Radar system

Abstract

A radar system is provided. The radar system includes a plurality of transmit antennas and a plurality of receive antennas. The plurality of transmit antennas includes two transmit antennas, and the two transmit antennas are configured to transmit a transmission signal at different times. The plurality of receive antennas includes two receive antennas, and the two receive antennas are configured to receive a return signal at different times. The two transmit antennas have a vertical separation in one direction and a horizontal separation in another direction. The two receive antennas have another vertical separation in one direction and another horizontal separation in another direction, the two directions being perpendicular to each other, the vertical separation between the two transmit antennas being equal to the vertical separation between the two receive antennas, and the horizontal separation between the two transmit antennas being equal to the horizontal separation between the two receive antennas. The separations are all greater than zero.

Description

Technical Field

[0001] This invention relates to a radar technology, and more particularly to a radar system. Background Technology

[0002] Radar technology is a means of target detection and tracking. With the rapid development of science and technology, frequency modulated continuous wave (FMCW) radar has been widely used in various fields in recent years.

[0003] Frequency-modulated continuous wave (FM-CHW) radar transmits a continuous wave with varying frequency within a frequency sweep period. The echo of the continuous wave after reflection from an object has a frequency difference from the transmitted signal, and this frequency difference can be used to determine the distance between the object and the radar. Because FM-CHW radar can measure the distance and speed of moving targets, it is increasingly being used in civilian fields such as road vehicle monitoring and recording systems, automotive collision avoidance radar, traffic flow detectors, and autonomous driving.

[0004] It is worth noting that frequency-modulated continuous wave radar systems can use array antennas to estimate the angle of reflected signals (also known as the angle of arrival (AoA)). Even a small change in the distance between the radar system and the object can cause a significant change in the phase at the spectral peak, especially noticeable with high-frequency signals. Therefore, the angle of arrival can be estimated using the phase change corresponding to the distance difference between the object and adjacent antennas.

[0005] To utilize array antennas, current frequency-modulated continuous wave radar systems for estimating angle of arrival employ a multi-receiver architecture. Multiple receiving antennas can be used to receive the echo signals reflected from the object after transmitting the signal.

[0006] However, traditional angle-of-arrival radar architectures may encounter the following problems: multiple receiving paths (i.e., multiple receivers); increased power consumption; increased chip size as the number of receivers increases; and the need to correct the phase of the signals from the local oscillator to each receiver, transmitter, and mixer circuit to improve the consistency of the phase. Summary of the Invention

[0007] The radar system of this invention includes: multiple transmitting antennas and multiple receiving antennas. The multiple transmitting antennas are used to transmit transmitted signals. The multiple receiving antennas are used to receive echo signals to form radio frequency signals. The echo signals are generated by the reflection of the transmitted signals from an external object. The multiple transmitting antennas include two transmitting antennas, which transmit transmitted signals at different times. The multiple receiving antennas include two receiving antennas, which receive echo signals at different times. The two transmitting antennas have a vertical spacing in one direction and a horizontal spacing in another direction. The two receiving antennas have another vertical spacing in one direction and another horizontal spacing in another direction, these two directions being perpendicular to each other. The vertical spacing between the two transmitting antennas is equal to the vertical spacing between the two receiving antennas, and the horizontal spacing between the two transmitting antennas is equal to the horizontal spacing between the two receiving antennas. These vertical and horizontal spacings are all greater than zero.

[0008] The radar system of this invention includes: a transmitting circuit, multiple transmitting antennas, multiple receiving antennas, a receiving circuit, a control circuit, and a selection circuit. The transmitting circuit generates a transmitted signal. The multiple transmitting antennas transmit the transmitted signal. The multiple receiving antennas receive echo signals to form a radio frequency (RF) signal. The echo signal is generated by the reflection of the transmitted signal from an external object. The receiving circuit generates an internal signal based on the RF signal. The control circuit generates one or more control signals. The selection circuit receives one or more control signals and selects one of the transmitting antennas to transmit the transmitted signal and one of the receiving antennas to receive the echo signal to form the RF signal. The multiple transmitting antennas include two transmitting antennas. The multiple receiving antennas include two receiving antennas. The two transmitting antennas are vertically spaced in one direction and horizontally spaced in another direction. The two receiving antennas are vertically spaced in one direction and horizontally spaced in another direction. The two directions are perpendicular to each other. The vertical distance between the two transmitting antennas is equal to the vertical distance between the two receiving antennas. The horizontal distance between the two transmitting antennas is equal to the horizontal distance between the two receiving antennas. All of these vertical and horizontal spacings are greater than zero.

[0009] The radar system of this invention includes: a transmitting circuit, multiple transmitting antennas, multiple receiving antennas, a receiving circuit, a control circuit, and a selection circuit. The transmitting circuit generates a transmitted signal. The multiple transmitting antennas transmit the transmitted signal. The multiple receiving antennas receive multiple echo signals to form multiple radio frequency signals. The echo signals are generated by the reflection of the transmitted signal from an external object. The receiving circuit generates an internal signal based on the radio frequency signal. The control circuit generates one or more control signals. The selection circuit receives one or more control signals and selects one of the multiple transmitting antennas to transmit the transmitted signal based on the one or more control signals. The multiple transmitting antennas include two transmitting antennas. The multiple receiving antennas include two receiving antennas. The two transmitting antennas have a vertical distance in one direction and a horizontal distance in another direction. The two receiving antennas have a vertical distance in one direction and a horizontal distance in another direction. The two directions are perpendicular to each other. The vertical distance between the two transmitting antennas is equal to the vertical distance between the two receiving antennas. The horizontal distance between the two transmitting antennas is equal to the horizontal distance between the two receiving antennas. These vertical and horizontal distances are all greater than zero.

[0010] To make the above features and advantages of the present invention more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings. Attached Figure Description

[0011] Figure 1 This is a component block diagram of a radar system according to an embodiment of the present invention.

[0012] Figures 2A to 2D This is a schematic diagram of the antenna configuration according to the first embodiment of the present invention.

[0013] Figure 3 This is a schematic diagram of an antenna configuration according to a second embodiment of the present invention.

[0014] Figure 4 This is a schematic diagram of an antenna configuration according to a third embodiment of the present invention.

[0015] Figure 5 This is a schematic diagram of the antenna configuration according to the fourth embodiment of the present invention.

[0016] Figure 6 This is a schematic diagram of an antenna configuration according to the fifth embodiment of the present invention.

[0017] Figure 7 This is a component block diagram of a radar system according to an embodiment of the present invention.

[0018] Figure 8 This is a schematic diagram illustrating the positional relationship between the transmitting antenna and an external object according to an embodiment of the present invention.

[0019] Figure 9This is a schematic diagram illustrating the positional relationship between the receiving antenna and an external object according to an embodiment of the present invention.

[0020] Figure 10 This is a timing diagram illustrating the signal according to an embodiment of the present invention.

[0021] Figure 11 This is a component block diagram of a radar system according to an embodiment of the present invention.

[0022] Symbol explanation:

[0023] 10, 110: Radar System

[0024] 11: Transmitting circuit

[0025] 12: Transmitting antenna

[0026] 13: Receiving antenna

[0027] 14: Receiving circuit

[0028] 15: Control Circuit

[0029] 16: Selection Circuit

[0030] TX0, TX1: Transmitting antennas

[0031] RX0, RX1: Receiving antennas

[0032] D1, D2, D3: Direction

[0033] d V1 d V2 Vertical spacing

[0034] d H1 d H2 Horizontal spacing

[0035] H: Length

[0036] C T0 C T1 C R0 C R1 : Shape center

[0037] RL1, RL2, RL3, RL4, RL5: Reference lines

[0038] d V31 d V41 d V51 d V61 Vertical spacing

[0039] SL: Axis of Symmetry

[0040] d V32 d V42 dV52 d V62 Vertical spacing

[0041] d V33 d V43 d V53 d V63 Vertical spacing

[0042] P1, P2: Plane

[0043] d I1 d I2 :spacing

[0044] d V34 d V44 d V54 d V64 Vertical spacing

[0045] 17: Signal Generator

[0046] 18: Modulator

[0047] 19: Clock Generator

[0048] 20: Processing Unit

[0049] PA: Amplifier

[0050] TXMIX: Mixer

[0051] LPF: Filter

[0052] DAC: Digital-to-Analog Converter

[0053] LNA: Low Noise Amplifier

[0054] RXMIX: Mixer

[0055] IFA: Intermediate Frequency Amplifier Circuit

[0056] ADC: Analog-to-Digital Converter

[0057] 161, 162: Switching circuit

[0058] DO: Baseband signal

[0059] O: External object

[0060] R: Distance

[0061] φ: Angle

[0062] θ: Angle of arrival

[0063] FS: First Signal

[0064] T: Sweep frequency cycle

[0065] SW1, SW2: Control signals

[0066] INR0, INR1, RD: Radio frequency signals

[0067] BD, FD: Internal signals Detailed Implementation

[0068] Figure 1 This is a component block diagram of a radar system 10 according to an embodiment of the present invention. Please refer to... Figure 1 The radar system 10 includes (but is not limited to) a transmitting circuit 11, multiple transmitting antennas 12, multiple receiving antennas 13, a receiving circuit 14, a control circuit 15, and a selection circuit 16. The radar system 10 can be applied, for example, to meteorological, speed measurement, reversing, terrain observation, and military applications.

