Antenna device and radar device

Abstract

An antenna device and a radar capable of improving feeding efficiency are provided. The antenna device of the present invention includes a waveguide that transmits a signal, a plurality of opening portions that are arranged in a column shape in a waveguide direction of the waveguide and are alternately offset along the waveguide direction, and a plurality of radiating elements that are arranged corresponding to the plurality of opening portions and receive the signal from the waveguide via the plurality of opening portions.

Description

Technical Field

[0001] This invention relates to antenna devices and radar devices. Background Technology

[0002] The frequencies used in automotive radar primarily utilize the 76-77 GHz band for long-range detection and the 24 GHz band for short-range detection. While the short-range detection band offers a wide bandwidth and high range resolution, it suffers from power limitations, leading to a plan to shift to the 77-81 GHz band. In this case, the 76-77 GHz band for long-range detection and the shifted 77-81 GHz band for short-range detection are continuous frequencies; therefore, an IC (Integrated Circuit) chip covering a 5 GHz bandwidth of 76-81 GHz is also provided. Patent Document 1 discloses a microstrip antenna that, as an antenna suitable for mounting in automobiles, etc., eliminates the losses caused by a power divider by eliminating the need for one, thereby achieving high radiation efficiency. Existing technical documents Patent documents

[0003] Patent Document 1: International Publication No. 2021 / 100307

[0004] However, the microstrip antenna in Patent Document 1 is fed via a microstrip line, resulting in feeding losses caused by the microstrip line and other factors. Furthermore, a phase adjustment mechanism needs to be incorporated into the microstrip line, complicating the device structure. Summary of the Invention

[0005] In this invention, an antenna device and a radar device capable of improving power feeding efficiency are provided.

[0006] The antenna device of the present invention includes: a waveguide for transmitting signals; a plurality of openings arranged in a row along the waveguide direction of the waveguide and the plurality of openings being alternately offset along the waveguide direction; and a plurality of radiating elements arranged corresponding to the plurality of openings and receiving the signals from the waveguide via the plurality of openings. Attached Figure Description

[0007] Figure 1A This is a cross-sectional view showing the structure of the antenna device according to an embodiment of the present invention. Figure 1B This is a diagram of the second conductor layer in the antenna device viewed from above along the positive z-axis. Figure 1C This is a top view of the antenna device viewed from the positive z-axis direction. Figure 2 yes Figure 1CA cross-sectional view at line L2-L2. Figure 3 This is a diagram showing the antenna device from a perspective view along the positive z-axis. Figure 4 This is a magnified 3D view of a portion of the antenna device. Figure 5 It is a diagram showing the path of a signal transmitted within a waveguide. Figure 6 This is an explanatory diagram of angles Phi and Theta. Figure 7 It is a waveform diagram showing the angular characteristics (Theta) of the total gain in the XZ plane (Phi=0deg.) and YZ plane (Phi=90deg.). Figure 8 It is a polar coordinate graph representing a radiation pattern. Figure 9 This is a diagram illustrating an example of the overall shape of the radiation pattern of an antenna device. Figure 10 This is a diagram illustrating a structural example of the antenna device according to Modification 1 of the present invention. Figure 11 This is a diagram illustrating an example of the arrangement of radiating elements and slots in an antenna device according to Modification 2 of the present invention. Figure 12 This is a waveform diagram showing the angular characteristics (Theta) of the total gain in the XZ plane (Phi=0deg.) and YZ plane (Phi=90deg.) in Modification 2 of the present invention. Figure 13 This is a polar coordinate diagram representing the radiation pattern in Modification 2 of the present invention. Figure 14 This is a diagram illustrating an example of the arrangement of radiating elements and slots in an antenna device according to Modification 3 of the present invention. Figure 15 This is a waveform diagram showing the angular characteristics (Theta) of the total gain in the XZ plane (Phi=0deg.) and YZ plane (Phi=90deg.) in Modification 3 of the present invention. Figure 16 This is a polar coordinate diagram representing the radiation pattern in Modification 3 of the present invention. Figure 17 This is a diagram illustrating an example of the arrangement of radiating elements and slots in an antenna device according to Modification 4 of the present invention. Figure 18 This is a waveform diagram showing the angular characteristics (Theta) of the total gain in the XZ plane (Phi=0deg.) and YZ plane (Phi=90deg.) in Modification 4 of the present invention. Figure 19This is a polar coordinate diagram representing the radiation pattern in Modification 4 of the present invention. Figure 20 This is a block diagram of a radar device 2000 having the antenna device 1000 according to an embodiment of the present invention. Figure 21 This is a block diagram illustrating an example of the structure of a vehicle control system. Figure 22 It means Figure 21 A diagram illustrating an example of the sensing area of ​​an external identification sensor in a vehicle control system. Detailed Implementation

[0008] The embodiments of the antenna device and radar device will now be described with reference to the accompanying drawings. The description will focus on the main components of the antenna device and radar device, but there may be components or functions not shown or described in the antenna device and radar device. The following description does not exclude components or functions not shown or described.

