according to claim 1, wherein: The antenna unit includes an electrode non-installation region located in front of the image sensor and having no electrodes wired thereon.

5. The composite sensor according to claim 4, wherein: The antenna unit includes an antenna installed in a first antenna installation area and an antenna installed in a second antenna installation area. The first antenna setting area and the second antenna setting area are different areas in the first direction, The electrode non-installation region is provided between the first antenna installation region and the second antenna installation region.

6. The composite sensor according to claim 4, wherein: The antenna unit includes an antenna installed in a first antenna installation area and an antenna installed in a second antenna installation area. The first antenna installation area is an area different from the electrode non-installation area in the first direction. The second antenna installation region is a region different from the electrode non-installation region in the second direction.

7. The composite sensor according to claim 1, wherein: The antenna unit is arranged on a side portion of an upper portion of a windshield of a vehicle.

8. The composite sensor according to claim 1, wherein: The antenna portion is disposed in an L-shape on a side portion and an upper portion of an upper portion of a windshield of a vehicle.

9. The composite sensor according to claim 1, wherein: The transceiver unit includes a master transceiver unit and at least one slave transceiver unit. The main transceiver communicates with the radar control unit, The slave transceiver communicates with the master transceiver and is synchronized with the master transceiver.

10. The composite sensor according to claim 9, wherein: The antenna unit includes an antenna installed in a first antenna installation area and an antenna installed in a second antenna installation area. The main transceiver feeds power to the antenna included in one of the first antenna installation area and the second antenna installation area. The at least one slave transceiver feeds power to an antenna included in the other of the first antenna installation area and the second antenna installation area.

11. The composite sensor according to claim 9, wherein: The antenna unit includes an antenna installed in a first antenna installation area and an antenna installed in a second antenna installation area. One of the at least one slave transceiver units feeds power to an antenna included in one of the first antenna installation area and the second antenna installation area.

12. The composite sensor according to claim 9, wherein The antenna unit includes an antenna installed in a first antenna installation area and an antenna installed in a second antenna installation area. The at least one slave transceiver part feeds power to the antenna included in the first antenna installation area. The portion feeds power from the slave transceiver unit other than the transceiver unit to the antenna included in the second antenna installation area.

13. The composite sensor according to claim 1, wherein: The antenna unit includes an antenna installed in a first antenna installation area and an antenna installed in a second antenna installation area. Among the antennas included in the first antenna setting area and the second antenna setting area, one of the transmitting antenna and the receiving antenna is arranged and configured in a first direction, and the other of the transmitting antenna and the receiving antenna is arranged and configured in the first direction in a manner with an offset in a second direction, and the second direction is a direction different from the first direction.

14. The composite sensor according to claim 13, wherein: The offset in the second direction in the first antenna arrangement area is different from the offset in the second direction in the second antenna arrangement area.

15. The composite sensor according to claim 13, wherein: The offset in the second direction in the first antenna arrangement area is the same as the offset in the second direction in the second antenna arrangement area.

16. The composite sensor according to claim 1, wherein The antenna unit includes an antenna installed in a first antenna installation area and an antenna installed in a second antenna installation area. One of the transmitting antenna and the receiving antenna included in the first antenna installation area is arranged in a first direction different from the second direction with an offset in the second direction. One of the transmitting antenna and the receiving antenna included in the second antenna setting area is arranged at a spacing greater than the following aperture length, and the aperture length is the aperture length of the other of the transmitting antenna and the receiving antenna arranged in the first direction in the first antenna setting area and the second antenna setting area.

17. The composite sensor according to claim 1, wherein: The antenna unit includes an antenna installed in a first antenna installation area and an antenna installed in a second antenna installation area. One of the transmitting antenna and the receiving antenna included in the first antenna installation area and the second antenna installation area is arranged side by side in a first direction. The other of the transmitting antenna and the receiving antenna included in the first antenna installation area is arranged in the first direction with an offset in a second direction, the second direction being a direction different from the first direction. The other of the transmitting antenna and the receiving antenna included in the second antenna setting area is arranged at a spacing greater than the following aperture length, and the aperture length is the aperture length of the one of the transmitting antenna and the receiving antenna arranged in the first direction in the first antenna setting area or the second antenna setting area.

18. The composite sensor according to claim 1, wherein The antenna unit includes an antenna transceiver unit, The antenna transceiver communicates with the transceiver to feed power to the antenna.

19. The composite sensor according to claim 18, wherein The antenna transceiver unit includes a main antenna transceiver unit and at least one slave antenna transceiver unit. The main antenna transceiver is connected to the transceiver. The slave antenna transceiver is connected to the master antenna transceiver and is synchronized with the master antenna transceiver.

20. A vehicle, characterized in that: The composite sensor according to claim 1 is mounted thereon.

Images