[0069] Transmitting circuit 11 is used to generate a transmission signal. In one embodiment, transmitting circuit 11 generates the transmission signal based on a first signal. In one embodiment, the first signal is a continuous wave signal. The first signal has a periodic variation. In one embodiment, the frequency of the first signal varies with time within its sweep period. For example, the first signal is a periodic sawtooth wave, triangular wave, or other carrier signal used in frequency-modulated continuous waves (e.g., linear, geometric, or other chirp signals). Within the period, the frequency of the first signal may gradually increase and / or gradually decrease. In another embodiment, the first signal is a pulse signal. For example, it has a peak or valley within a specific time interval (e.g., 2, 5, or 110 nanoseconds (ns)). A pulse signal can be generated at each interval of one cycle.

[0070] The transmitting antenna 12 is used to transmit a transmission signal. That is, the transmitted electromagnetic waves carry the transmission signal of the radar system 10. In one embodiment, since the first signal has a periodic variation, the transmission signal will also have a corresponding periodic variation. In one embodiment, for a pulse signal, the transmission signal is a spread spectrum signal with a flat frequency response in the spectrum.

[0071] The plurality of transmitting antennas 12 includes two transmitting antennas TX0 and TX1. The transmitting antennas 12 are, for example, patch antennas, ceramic antennas, or other types of antennas. The two transmitting antennas TX0 and TX1 are used to transmit signals at different times.

[0072] In one embodiment, a plurality of transmitting antennas 12 form an antenna array. In one embodiment, each transmitting antenna 12 may correspond to an antenna port.

[0073] Multiple receiving antennas 13 are used to receive echo signals. The radar system 10 can transmit signals to external objects (e.g., people, vehicles, walls, or buildings) via transmitting antenna 12. Then, the radar system 10 can receive the echo signals reflected from the external objects via receiving antennas 13. The echo signals are generated by the reflection of the transmitted signals by the external objects.

[0074] The multiple receiving antennas 13 include two receiving antennas RX0 and RX1. The receiving antennas 13 are, for example, patch antennas, ceramic antennas, or other types of antennas. The two receiving antennas RX0 and RX1 are used to receive echo signals at different times.

[0075] In one embodiment, a plurality of receiving antennas 13 form an antenna array. In another embodiment, each receiving antenna 13 may correspond to one antenna port.

[0076] The receiving circuit 14 is used to generate internal signals based on the radio frequency signals. The echo signals received by the two receiving antennas RX0 and RX1 can form radio frequency signals, which will be described in detail later.

[0077] Control circuit 15 is used to generate one or more control signals. In one embodiment, these control signals change according to the period of a first signal. For example, the control signal may be a second or third signal, and the difference between these two signals lies in voltage, current, and / or digital encoding. The first signal is a periodic chirped signal. The period of a combination of one or more chirped signals can be used as the period of the first signal. During one period of the first signal, the control signal is the second signal (e.g., high level); during another period of the first signal, the control signal is the third signal (e.g., low level). Therefore, the control signal will be different in different periods of the first signal. It should be noted that the voltage, current, and / or digital encoding of the control signal can be changed according to actual needs. Furthermore, the switching or changing time point of the control signal may be, for example, at the boundary between two periods of the first signal, as will be detailed in subsequent embodiments.

[0078] Selection circuit 16 is coupled to transmitting circuit 11, transmitting antenna 12, receiving antenna 13, receiving circuit 14 and control circuit 15.

[0079] In one embodiment, the selection circuit 16 is used to selectively connect one of a plurality of transmitting antennas 12, and thereby transmit a transmission signal through the connected transmitting antenna 12. For example, transmitting antenna TX0 is selected and connected while transmitting antenna TX1 is disconnected, causing transmitting antenna TX0 to transmit. As another example, transmitting antenna TX1 is selected and connected while transmitting antenna TX0 is disconnected, causing transmitting antenna TX1 to transmit.

[0080] In one embodiment, the selection circuit 16 is used to selectively connect one of a plurality of receiving antennas 13, and thereby receive the echo signal through the connected receiving antenna 13. For example, receiving antenna RX0 is selected and connected while receiving antenna RX1 is disconnected, causing receiving antenna RX0 to receive the echo signal. As another example, receiving antenna RX1 is selected and connected while receiving antenna RX0 is disconnected, causing receiving antenna RX1 to receive the echo signal.

[0081] The antenna configuration is explained in detail below.

[0082] Figures 2A to 2D This is a schematic diagram of the antenna configuration according to the first embodiment of the present invention. Please refer to... Figure 2A and Figure 2B The two transmitting antennas TX0 and TX1 have a vertical spacing d in direction D1. V1 And it has a horizontal spacing d in direction D2. H1 Direction D1 is perpendicular to direction D2. For example, direction D1 may be perpendicular to the ground, and direction D2 may be parallel to the ground, but this can still be changed depending on the specific application. Taking a patch antenna as an example, both transmitting antennas TX0 and TX1 are located on the plane formed by directions D1 and D2. The dimensions of transmitting antennas TX0 and TX1 are, for example, length H × length H, where H is a positive value. However, the dimensions of transmitting antennas TX0 and TX1 can still be changed according to actual requirements.

[0083] Vertical spacing d V1 Greater than zero. In one embodiment, the vertical spacing d V1 It is less than or equal to λ / 2, where λ is the wavelength of the transmitted signal. In one embodiment, the vertical spacing d V1 Between λ / 8 and λ / 2, which is the vertical spacing d V1 Less than or equal to λ / 2 and vertical spacing d V1 Greater than or equal to λ / 8. However, the vertical spacing d V1 The length can still be changed according to actual needs.

[0084] Horizontal spacing d H1 Greater than zero. In one embodiment, the horizontal spacing d H1 Less than (or equal to) λ / 2, where λ is the wavelength of the transmitted signal. In one embodiment, the horizontal spacing d H1 Between λ / 8 and λ / 2, which is the horizontal spacing d H1 Less than (or equal to) λ / 2 and horizontal spacing d H1 Greater than or equal to λ / 8. In one embodiment, the horizontal spacing d H1 Greater than vertical spacing d V1 However, the horizontal spacing d H1 The length can still be changed according to actual needs.

[0085] Please refer to Figure 2B Vertical spacing d V1 and horizontal spacing d H1 The center of the shape of the transmitting antenna TX0 is C. T0 and the shape center C of the transmitting antenna TX1 T1 The distance between them in directions D1 and D2. Shape center C T0 C T1 For example, the geometric centers of transmitting antennas TX0 and TX1 respectively.

[0086] Please refer to Figure 2A and Figure 2C The two receiving antennas RX0 and RX1 have a vertical spacing d in direction D1. V2 And it has a horizontal spacing d in direction D2. H2 Taking a patch antenna as an example, the receiving antennas RX0 and RX1 are both located on the plane formed by directions D1 and D2. The dimensions of the receiving antennas RX0 and RX1 are, for example, length H × length H, where H is a positive value. However, the dimensions of the receiving antennas RX0 and RX1 can still be changed according to actual needs.