[0009] Figure 1A This is a cross-sectional view showing the structure of the antenna device 1000 according to an embodiment of the present invention.

[0010] Figure 1B This is a diagram of the second conductive layer 310 with a slot array (multiple slots 350) taken out from the antenna device 1000 and viewed from the positive z-axis direction. The slot array functions as a feed section for the radiating element 410. Figure 1A The sectional view is Figure 1B A cross-sectional view at line L1-L1.

[0011] Figure 1C This is a top view of the antenna device 1000 viewed from the positive z-axis direction.

[0012] Figure 2 yes Figure 1C A cross-sectional view at line L2-L2.

[0013] Figure 1A The antenna device 1000 includes a dielectric substrate (substrate) 100, a wireless unit 200, waveguides 300 (110, 330, 301) and a radiating unit 400.

[0014] The left lateral direction of the antenna device 1000 corresponds to the x-axis direction (first direction), the front direction corresponds to the y-axis direction (second direction), and the upper direction (thickness direction) of the antenna device 1000 corresponds to the z-axis direction (third direction).

[0015] The antenna device 1000 has an in-substrate waveguide feeding structure. Specifically, a signal (or signal power) generated by the wireless unit 200 is supplied to one end of the waveguide 300 via the second conductive layer 310 and the first conductive layer 110, and the signal is transmitted within the waveguide 300. The transmitted signal is coupled and fed to a plurality of opposing radiating elements 410 via a plurality of slots 350 provided in the second conductive layer 310 as multiple openings. The plurality of radiating elements 410 correspond to the radiating section 400 or antenna of the antenna device 1000, and the waveguide 300 including the plurality of slots 350 (slot array waveguide) corresponds to the feeding section of the antenna device 1000. The radiating section 400 radiates radio waves based on the signal fed by the feeding section.

[0016] The following description illustrates an example of the antenna device 1000 being used as a transmitting-side antenna device. Alternatively, the antenna device 1000 can also be used as a receiving-side antenna device.

[0017] The dielectric substrate 100 includes dielectric layers 150A, 150B, 250A, and 250B sequentially stacked from the back side (the side facing the negative z-axis direction) of the dielectric substrate 100. Dielectric layers 150A and 250B may include, for example, a fluorine substrate or a glass polyimide substrate. Dielectric layers 150B and 250A may include, for example, a high-frequency material such as a glass epoxy resin. The group of dielectric layers 150A and 150B corresponds to the first dielectric layer 150, and the group of dielectric layers 250A and 250B corresponds to the second dielectric layer 250. Although the example shown is of the first dielectric layer 150 and the second dielectric layer 250 each comprising two layers, this is not a limitation; the dielectric layers may each comprise one layer or three layers.

[0018] A first conductive layer 110, constituting a portion of the wall of the waveguide 300, is formed on the back side of the dielectric substrate 100. Furthermore, a second conductive layer 310, constituting a portion of the wall of the waveguide 300 and functioning as grounding, is formed between dielectric layers 150B and 250A. A plurality of radiating elements 410, functioning as radiating portions 400, are formed on the surface of dielectric layer 250B. The radiating elements 410 can be formed, for example, by patterning a conductive layer (third conductive layer) disposed on the second dielectric layer 250. As an example, the plurality of radiating elements 410 are rectangular metal plates. However, the shape of the radiating elements 410 can also be other shapes such as triangles or circles.

[0019] Furthermore, at the end of the antenna device 1000 in the negative x-axis direction, a through-hole 330 is formed through the first dielectric layer 150 to connect the second conductor layer 310 and the first conductor layer 110. Multiple through-holes 330 are arranged at predetermined intervals such that sidewalls are formed along the y-axis direction. Furthermore, multiple through-holes 330 are arranged at predetermined intervals such that sidewalls of waveguide 300 are formed along the x-axis direction at the respective end sides of the second conductor layer 310 and the first conductor layer 110 in the positive and negative y-axis directions (see reference). Figure 3 The predetermined interval is not limited to a specific value but is determined according to the operating wavelength. The vias 330 are made of plated metal walls. The waveguide 300 transmits signals input from the wireless unit 200 through reflections from the metal walls of these vias 330. In this embodiment, the waveguide of the waveguide 300 is a straight line, but the waveguide may also have a structure with bends along its length, etc.

[0020] Figure 3 This is a diagram showing the antenna device 1000 from a perspective view along the positive z-axis. Viewed from the positive z-axis, it shows the positional relationship between the slot 350, the radiating element 410 (third conductive layer), and the through-hole 330. Figure 3 It is Figure 1B and Figure 1C The diagram shows the through hole 330 in an overlapping, perspective view.