[0087] Vertical spacing d V2 Greater than zero. Furthermore, the vertical spacing d V1 Equal to vertical spacing d V2 The vertical spacing d can be adjusted. V1 and vertical spacing d V2 Consider all of them as d V In one embodiment, the vertical spacing d V2 It is less than or equal to λ / 2, where λ is the wavelength of the transmitted signal. In one embodiment, the vertical spacing d V2 Between λ / 8 and λ / 2, which is the vertical spacing d V2 Less than or equal to λ / 2 and vertical spacing d V2 Greater than or equal to λ / 8. However, the vertical spacing d V2 The length can still be changed according to actual needs.

[0088] Horizontal spacing d H2 Greater than zero. In addition, the horizontal spacing d H1 equal to the horizontal spacing d H2 The horizontal spacing d can be adjusted. H1 and horizontal spacing d H2 Consider all of them as d H In one embodiment, the horizontal spacing d H2 Less than (or equal to) λ / 2, where λ is the wavelength of the transmitted signal. In one embodiment, the horizontal spacing d H2 Between λ / 8 and λ / 2, which is the horizontal spacing d H2Less than (or equal to) λ / 2 and horizontal spacing d H2 Greater than or equal to λ / 8. In one embodiment, the horizontal spacing d H2 Greater than vertical spacing d V2 However, the horizontal spacing d H2 The length can still be changed according to actual needs.

[0089] Please refer to Figure 2C Vertical spacing d V2 and horizontal spacing d H2 The center of the shape of the receiving antenna RX0 is C. R0 and the shape center C of the receiving antenna RX1 R1 The distance between them in directions D1 and D2. Shape center C R0 C R1 For example, the geometric centers of receiving antennas RX0 and RX1 respectively.

[0090] Please refer to Figure 2D In direction D1, the transmitting antenna TX1 and the reference line RL1 have a vertical spacing d. V31 The transmitting antenna TX0 and the reference line RL1 have a vertical spacing d. V41 Vertical spacing d V31 Greater than vertical spacing d V41 Furthermore, reference line RL1 is parallel to direction D2. In direction D1, compared to reference line RL1, both transmitting antennas TX0 and TX1 are located in the positive direction of D1 (as indicated by the arrow in direction D1). That is, reference line RL1 is located below transmitting antennas TX0 and TX1, and reference line RL1 is closer to transmitting antenna TX0. Vertical spacing d V31 d V41 All are greater than zero. Furthermore, the vertical spacing between the transmitting antennas TX0 and TX1 and the reference line RL1 is, for example, centered at the center C of the aforementioned shape. T0 C T1 Calculated based on the baseline.

[0091] Furthermore, in direction D1, there is a vertical spacing d between the receiving antenna RX0 and the reference line RL1. V51 The receiving antenna RX1 and the reference line RL1 have a vertical spacing d. V61 And the vertical spacing d V51 Less than vertical spacing d V61 In direction D1, compared to reference line RL1, both receiving antennas RX0 and RX1 are located in the positive direction of direction D1 (as indicated by the arrow in direction D1). That is, reference line RL1 is located below receiving antennas RX0 and RX1, and reference line RL1 is closer to receiving antenna RX0. Vertical spacing d V51 d V61 All are greater than zero. Vertical spacing dV31 Equal to vertical spacing d V61 And the vertical spacing d V41 Equal to vertical spacing d V51 Furthermore, the vertical spacing between the receiving antennas RX0 and RX1 and the reference line RL1 is, for example, centered at the center of the shape described above, C. R0 C R1 Calculated based on the baseline.

[0092] Transmitting antennas TX0 and TX1 are mirror images of receiving antennas RX0 and RX1 with respect to the axis of symmetry SL, which is parallel to direction D1. The distance between transmitting antenna TX1 and the axis of symmetry SL is the same as the distance between receiving antenna RX1 and the axis of symmetry SL. The distance between transmitting antenna TX0 and the axis of symmetry SL is the same as the distance between receiving antenna RX0 and the axis of symmetry SL. An imaginary line between transmitting antenna TX0 and receiving antenna RX0 is parallel to direction D2, and an imaginary line between transmitting antenna TX1 and receiving antenna RX1 is also parallel to direction D2.

[0093] Figure 3 This is a schematic diagram of an antenna configuration according to a second embodiment of the present invention. Please refer to... Figure 3 The difference from the first embodiment is that, in direction D1, the transmitting antenna TX1 and the reference line RL2 have a vertical spacing d. V32 The transmitting antenna TX0 and the reference line RL1 have a vertical spacing d. V42 Vertical spacing d V32 Greater than vertical spacing d V42 Furthermore, reference line RL2 is parallel to direction D2. In direction D1, compared to reference line RL2, both transmitting antennas TX0 and TX1 are located in the negative direction of direction D1 (the opposite direction of the arrow in direction D1). That is, reference line RL2 is located above transmitting antennas TX0 and TX1, and reference line RL2 is closer to transmitting antenna TX0. Vertical spacing d V32 d V42 All are greater than zero. Furthermore, the vertical spacing between the transmitting antennas TX0 and TX1 and the reference line RL2 is, for example, centered at the center C of the aforementioned shape. T0 C T1 Calculated based on the baseline.

[0094] Furthermore, in direction D1, there is a vertical spacing d between the receiving antenna RX0 and the reference line RL2. V52 The receiving antenna RX1 and the reference line RL2 have a vertical spacing d. V62 And the vertical spacing d V52 Less than vertical spacing d V62In direction D1, compared to reference line RL2, both receiving antennas RX0 and RX1 are located in the negative direction of direction D1 (the opposite direction of the arrow in direction D1). That is, reference line RL2 is above receiving antennas RX0 and RX1, and reference line RL2 is closer to receiving antenna RX0. Vertical spacing d V52 d V62 All are greater than zero. Furthermore, the vertical spacing between the receiving antennas RX0 and RX1 and the reference line RL2 is, for example, centered at the center C of the aforementioned shape. R0 C R1 Calculated based on the baseline.

[0095] Figure 4 This is a schematic diagram of an antenna configuration according to a third embodiment of the present invention. Please refer to... Figure 4 The difference from the first embodiment is that, in direction D1, the transmitting antenna TX1 and the reference line RL3 have a vertical spacing d. V33 The transmitting antenna TX0 and the reference line RL3 have a vertical spacing d. V43 Vertical spacing d V33 Greater than vertical spacing d V43 Furthermore, reference line RL3 is parallel to direction D2. In direction D1, compared to reference line RL3, both transmitting antennas TX0 and TX1 are located in the positive direction of D1 (as indicated by the arrow in direction D1). That is, reference line RL3 is located below transmitting antennas TX0 and TX1, and reference line RL3 is closer to transmitting antenna TX0. Vertical spacing d V33 d V43 All are greater than zero. Furthermore, the vertical spacing between the transmitting antennas TX0 and TX1 and the reference line RL3 is, for example, centered at the center C of the aforementioned shape. T0 C T1 Calculated based on the baseline.

[0096] Furthermore, in direction D1, there is a vertical spacing d between the receiving antenna RX0 and the reference line RL3. V53 The receiving antenna RX1 and the reference line RL3 have a vertical spacing d. V63 And the vertical spacing d V53 Less than vertical spacing d V63 In direction D1, compared to reference line RL3, both receiving antennas RX0 and RX1 are located in the positive direction of direction D1 (as indicated by the arrow in direction D1). That is, reference line RL3 is located below receiving antennas RX0 and RX1, and reference line RL3 is closer to receiving antenna RX0. Vertical spacing d V53 d V63 All are greater than zero. Vertical spacing d V33 Less than vertical spacing d V63 And the vertical spacing d V43 Less than vertical spacing dV53 Furthermore, the vertical spacing between the receiving antennas RX0 and RX1 and the reference line RL3 is, for example, centered at the center of the shape described above, C. R0 C R1 Calculated based on the baseline.

[0097] In other embodiments, it could also be the vertical spacing d. V33 Greater than vertical spacing d V63 And the vertical spacing d V43 Greater than vertical spacing d V53 .

[0098] Figure 5 This is a schematic diagram of an antenna configuration according to a fourth embodiment of the present invention. Please refer to... Figure 5 The difference from the first embodiment is that the transmitting antennas TX0 and TX1 are located in plane P1, and the receiving antennas RX0 and RX1 are located in plane P2. Both planes P1 and P2 are parallel to the plane formed by directions D1 and D2. Planes P1 and P2 have a greater than zero distance d in direction D3. I1 Furthermore, direction D3 is perpendicular to both directions D1 and D2. That is, the transmitting antennas TX0 and TX1 are separated from the receiving antennas RX0 and RX1 by a distance d along direction D3. I1 .

[0099] Figure 6 This is a schematic diagram of an antenna configuration according to the fifth embodiment of the present invention. Please refer to... Figure 6 The difference from the first embodiment is that the transmitting antennas TX0 and TX1 are located in plane P1', and the receiving antennas RX0 and RX1 are located in plane P2'. Both planes P1' and P2' are parallel to the plane formed by directions D1 and D2. Planes P1' and P2' have a greater than zero distance d in direction D3. I2 Furthermore, direction D3 is perpendicular to both directions D1 and D2. That is, the transmitting antennas TX0 and TX1 are separated from the receiving antennas RX0 and RX1 by a distance d along direction D3. I2 .

[0100] In direction D1, the transmitting antenna TX1 has a vertical spacing d with reference line RL4. V34 The transmitting antenna TX0 and the reference line RL4 have a vertical spacing d. V44 Vertical spacing d V34 Greater than vertical spacing d V44 Furthermore, reference line RL4 is parallel to direction D2. In direction D1, compared to reference line RL4, both transmitting antennas TX0 and TX1 are located in the positive direction of D1 (as indicated by the arrow in direction D1). That is, reference line RL4 is located below transmitting antennas TX0 and TX1, and reference line RL4 is closer to transmitting antenna TX0. Vertical spacing dV34 d V44 All are greater than zero. Furthermore, the vertical spacing between the transmitting antennas TX0 and TX1 and the reference line RL4 is, for example, centered at the center of the shape described above, C. T0 C T1 Calculated based on the baseline.

[0101] Furthermore, in direction D1, there is a vertical spacing d between the receiving antenna RX0 and the reference line RL5. V54 The receiving antenna RX1 and the reference line RL5 have a vertical spacing d. V64 And the vertical spacing d V54 Less than vertical spacing d V64 In direction D1, compared to reference line RL5, both receiving antennas RX0 and RX1 are located in the positive direction of D1 (as indicated by the arrow in direction D1). That is, reference line RL5 is located below receiving antennas RX0 and RX1, and reference line RL5 is closer to receiving antenna RX0. Vertical spacing d V54 d V64 All are greater than zero. Vertical spacing d V34 Less than vertical spacing d V64 And the vertical spacing d V44 Less than vertical spacing d V54 Furthermore, the vertical spacing between the receiving antennas RX0 and RX1 and the reference line RL4 is, for example, centered at the center of the shape described above, C. R0 C R1 The calculation is based on this. Furthermore, reference lines RL4 and RL5 also have a greater than zero spacing d in direction D3. I2 .

[0102] In other embodiments, it could also be the vertical spacing d. V34 Greater than vertical spacing d V64 And the vertical spacing d V44 Greater than vertical spacing d V54 .

[0103] Below Figure 7 To explain the detailed hardware architecture of radar system 10 in more detail.

[0104] Figure 7 This is a component block diagram of a radar system 10 according to an embodiment of the present invention. Please refer to... Figure 7 The radar system 10 may include (but is not limited to) a transmitting circuit 11, transmitting antennas TX0 and TX1, receiving antennas RX0 and RX1, a receiving circuit 14, a control circuit 15, and a selection circuit 16. Furthermore, the radar system 10 may also include (but is not limited to) a signal generator 17, a modulator 18, a clock generator 19, and a processing unit 20.

[0105] The transmitting circuit 11 includes an amplifier PA and a mixer TXMIX. The amplifier PA is coupled to the mixer TXMIX. The amplifier PA is used to amplify the signal (e.g., the output signal of the mixer TXMIX). The mixer TXMIX is used to mix the signal to generate the transmitted signal. In addition, the transmitting circuit 11 may also include (but is not limited to) a filter LPF and a digital-to-analog converter DAC.

[0106] For descriptions of the transmitting antennas TX0 and TX1 and the receiving antennas RX0 and RX1, please refer to [link to relevant documentation]. Figures 1 to 6 The explanation will not be repeated here.

[0107] The receiving circuit 14 includes a low-noise amplifier (LNA) and a mixer (RXMIX). The LNA is coupled to the mixer (RXMIX). The LNA amplifies the signal (e.g., the echo signal). The mixer (RXMIX) mixes the signal (e.g., the output signal of the LNA) to generate an intermediate frequency (IF) signal. Additionally, the receiving circuit 14 may also include (but is not limited to) an intermediate frequency amplifier (IFA) and an analog-to-digital converter (ADC).

[0108] For an introduction to control circuit 15, please refer to [link / reference]. Figure 1 The explanation will not be repeated here.

[0109] In one embodiment, the selection circuit 16 is used to selectively connect one of the plurality of transmitting antennas 12. Figure 7 For example, the selection circuit 16 of the radar system 10 further includes a switching circuit 161. The switching circuit 161 may be composed of one or more electrical components such as multiplexers and switches, and this embodiment of the invention is not limited thereto.

[0110] In one embodiment, the switching circuit 161 can switch between two transmitting antennas TX0 and TX1 to transmit the transmission signal generated by the transmitting circuit 11 to the transmitting antenna TX0 or the transmitting antenna TX1.

[0111] In one embodiment, the selection circuit 16 is used to selectively connect one of the plurality of receiving antennas 13. Figure 7 For example, the selection circuit 16 of the radar system 10 includes a switching circuit 162. The switching circuit 162 may be composed of one or more electrical components such as multiplexers and switches, and this embodiment of the invention does not impose any limitations.

[0112] In one embodiment, the switching circuit 162 can switch between the two receiving antennas RX0 and RX1 to transmit the echo signals received by the two receiving antennas RX0 and RX1 respectively to the receiving circuit 14.

[0113] In one embodiment, the selection circuit 16 may also achieve selective connection by disabling unused transmitting antennas in transmitting antennas TX0 and TX1, and / or by disabling unused receiving antennas in receiving antennas RX0 and RX1.

[0114] Signal generator 17 is coupled to transmitting circuit 11, receiving circuit 14, and control circuit 15. In one embodiment, control circuit 15 is coupled to transmitting circuit 11 via signal generator 17. In another embodiment, control circuit 15 is directly connected to transmitting circuit 11.

[0115] In this embodiment, the signal generator 17 is, for example, a frequency synthesizer, used to generate a continuous wave signal. In another embodiment, the signal generator 17 may also be a pulse generator, used to generate a pulse signal.

[0116] The signal generator 17 is used to generate a first signal and provide the first signal to the transmitting circuit 11, the receiving circuit 14, and the control circuit 15. In this embodiment, the first signal is, for example, a continuous wave signal.

[0117] Modulator 18 can be implemented by an N-order (N is a positive integer greater than zero) oversampling modulator or an N-bit Nyquist frequency sampler.

[0118] A clock generator 19 is coupled to a signal generator 17, a modulator 18, and an analog-to-digital converter (ADC). The clock generator 19 generates a clock signal (or a local oscillation signal). The signal generator 17 generates a first signal with a period based on the clock signal. The control circuit 15 synchronizes the first signal based on the clock signal. Furthermore, the synchronization of the first signal can be considered as the period of one or more control signals remaining constant and the period of the first signal having a fixed overlap range. For example, the switching or changing period of the control signal can be the same as the period of the first signal; or, the switching or changing time of the control signal can be synchronized with the start or end point of the period of the first signal by shifting forward or backward by a predetermined time; or, the switching or changing time of the control signal can be synchronized with the start or end point of the period of the first signal.

[0119] Modulator 18 oversamples and modulates the clock signal to generate a sine-like digital signal, and drives a digital-to-analog converter (DAC) to generate an analog sine wave signal. Then, filter LPF performs low-pass filtering on the analog sine wave signal to form the sine wave signal input to mixer TXMIX. Mixer TXMIX mixes (e.g., up-converts) the sine wave signal based on a first signal (e.g., a continuous wave signal) from signal generator 17 to form the transmission signal.

[0120] The transmitted signal will be emitted through transmitting antenna 12. Figure 7 In other words, the transmitted signal will be transmitted through the transmitting antenna TX0 or TX1 that is turned on / off by the switching circuit 162.