[0021] Figure 4 This is a partially enlarged perspective view of the antenna device 1000, which shows in more detail the positional relationship between the slot 350, the radiating element 410, and the through hole 330.

[0022] exist Figure 3 In the diagram, the through-hole 330, which exists in the substrate under direction (negative z-axis direction) of the radiating element 410, is not actually visible from the z-axis direction, but is shown here in perspective to show the positional relationship of the through-hole 330. Similarly, the slit 350, which actually exists in the substrate under direction (negative z-axis direction) of the radiating element 410, is also not visible from the z-axis direction, but is shown here in perspective to show the positional relationship between the slit 350 and the radiating element 410.

[0023] The vias 330 are arranged at predetermined intervals along the x-axis at the ends in the negative y-axis and positive y-axis directions, forming sidewalls of the waveguide 300. Furthermore, they are arranged at predetermined intervals along the y-axis at the ends in the negative x-axis direction. The waveguide 300 is formed by the sidewalls formed by these vias 330, the first conductive layer 110 (see Figure 1), and the second conductive layer 310 with a slot array (multiple slots 350).

[0024] Line LC is a straight line parallel to the x-axis and passes through the center of the second conductor layer 310 in the y-axis direction. Line LC is also parallel to the surface of the second conductor layer 310 or the surface of the second dielectric layer 250. Alternatively, line LC may deviate from the center of the second conductor layer 310 in the y-axis direction. Furthermore, in this embodiment, the waveguide of the waveguide 300 is a straight line, but if the waveguide has a structure that bends midway, line LC will also bend accordingly.

[0025] In the second conductive layer 310, a plurality of slots 350 (openings) are arranged in a row along the waveguide direction of the waveguide 300, and these slots 350 are alternately offset along the waveguide direction. More specifically, slots 350 are alternately arranged on the first side (positive y-axis side) and the second side (negative y-axis side) of the line LC along the x-axis direction. The collection of these slots 350 can also be referred to as a slot array. The slots 350 have a rectangular shape. The length of the slot 350 in the x-axis direction can be longer than, shorter than, or the same as the y-axis direction. The slots 350 are formed, for example, by patterning the second conductive layer 310 by etching. The signal transmitted in the waveguide 300 is directly fed to the corresponding radiating element 410 via these slots 350.

[0026] A plurality of radiating elements 410 are disposed on the surface of the dielectric layer 250B (see Figure 1). These radiating elements 410 are correspondingly disposed with respect to a plurality of slots 350 and receive signals from the waveguide 300 via these slots 350. The plurality of radiating elements 410 are alternately offset along the waveguide direction of the waveguide 300. The plurality of radiating elements 410 are respectively disposed to cover the corresponding slots 350. More specifically, these radiating elements 410 are alternately disposed along the x-axis direction on a first side (positive y-axis side) and a second side (negative y-axis side) of the line LC. Relative to the radiating elements 410, corresponding slots 350 are opposite each other on the negative z-axis side and are directly fed signals from the waveguide 300 via the slots 350. The arrangement interval of the radiating elements 410 alternately disposed along the x-axis direction is interval P1. Interval P1 is approximately half the wavelength of the operating frequency. That is, if the wavelength used is set to λg, then interval P1 is 0.5 × λg (“×” is a multiplication sign). The arrangement spacing of the radiating elements 410 located on the same side (first side or second side) relative to the line LC is a spacing P2 that is approximately twice half the wavelength of the operating frequency.

[0027] In the example shown, the width of the slit 350 along the x-axis is the same as or approximately the same as the width of the radiating element 410 along the x-axis. However, the width of the slit 350 along the x-axis can be shorter or longer than the width of the radiating element 410 along the x-axis. The width of the slit 350 along the y-axis is shorter than the width of the radiating element 410 along the y-axis.

[0028] The wireless unit 200 supplies signals laterally to the waveguide 300 from its end along the positive x-axis direction. The wireless unit 200 can also be configured to directly feed the first conductor layer 110 and the second conductor layer 310 without passing through microstrip lines (see description below). Figure 6 The wireless unit 200 includes circuitry such as a millimeter-wave IC chip that generates and transmits signals. The signal generated by the wireless unit 200 is supplied to the ends of the first conductor layer 110 and the second conductor layer 310, thereby inputting the signal into the waveguide 300.

[0029] Signals input to waveguide 300 are transmitted within waveguide 300 through reflection from the metal wall of via 330. More specifically, the closely spaced vias 330, which function as metal pillars, act as sidewalls of the waveguide, allowing signals to be transmitted within waveguide 300 through the propagation of an electric field formed between opposing sidewalls.

[0030] Figure 5 This indicates the path of the signal transmitted within the waveguide 300. The signal transmitted within the waveguide 300 is fed to the opposing radiating elements 410 via multiple slots 350 formed in the second conductive layer 310. Radio waves are radiated from the radiating section 400 by combining the radio waves radiated from the radiating elements 410. The radio waves are directional depending on the arrangement and shape of the radiating elements 410 and the slots 350. Direct feeding to the radiating elements 410 via the slots 350 results in low power loss and efficient feeding. Furthermore, it allows for a simpler or smaller structure for the radiating section 400.