[0121] On the other hand, the echo signal is received through receiving antenna 13. Figure 7 The echo signal is received by the receiving antenna RX0 or RX1, which is switched on / off by the switching circuit 162. The low-noise amplifier (LNA) amplifies the echo signal received by the receiving antenna RX0 or RX1, and the mixer RXIIX mixes (e.g., down-converts) the amplified signal based on the first signal (e.g., a continuous wave signal) generated by the signal generator 17 to generate an intermediate frequency (IF) signal. The intermediate frequency amplifier (IFA) is used for amplifying the IF signal and filtering.

[0122] The processing processor 20 is coupled to the receiving circuit 14. More specifically, the processing processor 20 is coupled to the analog-to-digital converter (ADC) in the receiving circuit 14 and receives the baseband signal DO. The processing processor 20 can be a chip, processor, microcontroller, application-specific integrated circuit (ASIC), or any type of digital circuit.

[0123] Figure 8 This is a schematic diagram illustrating the positional relationship between transmitting antennas TX0 and TX1 and an external object O according to an embodiment of the present invention. Please refer to... Figure 8 The radar system 10 can transmit signals to an external object O (also known as a target) via transmitting antennas TX0 and TX1. In direction D1, the two transmitting antennas TX0 and TX1 have a vertical distance d between them. V1 The vertical spacing d can be adjusted. V1 Considered as d V Assuming the propagation distance of the transmitted signal from transmitting antenna TX0 to external object O is distance R, then the propagation distance of the transmitted signal from transmitting antenna TX1 to external object O is distance Rd. Vsinφ. Angle φ is the angle between the wave ray that transmits the signal from the transmitting antennas TX0 and TX1 to the external object O and the direction D1.

[0124] Figure 9 This is a schematic diagram illustrating the positional relationship between the receiving antennas RX0 and RX1 and the external object O according to an embodiment of the present invention. Please refer to... Figure 8 The radar system 10 can receive echo signals reflected from an external object O (also known as a target) via receiving antennas RX0 and RX1. In direction D2, the two receiving antennas RX0 and RX1 have a horizontal distance d between them. H2 The horizontal spacing d can be adjusted. H2 Considered as d H Assuming the distance R from the external object O to the transmitting antenna RX0 is the propagation distance of the echo signal, then the distance R+d from the external object O to the receiving antenna RX1 is the propagation distance. H sinθ. Angle of Arrival (AoA)θ is the angle between the echo signal propagating from the external object O to the receiving antennas RX0 and RX1 and the direction D2.

[0125] Please refer to Figure 8 and Figure 9 The transmitting antenna TX0 transmits a continuous wave signal of one frame (corresponding to one or more periods). By performing a two-dimensional Fast Fourier Transform (FFT) on the fundamental frequency signals corresponding to the two receiving antennas RX0 and RX1, two peaks at the same distance (corresponding to the position of the external object) but with different phases can be obtained. The phase difference (ω) between these two peaks can then be used to estimate the angle of arrival θ of the external object.

[0126]

[0127] λ is the wavelength, d H2 The horizontal distance between the two receiving antennas RX0 and RX1 is denoted as RX0.

[0128] In one embodiment, a signal frame time includes multiple transmit / receive cycles, which correspond to the cycles of the first signal and / or the transmitted signal.

[0129] In one embodiment, the selection circuit 16 is used to receive one or more control signals and to select one of a plurality of transmitting antennas 12 to transmit a transmission signal based on the one or more control signals, and to select one of a plurality of receiving antennas 13 to receive an echo signal to form a radio frequency signal.

[0130] by Figure 8For example, the control signal for transmitting antenna TX0 is coded as "0" and indicates that only transmitting antenna TX0 is turned on / selected / used (the transmitted signal is transmitted only through transmitting antenna TX0). The control signal for transmitting antenna TX1 is coded as "1" and indicates that only transmitting antenna TX1 is turned on / selected / used (the transmitted signal is transmitted only through transmitting antenna TX1). When the control signal is "0", switching circuit 161 switches to transmitting antenna TX0. When the control signal is "1", switching circuit 161 switches to transmitting antenna TX1.

[0131] by Figure 9 For example, the control signal for the receiving antenna RX0 is coded as "0" and indicates that only the receiving antenna RX0 is turned on / selected / used (only the echo signal from the receiving antenna RX0 is received by the receiving circuit 14, and the signal transmitted from the receiving antenna RX1 to the receiving circuit 14 is interrupted). The control signal for the receiving antenna RX1 is coded as "1" and indicates that only the receiving antenna RX1 is turned on / selected / used (only the echo signal from the receiving antenna RX1 is received by the receiving circuit 14, and the signal transmitted from the receiving antenna RX0 to the receiving circuit 14 is interrupted). When the control signal is "0", the switching circuit 162 switches to the receiving antenna RX0. When the control signal is "1", the switching circuit 162 switches to the receiving antenna RX1.

[0132] Please refer to Figure 7 The amplifier PA is coupled to one of the plurality of transmitting antennas 12 via the selection circuit 16 according to one or more control signals. For example, the switching circuit 161 switches to the transmitting antenna TX0, coupling the amplifier PA to the transmitting antenna TX0; or, the switching circuit 161 switches to the transmitting antenna TX1, coupling the amplifier PA to the transmitting antenna TX1. Furthermore, the low-noise amplifier LNA is coupled to one of the plurality of receiving antennas 13 via the selection circuit 16 according to one or more control signals. For example, the switching circuit 162 switches to the receiving antenna RX0, coupling the low-noise amplifier LNA to the receiving antenna RX0; or, the switching circuit 162 switches to the receiving antenna RX1, coupling the low-noise amplifier LNA to the receiving antenna RX1.

[0133] Please refer to Figure 10 The duration of any level or code (e.g., high level, low level, "0" or "1") of control signals SW1 and SW2 corresponds to the period of the first signal or transmitted signal. For example, one level or code corresponds to a sawtooth wave of the first signal FS. The switching time between two adjacent codes of control signals SW1 and SW2 is, for example, located at the beginning, end, or end point of the period of the first signal FS, or the switching time between two adjacent codes of control signals SW1 and SW2 may also be located at the beginning, end, or end point of the period of the first signal FS shifted forward or backward by a predetermined time. Figure 7As shown, the transmission signal is generated based on the control signal, which in turn is generated based on the first signal generated by the signal generator 17, and the first signal is generated based on the clock signal provided by the clock generator 19. Therefore, the switching time and period of the control signal can be synchronized with both the first signal and the transmission signal.

[0134] In one embodiment, a signal frame time includes multiple transmit / receive cycles, which correspond to the cycles of the first signal and / or the transmitted signal.

[0135] For example, Figure 10 This is a timing diagram illustrating the signals according to an embodiment of the present invention. Please refer to... Figure 10 The first signal is, for example, a continuous wave signal, represented as a chirped signal (frequency changing over time). In this embodiment, the period of the first signal is, for example, the frequency variation period of the first signal. The continuous wave signal mixes with the sine wave signal to form the transmission signal. In this example, the first signal FS is presented as a sawtooth wave with frequency variation. Within one sweep period T of the sawtooth wave, its frequency increases / rises with time in the rising phase and drops directly to the trough in the falling phase. One signal frame time includes, for example, four transmit / receive cycles. Each transmit / receive cycle may include, for example, one cycle of the first signal FS. That is, each transmit / receive cycle is, for example, one sweep period T of the sawtooth wave. However, the ratio of the signal frame time, transmit / receive cycles, and sweep periods may vary.

[0136] In one embodiment, the selection circuit 16 is configured to select only one of a plurality of transmit antennas 12 to transmit a transmitted signal in each transmit / receive cycle during the signal frame time, based on one or more control signals, and to select only one of a plurality of receive antennas to receive an echo signal in each transmit / receive cycle during the signal frame time. Figure 10 For example, the control signal SW1 for the transmitting antenna 12 can be low (e.g., corresponding to code "0") and indicates that only the transmitting antenna TX0 is turned on / selected / used. Conversely, the control signal SW1 for the transmitting antenna 12 can be high (e.g., corresponding to code "1") and indicates that only the transmitting antenna TX1 is turned on / selected / used. On the other hand, the control signal SW2 for the receiving antenna 13 can be low (e.g., corresponding to code "0") and indicates that only the receiving antenna RX0 is turned on / selected / used. Conversely, the control signal SW2 for the receiving antenna 13 can be high (e.g., corresponding to code "1") and indicates that only the receiving antenna RX1 is turned on / selected / used.