[0031] As a comparative example, when an antenna is constructed by arranging more than one patch array (H-shape) consisting of two rectangular conductors (patches) connected by a straight conductor (connecting conductor), a phase adjustment circuit is required in the connecting conductor between the patches in order to feed a portion (feed point) of the connecting conductor between the two patches in each patch array. Furthermore, losses occur in this connecting conductor. Therefore, there are problems of increased structural complexity or size, and reduced feeding efficiency (power loss). In contrast, in this invention, there are feeding points to the radiating section 400 corresponding to the number of slots 350, and the signal transmitted through the waveguide 300 is directly fed to each radiating element 410 via the slots 350. Thus, since there is no need for connecting conductors between the radiating elements, phase adjustment circuitry is not required, and power loss is reduced, thus enabling efficient feeding. Furthermore, when impedance adjustment is required, only the length of the radiating element 410 in the x-axis direction needs to be adjusted, therefore, impedance adjustment circuitry for each radiating element 410 is not required.

[0032] The following uses Figures 6-9 The characteristics of the antenna device 1000 according to the embodiments of the present invention will be described.

[0033] First, the definitions of angles Phi and Theta are given.

[0034] Figure 6 This is a diagram illustrating angles Phi (φ) and Theta (θ). Phi is the angle between the Phi and the x-axis in the xy-plane. Phi = 0 degrees (referred to as "deg" in the diagram) corresponds to the direction aligned with the positive x-axis; Phi increases as rotation moves towards the y-axis. Theta is the angle between the Phi and the z-axis. Theta = 0 degrees corresponds to the direction aligned with the positive z-axis; Theta increases as rotation moves clockwise. The diagram shows Theta in the direction of rotation towards the y-axis, but rotation towards the x-axis and other directions is also possible.

[0035] Figure 7 This is a waveform diagram showing the angular (Theta) characteristics of the radiation patterns corresponding to Phi=0 degrees and Phi=90 degrees. The horizontal axis represents Theta. The center of the horizontal axis is Theta=0 degrees, representing the range of -90 to 90 degrees. The vertical axis represents the antenna gain. Curve G11 at Phi=0 degrees represents the angular (Theta) characteristics of the radiation pattern in the xz plane, and curve G12 at Phi=90 degrees represents the angular (Theta) characteristics of the radiation pattern in the yz plane.

[0036] Figure 8(A) is a polar coordinate diagram representing the radiation pattern of Phi=0 degrees in the range of 0 to 360 degrees of Theta. Figure 8 (B) is a polar coordinate diagram representing the radiation pattern of Phi=90 degrees in the range of 0 to 360 degrees of Theta.

[0037] Figure 9 An example of a three-dimensional representation of the overall shape of the radiation pattern of the antenna device 1000.

[0038] exist Figures 7-9 In this system, the radiation pattern remains constant and approximately symmetrical about Theta = 0 degrees in either the xz or yz plane. This means that at least one of the degradation of the radiation pattern's slope and directivity is suppressed. The direction at Theta = 0 degrees exhibits high gain and directivity. When using an antenna device as a radar device, the direction at Theta = 0 degrees can also be directed towards the target object.

[0039] (Variation Example 1) Figure 10 This illustrates a structural example of the antenna device 1000A according to Modification 1 of the present invention. In the antenna device 1000 of FIG1 in the above embodiment, the first dielectric layer 150 and the second dielectric layer 250 are each composed of two layers, but... Figure 10 In the example, each is composed of a single layer. Thus, the first dielectric layer 150 and the second dielectric layer 250 can be composed of any number of layers according to the desired characteristics. In the case where each is composed of a single layer, the materials of the first dielectric layer 150 and the second dielectric layer 250 can also be any material, such as a fluorine substrate or a glass polyimide substrate, similar to the case in FIG1. ​​By reducing the number of layers in each of the first dielectric layer and the second dielectric layer 250, the thickness of the dielectric substrate 100A can be suppressed.

[0040] (Variation Example 2) In the above embodiment, there are four sets of pairs (or pairs of slits 350) of radiating elements 410 arranged at intervals P1 (approximately half wavelength of the operating frequency) along the x-axis direction, but there may also be one to three or more sets of pairs.

[0041] Figure 11 This illustrates an example of the arrangement of radiating elements and slots in the antenna device of Variation Example 2. A pair of radiating elements 410 are arranged along the x-axis at a frequency lower than that of the embodiment described above. The spacing P3 between the radiating elements 410 located on the same side relative to line LC is... Figure 3 The interval P3 is twice the length of the operating frequency. That is, the interval P3 is approximately four times half the wavelength of the operating frequency. The interval P3 can be any other value as long as it is an even multiple of approximately half the wavelength of the operating frequency.