[0137] Please refer to Figure 10The signal frame time includes a first transmit / receive cycle, a second transmit / receive cycle, a third transmit / receive cycle, and a fourth transmit / receive cycle. Selection circuit 16 is used to select, based on one or more control signals, the transmitting antenna TX0 (corresponding to control signal SW1 being low) and the receiving antenna RX0 (corresponding to control signal SW2 being low) in the first transmit / receive cycle (corresponding to the sweep cycle T of the second sawtooth wave from the left), the transmitting antenna TX0 (corresponding to control signal SW1 being low) and the receiving antenna RX1 (corresponding to control signal SW2 being high) in the second transmit / receive cycle (corresponding to the sweep cycle T of the third sawtooth wave from the left), the transmitting antenna TX1 (corresponding to control signal SW1 being high) and the receiving antenna RX1 (corresponding to control signal SW2 being high) in the third transmit / receive cycle (corresponding to the sweep cycle T of the fourth sawtooth wave from the left), and the transmitting antenna TX1 (corresponding to control signal SW1 being high) and the receiving antenna RX0 (corresponding to control signal SW2 being low) in the fourth transmit / receive cycle (corresponding to the sweep cycle T of the fourth sawtooth wave from the left).

[0138] Please refer to Figure 7 and Figure 10 The internal signals generated by the receiving circuit 14 based on the radio frequency signal include a first internal signal, a second internal signal, a third internal signal, and a fourth internal signal. The receiving circuit 14 generates the first internal signal corresponding to the first transmit / receive cycle, the second internal signal corresponding to the second transmit / receive cycle, the third internal signal corresponding to the third transmit / receive cycle, and the fourth internal signal corresponding to the fourth transmit / receive cycle.

[0139] More specifically, in the first transmit / receive cycle, the switching circuit 162 receives the radio frequency signal INR0 (e.g., mathematically expressed as x) from the receiving antenna RX0. 0,4n-4 (t)) and the radio frequency signal INR1 received by the receiving antenna RX1 (e.g., mathematically expressed as x 1,4n-4 (t) selects the radio frequency signal INR0 and outputs the selected radio frequency signal RD (equal to x). 0,4n-4 (t)). n is a positive integer. The receiving circuit 14 generates an internal signal BD based on the radio frequency signal RD (e.g., mathematically represented as v corresponding to the time domain). 4n-4 (m)) and internal signal FD (e.g., mathematically represented as V corresponding to the frequency domain). 4n-4 (k)). In the second transmit / receive cycle, the switching circuit 162 receives the radio frequency signal INR0 (e.g., mathematically expressed as x) from the receiving antenna RX0. 0,4n-3 (t)) and the radio frequency signal INR1 received by the receiving antenna RX1 (e.g., mathematically expressed as x 1,4n-3 (t) Select the radio frequency signal INR1 and output the selected radio frequency signal RD (equal to x)1,4n-3 (t)). The receiving circuit 14 generates an internal signal BD based on the radio frequency signal RD (e.g., mathematically expressed as v corresponding to the time domain). 4n-1 (m) and internal signal FD (e.g., mathematically represented as V corresponding to the frequency domain). 4n-3 (k)). In the third transmit / receive cycle, the switching circuit 162 receives the radio frequency signal INR0 (e.g., mathematically expressed as x) from the receiving antenna RX0. 2,4n-2 (t)) and the radio frequency signal INR1 received by the receiving antenna RX1 (e.g., mathematically expressed as x 3,4n-2 (t) Select the radio frequency signal INR1 and output the selected radio frequency signal RD (equal to x) 3,4n-2 (t)). The receiving circuit 14 generates an internal signal BD based on the radio frequency signal RD (e.g., mathematically expressed as v corresponding to the time domain). 4n-2 (m) and internal signal FD (e.g., mathematically represented as V corresponding to the frequency domain). 4n-2 (k)). In the fourth transmit / receive cycle, the switching circuit 162 receives the radio frequency signal INR0 (e.g., mathematically expressed as x) from the receiving antenna RX0. 2,4n-1 (t)) and the radio frequency signal INR1 received by the receiving antenna RX1 (e.g., mathematically expressed as x 3,4n-1 (t) selects the radio frequency signal INR0 and outputs the selected radio frequency signal RD (equal to x). 2,4n-1 (t)). The receiving circuit 14 generates an internal signal BD based on the radio frequency signal RD (e.g., mathematically expressed as v corresponding to the time domain). 4n-1 (m) and internal signal FD (e.g., mathematically represented as V corresponding to the frequency domain). 4n-1 (k)).

[0140] The processing unit 20 determines the spatial information of an external object based on a first internal signal, a second internal signal, a third internal signal, and a fourth internal signal. In one embodiment, the spatial information of the external object includes movement information. For example, Figure 8 Movement information in direction D1 as shown, or Figure 9 The movement information is shown in direction D2. The movement information represents the positional change between two time points and may include the relative distance and direction between the two time points. The processing processor 20 can obtain the spectral information of the fundamental frequency signal DO corresponding to different internal signals through Fast Fourier Transform or other time-domain to frequency-domain conversions. The amplitude of the spectral information corresponds to the distance information. Taking a power spectrum diagram as an example, assuming the echo signal is obtained through reflection from an external object, each internal signal will have a peak at the position of this external object (or its distance from this external object). If any distance-corresponding peak value is greater than the amplitude threshold, it is determined that an external object exists, and the distance information (e.g., ...) is determined accordingly. Figure 8 or Figure 9 The distance R).

[0141] by Figure 2D , Figures 8 to 10 For example, the vertical spacing d can be... V1 and vertical spacing d V2 Consider all of them as d V And the horizontal spacing d can be adjusted. H1 and horizontal spacing d H2 Consider all of them as d H During the first transmission and reception period, the round-trip distance from the transmitting antenna TX0 through an external object to the receiving antenna RX0 is 2R. During the second transmission and reception period, the round-trip distance from the transmitting antenna TX0 through an external object to the receiving antenna RX1 is 2R+d. H sinθ-d V sinφ, the round trip distance from the transmitting antenna TX1 through the external object to the receiving antenna RX1 during the third transmission and reception period is 2R+2d. H sinθ, and the round-trip distance from the transmitting antenna TX1 through the external object to the receiving antenna RX0 during the fourth transmission and reception period is 2R+d. H sinθ+d V sinφ. The change in distance between two points in time yields the motion information. For example, the aforementioned radio frequency signal x 1,4n-3 (t) and radio frequency signal x 2,4n-1 The phase difference between (t) in direction D1 is 2d. V sinφ, or the aforementioned radio frequency signal x 0,4n-4 (t) and radio frequency signal x 3,4n-2 The phase difference between (t) in direction D2 is 2d. H sinθ. On the other hand, with Figure 3 , Figures 8 to 10 For example, the vertical spacing d can be... V1 and vertical spacing d V2 Consider all of them as d V And the horizontal spacing d can be adjusted. H1 and horizontal spacing d H2 Consider all of them as d H During the first transmission and reception period, the round-trip distance from the transmitting antenna TX0 through an external object to the receiving antenna RX0 is 2R. During the second transmission and reception period, the round-trip distance from the transmitting antenna TX0 through an external object to the receiving antenna RX1 is 2R+d. H sinθ+d V sinφ, the round trip distance from the transmitting antenna TX1 through the external object to the receiving antenna RX1 during the third transmission and reception period is 2R+2d. Hsinθ, and the round-trip distance from the transmitting antenna TX1 through the external object to the receiving antenna RX0 during the fourth transmission and reception period is 2R+d. H sinθ-d V sinφ. The change in distance between two points in time yields the motion information. For example, the aforementioned radio frequency signal x 1,4n-3 (t) and radio frequency signal x 2,4n-1 The phase difference between (t) in direction D1 is 2d. V sinφ, or the aforementioned radio frequency signal x 0,4n-4 (t) and radio frequency signal x 3,4n-2 The phase difference between (t) in direction D2 is 2d. H sinθ. It is worth noting that the round-trip distance can vary in calculation due to differences in the relative positions of external objects with the transmitting antenna TX0, transmitting antenna TX1, receiving antenna RX0, and receiving antenna RX1. However, the phase difference obtained from subsequent calculations will remain the same. For example, in... Figure 2D Implementation Examples and Figure 3 In this embodiment, the round-trip distance calculation results are different during the second transmission and reception period and different during the fourth transmission and reception period, but the phase difference formed in direction D1 is 2d in both cases. V sinφ.