[0042] The radiation characteristics of the antenna can be changed by adjusting the number and arrangement of the radiating elements 410.

[0043] Figure 12 This is a waveform diagram showing the angular (Theta) characteristics of the radiation patterns corresponding to Phi=0 degrees and Phi=90 degrees. The horizontal axis represents Theta. The center of the horizontal axis is at Theta 0 degrees, representing the range of -90 to 90 degrees. The vertical axis represents the antenna gain. Curve G21 at Phi=0 degrees represents the frequency characteristics of the radiation pattern in the xz plane, and curve G22 at Phi=90 degrees represents the frequency characteristics of the radiation pattern in the yz plane.

[0044] Figure 13 (A) is a polar coordinate diagram representing the radiation pattern of Phi=0 degrees in the range of 0 to 360 degrees of Theta. Figure 13 (B) is a polar coordinate diagram representing the radiation pattern of Phi=90 degrees in the range of 0 to 360 degrees of Theta.

[0045] In Variation 2, the shapes of the radial patterns are different from those in the embodiments described above. For example, with... Figure 7 In comparison, Figure 12 In curve G22, if Theta deviates from 0 degrees, the decrease in gain becomes more pronounced. In curve G21, the gain of the side lobes on either side of the central main lobe is greater than that of the side lobes. Figure 7 Large. In Variation 2, similarly to the above embodiments, any radiating pattern becomes a generally symmetrical shape, suppressing at least one of the disruption of the slope and directionality of the radiating pattern.

[0046] (Variation Example 3) In Modification 3, the length of the radiating element 410 in the y-axis direction is shorter than that in the embodiment described above. This allows for a reduction in the size of the dielectric substrate 100, the second conductive layer 310, and the like, enabling miniaturization of the antenna device.

[0047] Figure 14This illustrates an example of the arrangement of the radiating element and the slot in the antenna device according to Modification 3 of the present invention. The length in the direction parallel to the surface of the second dielectric layer 250 and orthogonal to line LC is shorter than the length in the direction corresponding to line LC. That is, compared to the above embodiment, the length of the radiating element 410A in the y-axis direction is shorter. Specifically, the length of the radiating element 410A in the y-axis direction is approximately half that of the above embodiment. The dimensions of the radiating element 410A and the slot 350 in the x-axis direction are the same as in the above embodiment. However, the length of the radiating element 410A in the y-axis direction may also be one-third of the length of the above embodiment, or other dimensions. The dimensions of the radiating element in the y-axis and x-axis directions can be varied. Corresponding to shortening the length of the radiating element 410A in the y-axis direction, the dimensions of the dielectric substrate 100 and the second conductive layer 310, etc., in the y-axis direction are smaller than in the above embodiment.

[0048] Figure 15 This is a waveform diagram showing the angular (Theta) characteristics of the radiation patterns corresponding to Phi=0 degrees and Phi=90 degrees. The horizontal axis represents Theta. The center of the horizontal axis is at Theta 0 degrees, representing the range of -90 to 90 degrees. The vertical axis represents the antenna gain. Curve G31 at Phi=0 degrees represents the frequency characteristics of the radiation pattern in the xz plane, and curve G32 at Phi=90 degrees represents the frequency characteristics of the radiation pattern in the yz plane.

[0049] Figure 16 (A) is a polar coordinate diagram representing the radiation pattern of Phi=0 degrees in the range of 0 to 360 degrees of Theta. Figure 16 (B) is a polar coordinate diagram representing the radiation pattern of Phi=90 degrees in the range of 0 to 360 degrees of Theta.

[0050] The shape of each radiation pattern in Modification 3 has a lower overall gain compared to the embodiment described above. However, the change in curve G32 is gentle, and the decrease in gain starting from the gain of Theta = 0 degrees (the highest gain) is low even when deviating from 0 degrees. Therefore, Modification 3 is effective when transmission and reception over a certain wide angular range are required. Furthermore, miniaturization of the antenna device is possible, thus offering the advantage of being able to mount this antenna device in devices with high miniaturization requirements.

[0051] (Variation Example 4) In the above embodiment, radiating elements 410 are alternately arranged on both sides of line LC along the x-axis direction. However, in variation 3, radiating elements 410 are alternately arranged along the x-axis direction in a manner that crosses line LC (i.e., in a manner that brings the radiating elements 410 closer to the line LC side). As a result, the size of dielectric substrate 100, second conductive layer 310, etc., can be reduced, and miniaturization of the antenna device can be achieved.

[0052] Figure 17 This illustrates an example of the arrangement of radiating elements and slots in an antenna device according to Modification 4 of the present invention. Radiating elements 410 are arranged alternately along the x-axis in a manner that spans line LC. That is, a portion of the radiating element 410 arranged on the positive y-axis side is contained within the region on the negative y-axis side, and a portion of the radiating element 410 arranged on the negative y-axis side is contained within the region on the positive y-axis side. Thus, each of the plurality of radiating elements 410 spans from one side of the positive y-axis side to the other.

[0053] The slit 350, opposite to the radiating element 410, also extends beyond the line LC and is located on the opposite side to the embodiment described above. However, the slit 350 may also be positioned on the same side as in the embodiment described above, relative to the line LC. The dimensions of both the radiating element 410 and the slit 350 are the same as in the embodiment described above. However, the dimensions of both the radiating element 410 and the slit 350 may be adjusted. Figure 14 Examples of various variations.

[0054] Corresponding to placing the radiating element 410 closer to the line LC side than in the above embodiment, the dimensions of the dielectric substrate 100 and the second conductor layer 310 in the y-axis direction are smaller than in the above embodiment. As a result, the antenna device as a whole is miniaturized.

[0055] Figure 18 This is a waveform diagram showing the angular (Theta) characteristics of the radiation patterns corresponding to Phi=0 degrees and Phi=90 degrees. The horizontal axis represents Theta. The center of the horizontal axis is at Theta 0 degrees, representing the range of -90 to 90 degrees. The vertical axis represents the antenna gain. Curve G41 at Phi=0 degrees represents the frequency characteristics of the radiation pattern in the xz plane, and curve G42 at Phi=90 degrees represents the frequency characteristics of the radiation pattern in the yz plane.

[0056] Figure 19 (A) is a polar coordinate diagram representing the radiation pattern of Phi=0 degrees in the range of 0 to 360 degrees of Theta. Figure 19 (B) is a polar coordinate diagram representing the radiation pattern of Phi=90 degrees in the range of 0 to 360 degrees of Theta.

[0057] Although the shape of each radiation pattern in Variation Example 4 has a slightly lower gain compared to the above embodiment, it achieves an overall shape similar to that of the above embodiment. Therefore, this antenna device is effective for devices with high miniaturization requirements.

[0058] (Structure of a radar device) Figure 20 This is a block diagram of a radar device 2000 equipped with the antenna device 1000 according to an embodiment of the present invention. As an example, the radar device 2000 is a millimeter-wave radar device.

[0059] The radar device 2000 includes a transmitting antenna device 1000_1, a receiving antenna device 1000_2, and a transmitting and receiving unit 800. Although transmitting and receiving antenna devices are provided separately, a single antenna device can also be used for both transmitting and receiving. As an example, the radar device 2000 can be mounted on a mobile vehicle or mobile device such as a car. However, the radar device 2000 can also be installed in a fixed device or system, such as a fixed monitoring device. Antenna device 1000_1 or antenna device 1000_2 is the antenna device involved in the above embodiment or any of its modifications.

[0060] The transmitting and receiving unit 800 is a circuit that performs signal transmission and reception processing. The transmitting and receiving unit 800 generates a signal for transmission. The transmitting and receiving unit 800 includes the aforementioned wireless unit 200. The transmitting and receiving unit 800 supplies the generated signal to the antenna device 1000_1. The signal supplied to the antenna device 1000_1 is transmitted via the waveguide 300 and directly fed to multiple radiating elements 410 via multiple slots 350. The antenna 400, including the multiple radiating elements 410, radiates radio waves through resonance based on the fed signal. In the antenna device 1000_2, the reflected wave of the radiated radio wave is received, and the received signal is transmitted via the waveguide 300 and supplied to the transmitting and receiving unit 800. The transmitting and receiving unit 800 analyzes, for example, the state of the object reflecting the radio wave or the distance to the object based on the received signal.

[0061] [Application Example] The following describes application examples of the antenna device 1000 according to the present invention. The antenna device 1000 can be applied to any of the following vehicle control systems, devices, and methods. The antenna devices involved in the above-described modifications can also be applied in the same way.

[0062] Figure 21This is a block diagram illustrating a structural example of a vehicle control system 11, which is an example of a mobile device control system applying this technology. The antenna device described in the above embodiments or variations can be used as an antenna or radar 52 provided with the communication unit 22, for example, when the communication unit 22 performs wireless communication.

[0063] The vehicle control system 11 is installed in the vehicle 1 and performs processing related to driving assistance and autonomous driving of the vehicle 1.

[0064] The vehicle control system 11 includes a vehicle control ECU (Electronic Control Unit) 21, a communication unit 22, a map information accumulation unit 23, a location information acquisition unit 24, an external identification sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a storage unit 28, a driving assistance / automatic driving control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.