[0142] Alternatively, the processor 20 can convert multiple echo signals into spatial spectrum information to determine angle information. A peak in the spatial spectrum information corresponds to the angle information. The angle information is, for example, the angle of arrival θ mentioned above. Angle of Arrival (AoA) estimation algorithms are, for example, the Multiple Signal Classification Algorithm (MUSIC), the Root-MUSIC algorithm, or the Estimation of Signal Parameters via Rotational Invariance Techniques (ESPRIT) algorithm. The aforementioned radio frequency signal x... 1,4n-3 (t) and radio frequency signal x 2,4n-1 The difference between (t) 2d V sinφ can be used to determine the angle φ, and the above-mentioned radio frequency signal x 0,4n-4 (t) and radio frequency signal x 3,4n-2 The difference between (t) 2d H sinθ can be used to determine the angle of arrival θ. The change in angle between two time points also yields movement information. This allows for position detection in three-dimensional space. The difference in direction D1 is 2d. Vsinφ can also be applied to the recognition of gestures or body postures. Furthermore, the radar system 10 of this embodiment is configured such that the two transmitting antennas TX0 and TX1 have a vertical distance d in the direction D1. V1 The two receiving antennas RX0 and RX1 have a vertical spacing d in direction D1. V2 The two transmitting antennas TX0 and TX1 have a horizontal distance d between them in direction D2. H1 The two receiving antennas RX0 and RX1 have a horizontal spacing d in direction D2. H2 The vertical spacing d can be adjusted. V1 and vertical spacing d V2 Consider all of them as d V And the horizontal spacing d can be adjusted. H1 and horizontal spacing d H2 Consider all of them as d H This configuration can produce 2D V The vertical phase difference of sinφ, meaning that this embodiment can increase the phase difference in direction D1 by configuring the transmitting and receiving antennas, thus distinguishing noise in the signal and reducing the chance of false detection of objects. Furthermore, in addition to the above-mentioned vertical spacing d in direction D1 between the two transmitting antennas TX0 and TX1 and between the two receiving antennas RX0 and RX1, this also increases the vertical spacing d between them. V This can generate 2D V Characteristics of the phase difference of sinφ Figure 2D Implementation Examples and Figure 3 In this embodiment, the transmitting antenna TX1 and the receiving antenna RX1 are located at the same horizontal level in direction D1 (i.e., vertical distance d). V31 Equal to vertical spacing d V61 Vertical spacing d V32 Equal to vertical spacing d V62 The transmitting antenna TX0 and the receiving antenna RX0 are located at the same horizontal level in direction D1 (i.e., the vertical distance d). V41 Equal to vertical spacing d V51 Vertical spacing d V42 Equal to vertical spacing d V52 Therefore, compared with conventional techniques, this method achieves a higher target phase difference when using the present invention. Figure 2D Implementation Examples and Figure 3 The antenna configuration of the embodiment can further reduce the thickness of the radar system 10 in direction D1.

[0143] In one embodiment, the transmit antenna 12 (e.g., transmit antenna TX0 or TX1) and the receive antenna 13 (e.g., receive antenna RX0 or RX1) that are turned on / selected / used during a transmit / receive cycle form a transmit / receive pairing. For example, Figure 10The "TX0+RX0" combination for the first transmit / receive cycle represents the transmit / receive pairing of the transmitting antenna TX0 and the receiving antenna RX0. The "TX0+RX1" combination for the second transmit / receive cycle represents the transmit / receive pairing of the transmitting antenna TX0 and the receiving antenna RX1. The "TX1+RX1" combination for the third transmit / receive cycle represents the transmit / receive pairing of the transmitting antenna TX1 and the receiving antenna RX1. The "TX1+RX0" combination for the fourth transmit / receive cycle represents the transmit / receive pairing of the transmitting antenna TX1 and the receiving antenna RX0. However, the order of the transmit / receive pairings is not limited to the examples above. For instance, the transmit / receive pairing for the first transmit / receive cycle could be "TX1+RX0", the second transmit / receive cycle could be "TX1+RX1", the third transmit / receive cycle could be "TX0+RX1", and the fourth transmit / receive cycle could be "TX0+RX0".

[0144] Furthermore, the present invention provides another embodiment, for example Figure 11 . Figure 11 This is a component block diagram of a radar system 110 according to an embodiment of the present invention. Please refer to... Figure 11 The radar system 110 includes (but is not limited to) a transmitting circuit 11, multiple transmitting antennas 12, multiple receiving antennas 13, a receiving circuit 14, a control circuit 15, and a selection circuit 16. The radar system 110 can be applied, for example, to meteorological, speed measurement, reversing, terrain observation, and military applications.

[0145] Transmitting circuit 11 is used to generate a transmitted signal. Multiple transmitting antennas 12 are used to transmit the transmitted signal. Multiple receiving antennas 13 are used to receive multiple echo signals to form multiple radio frequency signals, and these echo signals are generated by the reflection of the transmitted signal from an external object. Receiving circuit 14 is used to generate internal signals based on these radio frequency signals. Control circuit 15 is used to generate one or more control signals.

[0146] The functions and implementation methods of the transmitting circuit 11, multiple transmitting antennas 12, multiple receiving antennas 13, receiving circuit 14, control circuit 15, and selection circuit 16 can be referred to respectively. Figure 1 The descriptions of the corresponding components will not be repeated here. Figure 1 The difference between radar system 10 and radar system 110 is that radar system 110's selection circuit 16 connects only multiple transmitting antennas 12, but not multiple receiving antennas 13. For example, radar system 110 does not include... Figure 7The switching circuit 162 is used. The selection circuit 16 is used to receive one or more control signals and to select one of the multiple transmitting antennas 12 to transmit the transmission signal based on the one or more control signals. In this embodiment, the selection circuit 16 selects one of the multiple transmitting antennas 12, which take turns generating and transmitting the transmission signal in a time-division multiplexing manner. On the other hand, multiple receiving antennas (e.g., RX0, RX1 described later) simultaneously receive the corresponding echo signals.

[0147] Furthermore, in this embodiment, the plurality of transmitting antennas 12 include two transmitting antennas TX0 and TX1. The plurality of receiving antennas 13 include two receiving antennas RX0 and RX1. The transmitting antennas TX0 and TX1 are vertically spaced in one direction and horizontally spaced in another direction. The receiving antennas RX0 and RX1 are vertically spaced in one direction and horizontally spaced in another direction. These two directions are perpendicular to each other. The vertical distance between the two transmitting antennas TX0 and TX1 is equal to the vertical distance between the two receiving antennas RX0 and RX1. The horizontal distance between the two transmitting antennas TX0 and TX1 is equal to the horizontal distance between the two receiving antennas RX0 and RX1. These vertical and horizontal distances are all greater than zero. Figures 2A to 2D and Figures 3 to 6 The antenna configuration will not be described in detail here.

[0148] In summary, the radar system of this embodiment of the invention has spacing between the two transmitting antennas in two mutually perpendicular directions, and also spacing between the two receiving antennas in two mutually perpendicular directions. With this antenna configuration, by switching one of the multiple transmitting antennas and one of the multiple receiving antennas at different times, a phase difference corresponding to one direction or another direction can be formed in the echo signals between two time points. This enables object detection in three-dimensional space. Furthermore, when applied to gesture or body posture recognition, the antenna configuration increases the phase difference in the vertical direction to distinguish noise in the signal, thereby reducing the chance of false positives in object detection. Moreover, when the transmitting antenna TX0 and the receiving antenna RX0 are at the same level in direction D1, and the transmitting antenna TX1 and the receiving antenna RX1 are at the same level in direction D1, the thickness of the radar system 10 in direction D1 can be further reduced. In other embodiments, under the antenna configuration described above, object detection in three-dimensional space can also be achieved by switching one of the multiple transmitting antennas at different times and simultaneously using multiple receiving antennas to receive multiple echo signals. Furthermore, the antenna configuration described above can increase the phase difference in the vertical direction to reduce the chance of false detection of objects.