[0065] The vehicle control ECU 21, communication unit 22, map information accumulation unit 23, location information acquisition unit 24, external identification sensor 25, in-vehicle sensor 26, vehicle sensor 27, storage unit 28, driving assistance / automatic driving control unit 29, driver monitoring system (DMS) 30, human-machine interface (HMI) 31, and vehicle control unit 32 are interconnected via communication network 41. Communication network 41 may consist of, for example, an in-vehicle communication network or bus based on digital bidirectional communication standards such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), FlexRay, or Ethernet. Communication network 41 can also be used separately depending on the type of data transmitted. For example, CAN can be used for data related to vehicle control, while Ethernet can be used for large-capacity data. In addition, the various parts of the vehicle control system 11 sometimes do not connect via the communication network 41, but instead use wireless communication that envisions a relatively short-range communication, such as Near Field Communication (NFC) or Bluetooth.

[0066] Furthermore, in the following description, when the various parts of the vehicle control system 11 communicate via the communication network 41, the description of the communication network 41 will be omitted. For example, when the vehicle control ECU 21 and the communication unit 22 communicate via the communication network 41, it will only be described as the vehicle control ECU 21 and the communication unit 22 communicating.

[0067] The vehicle control ECU 21 is composed of various processors, such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). The vehicle control ECU 21 controls the functions of the vehicle control system 11 as a whole or in part.

[0068] The communication unit 22 communicates with various devices inside and outside the vehicle, other vehicles, servers, base stations, etc., to send and receive various types of data. At this time, the communication unit 22 can use multiple communication methods to communicate.

[0069] A brief description of the communication capabilities of the communication unit 22 with external devices is provided. The communication unit 22 communicates with servers (hereinafter referred to as external servers) located on external networks via wireless communication methods such as 5G (Fifth Generation Mobile Communication System), LTE (Long Term Evolution), and DSRC (Dedicated Short Range Communications) through base stations or access points. The external network through which the communication unit 22 communicates is, for example, the Internet, cloud networks, or the operator's proprietary network. The communication method used by the communication unit 22 to communicate with external networks is not particularly limited as long as it is a wireless communication method capable of two-way digital communication at a predetermined or higher communication speed and over a predetermined or higher distance.

[0070] Furthermore, for example, the communication unit 22 can use P2P (Peer-to-Peer) technology to communicate with terminals located near the vehicle. Terminals located near the vehicle could be, for example, terminals worn by pedestrians or bicycles moving at low speeds, terminals fixedly located in shops, or MTC (Machine-Type Communication) terminals. Furthermore, the communication unit 22 can also perform V2X communication. V2X communication refers to vehicle-to-vehicle communication with other vehicles, vehicle-to-infrastructure communication with roadside equipment, vehicle-to-home communication, and vehicle-to-pedestrian communication with terminals held by pedestrians.

[0071] The communication unit 22 can, for example, receive programs (over-the-air downloads) from external sources to update the software used to control the operation of the vehicle control system 11. The communication unit 22 can also receive map information, traffic information, and information about the surroundings of the vehicle 1 from external sources. Furthermore, the communication unit 22 can, for example, send information related to the vehicle 1 and information about the surroundings of the vehicle 1 to external sources. The vehicle-related information sent by the communication unit 22 to external sources includes, for example, data indicating the status of the vehicle 1 and the identification results from the identification unit 73. Furthermore, the communication unit 22 can, for example, communicate with vehicle emergency call systems such as e-call.

[0072] For example, the Ministry of Communications 22 receives electromagnetic waves transmitted by the Road Traffic Information and Communication System (VICS (Vehicle Information and Communication System) (registered trademark)) such as radio beacons, optical beacons, and FM multi-channel broadcasts.

[0073] A brief description of the communication capabilities of the communication unit 22 within the vehicle is provided. For example, the communication unit 22 can communicate with various devices within the vehicle using wireless communication. The communication unit 22 can communicate wirelessly with devices within the vehicle via communication methods such as wireless LAN, Bluetooth, NFC, and WUSB (Wireless USB), which enable bidirectional digital communication at a predetermined or higher communication speed. Not limited to this, the communication unit 22 can also communicate with devices within the vehicle using wired communication. For example, the communication unit 22 can communicate with devices within the vehicle via wired communication through a cable connected to a connection terminal not shown. The communication unit 22 can communicate with devices within the vehicle via communication methods such as USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface) (registered trademark), and MHL (Mobile High-Definition Link), which enable bidirectional digital communication at a predetermined or higher communication speed via wired communication.

[0074] Here, "in-vehicle equipment" refers to equipment that is not connected to the communication network 41 inside the vehicle. Examples of in-vehicle equipment include mobile devices, wearable devices, and information devices temporarily installed inside the vehicle by passengers such as drivers.

[0075] The map information accumulation unit 23 accumulates one or both of the maps acquired from external sources and the maps produced by the vehicle 1. For example, the map information accumulation unit 23 accumulates a three-dimensional high-precision map, a global map with lower precision than the high-precision map but covering a wide area, etc.