[0149] Although the present invention has been disclosed above with reference to embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make some modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A radar system, characterized in that, include: Multiple transmitting antennas are used to transmit a signal; as well as Multiple receiving antennas are used to receive an echo signal to form a radio frequency signal, wherein the echo signal is generated by the transmission signal being reflected by an external object; as well as The transmitting antennas include a first transmitting antenna and a second transmitting antenna, which are used to transmit the transmitted signal at different times. The receiving antennas include a first receiving antenna and a second receiving antenna, which are used to receive the echo signal at different times. The first transmitting antenna and the second transmitting antenna have a first vertical spacing in a first direction and a first horizontal spacing in a second direction. The first receiving antenna and the second receiving antenna have a second vertical spacing in the first direction and a second horizontal spacing in the second direction. The first direction is perpendicular to the second direction. The first vertical spacing is equal to the second vertical spacing. The first horizontal spacing is equal to the second horizontal spacing. All three spacings are greater than zero.

2. The radar system according to claim 1, characterized in that, The first vertical spacing and the first horizontal spacing are the spacings between the shape centers of the first transmitting antenna and the shape centers of the second transmitting antenna in the first direction and the second direction, respectively, and the second vertical spacing and the second horizontal spacing are the spacings between the shape centers of the first receiving antenna and the shape centers of the second receiving antenna in the first direction and the second direction, respectively.

3. The radar system according to claim 1, characterized in that, In the first direction, there is a third vertical spacing between the first transmitting antenna and a reference line, and a fourth vertical spacing between the second transmitting antenna and the reference line. The third vertical spacing is greater than the fourth vertical spacing, and the reference line is parallel to the second direction.

4. The radar system according to claim 3, characterized in that, In the first direction, there is a fifth vertical spacing between the first receiving antenna and the reference line, and a sixth vertical spacing between the second receiving antenna and the reference line, wherein the fifth vertical spacing is smaller than the sixth vertical spacing.

5. The radar system according to claim 4, characterized in that, The third vertical spacing is equal to the sixth vertical spacing, and the fourth vertical spacing is equal to the fifth vertical spacing.

6. The radar system according to claim 4, characterized in that, The third vertical spacing is greater than the sixth vertical spacing and the fourth vertical spacing is greater than the fifth vertical spacing, or the third vertical spacing is less than the sixth vertical spacing and the fourth vertical spacing is less than the fifth vertical spacing.

7. The radar system according to claim 1, characterized in that, The transmitting antennas and the receiving antennas are mirror images of each other with respect to an axis of symmetry, and the axis of symmetry is parallel to the first direction.

8. The radar system according to claim 1, characterized in that, The first transmitting antenna and the second transmitting antenna are located in a first plane, and the first receiving antenna and the second receiving antenna are located in a second plane, wherein the first plane is parallel to the second plane, the first plane and the second plane have a greater than zero distance in a third direction, and the third direction is perpendicular to the first direction and the second direction, respectively.

9. The radar system according to claim 1, characterized in that, The first vertical spacing is less than or equal to λ / 2, the second vertical spacing is less than or equal to λ / 2, and λ is the wavelength of the transmitted signal.

10. The radar system according to claim 9, characterized in that, The first vertical spacing is greater than or equal to λ / 8, and the second vertical spacing is greater than or equal to λ / 8.

11. The radar system according to claim 1, characterized in that, The first horizontal spacing is less than or equal to λ / 2, the second horizontal spacing is less than or equal to λ / 2, and λ is the wavelength of the transmitted signal.

12. The radar system according to claim 11, characterized in that, The first horizontal spacing is greater than or equal to λ / 8, and the second horizontal spacing is greater than or equal to λ / 8.

13. The radar system according to claim 1, characterized in that, The first vertical spacing is smaller than the first horizontal spacing, and the second vertical spacing is smaller than the second horizontal spacing.

14. The radar system according to claim 1, characterized in that, Also includes: A transmitting circuit for generating the transmitted signal; A receiving circuit for generating an internal signal based on the radio frequency signal; A control circuit used to generate one or more control signals; as well as A selection circuit is configured to receive one or more control signals and select one of the transmitting antennas to transmit the transmitted signal based on the one or more control signals, and to select one of the receiving antennas to receive the echo signal to form the radio frequency signal.

15. The radar system according to claim 14, characterized in that, The one or more control signals change in accordance with the period of a first signal, wherein the first signal is a continuous wave signal or a pulse signal.

16. The radar system according to claim 14, characterized in that, A signal frame time includes multiple transmit and receive cycles. The selection circuit is configured to select only one of the transmitting antennas in each transmit and receive cycle during the signal frame time to transmit the transmitted signal, based on one or more control signals, and to select only one of the receiving antennas in each transmit and receive cycle during the signal frame time to receive the echo signal.

17. The radar system according to claim 16, characterized in that, The signal frame time includes a first transmit / receive cycle, a second transmit / receive cycle, a third transmit / receive cycle, and a fourth transmit / receive cycle. The selection circuit is used to select the first transmitting antenna and the first receiving antenna in the first transmit / receive cycle, the first transmitting antenna and the second receiving antenna in the second transmit / receive cycle, the second transmitting antenna and the first receiving antenna in the third transmit / receive cycle, and the second transmitting antenna and the second receiving antenna in the fourth transmit / receive cycle, based on one or more control signals.

18. The radar system according to claim 17, characterized in that, It also includes a processing unit coupled to the receiving circuit, wherein the receiving circuit generates a first internal signal corresponding to the first transmit / receive cycle, generates a second internal signal corresponding to the second transmit / receive cycle, generates a third internal signal corresponding to the third transmit / receive cycle, and generates a fourth internal signal corresponding to the fourth transmit / receive cycle. The internal signals include the first internal signal, the second internal signal, the third internal signal, and the fourth internal signal. The processing unit is used to determine a spatial information of the external object based on the first internal signal, the second internal signal, the third internal signal, and the fourth internal signal.

19. The radar system according to claim 18, characterized in that, The spatial information includes movement information in the first direction and the second direction.

20. The radar system according to claim 14, characterized in that, The transmitting circuit further includes an amplifier coupled to one of the transmitting antennas via the selection circuit according to one or more control signals, and the receiving circuit further includes a low-noise amplifier coupled to one of the receiving antennas via the selection circuit according to one or more control signals.

21. A radar system, characterized in that, include: A transmitting circuit for generating a transmission signal; Multiple transmitting antennas are used to transmit the transmitted signal; Multiple receiving antennas are used to receive an echo signal to form a radio frequency signal, wherein the echo signal is generated by the transmission signal being reflected by an external object; A receiving circuit for generating an internal signal based on the radio frequency signal; A control circuit for generating one or more control signals; and A selection circuit is configured to receive one or more control signals and select one of the transmitting antennas to transmit the transmitted signal based on the one or more control signals, and select one of the receiving antennas to receive the echo signal to form the radio frequency signal. The transmitting antennas include a first transmitting antenna and a second transmitting antenna, and the receiving antennas include a first receiving antenna and a second receiving antenna. The first transmitting antenna and the second transmitting antenna have a first vertical spacing in a first direction and a first horizontal spacing in a second direction. The first receiving antenna and the second receiving antenna have a second vertical spacing in the first direction and a second horizontal spacing in the second direction. The first direction is perpendicular to the second direction. The first vertical spacing is equal to the second vertical spacing, and the first horizontal spacing is equal to the second horizontal spacing. All three spacings are greater than zero.

22. A radar system, characterized in that, include: A transmitting circuit for generating a transmission signal; Multiple transmitting antennas are used to transmit the transmitted signal; Multiple receiving antennas are used to receive multiple echo signals to form multiple radio frequency signals, wherein the echo signals are generated by the transmission signal being reflected by an external object; A receiving circuit for generating an internal signal based on the aforementioned radio frequency signals; A control circuit for generating one or more control signals; and A selection circuit is used to receive the one or more control signals and to select one of the transmitting antennas to transmit the transmitted signal based on the one or more control signals; The transmitting antennas include a first transmitting antenna and a second transmitting antenna, and the receiving antennas include a first receiving antenna and a second receiving antenna. The first transmitting antenna and the second transmitting antenna have a first vertical spacing in a first direction and a first horizontal spacing in a second direction. The first receiving antenna and the second receiving antenna have a second vertical spacing in the first direction and a second horizontal spacing in the second direction. The first direction is perpendicular to the second direction. The first vertical spacing is equal to the second vertical spacing, and the first horizontal spacing is equal to the second horizontal spacing. All three spacings are greater than zero.

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