[0076] High-precision maps include, for example, dynamic maps, point cloud maps, and vector maps. Dynamic maps, for instance, are composed of four layers: dynamic information, quasi-dynamic information, quasi-static information, and static information, provided to vehicles from external servers. Point cloud maps are maps composed of point clouds (point cloud data). Vector maps, for example, map traffic information such as lane or traffic light positions that is mapped to point cloud maps and adapted for ADAS (Advanced Driver Assistance Systems) or AD (Autonomous Driving) systems.

[0077] Point cloud maps and vector maps can be provided from external servers, or they can be created in vehicle 1 and accumulated in map information accumulation unit 23 based on sensing results from cameras 51, radar 52, LiDAR 53, etc., for matching with the local map described later. Furthermore, when a high-precision map is provided from an external server, in order to reduce communication capacity, map data, such as several hundred square meters, related to the planned route that vehicle 1 will travel in the future, is obtained from the external server.

[0078] The location information acquisition unit 24 receives GNSS signals from GNSS (Global Navigation Satellite System) satellites to acquire the location information of vehicle 1. The acquired location information is then supplied to the driving assistance and automatic driving control unit 29. Furthermore, the location information acquisition unit 24 is not limited to using GNSS signals; for example, it may also use beacons to acquire location information.

[0079] The external identification sensor 25 is equipped with various sensors for identifying the external conditions of the vehicle 1, and supplies sensor data from each sensor to various parts of the vehicle control system 11. The type and number of sensors included in the external identification sensor 25 are arbitrary.

[0080] For example, the external identification sensor 25 includes a camera 51, radar 52, LiDAR (Light Detection and Ranging) 53, and ultrasonic sensor 54. However, the external identification sensor 25 may also be a structure including more than one of the following sensors: camera 51, radar 52, LiDAR 53, and ultrasonic sensor 54. The number of cameras 51, radar 52, LiDAR 53, and ultrasonic sensor 54 is not particularly limited, as long as it is a number that can actually be installed in vehicle 1. Furthermore, the types of sensors included in the external identification sensor 25 are not limited to this example; the external identification sensor 25 may also include other types of sensors. Examples of the sensing areas of each sensor included in the external identification sensor 25 will be described later.

[0081] Furthermore, there are no particular limitations on the photographic method of camera 51. For example, various photographic methods such as ToF (Time of Flight) cameras, stereo cameras, SLR cameras, and infrared cameras, which are capable of range measurement, can be applied to camera 51 as needed. It is not limited to this; camera 51 can also be a camera used solely for acquiring photographic images, unrelated to range measurement.

[0082] Furthermore, for example, the external identification sensor 25 may include an environmental sensor for detecting the environment relative to the vehicle 1. The environmental sensor is a sensor used to detect environmental conditions such as weather, meteorology, and brightness; for example, it may include various sensors such as rain sensors, fog sensors, sunlight sensors, snow sensors, and illuminance sensors.

[0083] Furthermore, for example, the external identification sensor 25 has a microphone for detecting sounds around the vehicle 1, the location of sound sources, etc.

[0084] The in-vehicle sensor 26 is equipped with various sensors for detecting information inside the vehicle, and supplies sensor data from each sensor to various parts of the vehicle control system 11. The types and number of sensors equipped in the in-vehicle sensor 26 are not particularly limited as long as they are types and numbers that can actually be installed in the vehicle 1.

[0085] For example, the in-vehicle sensor 26 may include one or more sensors selected from camera, radar, seat sensor, steering wheel sensor, microphone, and biosensor. The camera included in the in-vehicle sensor 26 can be, for example, a camera capable of ranging, such as a ToF camera, stereo camera, SLR camera, or infrared camera. However, it is not limited to this; the camera included in the in-vehicle sensor 26 may also be a camera unrelated to ranging but solely used for acquiring photographic images. The biosensor included in the in-vehicle sensor 26 may be installed in the seat or steering wheel, for example, to detect various biological information of the driver or other passengers.

[0086] The vehicle sensor 27 is equipped with various sensors for detecting the state of the vehicle 1, and supplies sensor data from each sensor to various parts of the vehicle control system 11. The types and number of sensors equipped in the vehicle sensor 27 are not particularly limited as long as they are the types and numbers that can actually be installed on the vehicle 1.

[0087] For example, vehicle sensor 27 includes a speed sensor, an acceleration sensor, an angular velocity sensor (gyroscope sensor), and an inertial measurement unit (IMU) integrating them. For example, vehicle sensor 27 includes a steering angle sensor for detecting the steering wheel angle, a yaw rate sensor, a throttle sensor for detecting the amount of accelerator pedal operation, and a brake sensor for detecting the amount of brake pedal operation. For example, vehicle sensor 27 includes a rotation sensor for detecting the engine or electric motor speed, a tire pressure sensor for detecting tire pressure, a slip rate sensor for detecting tire slip ratio, and a wheel speed sensor for detecting wheel rotation speed. For example, vehicle sensor 27 includes a battery sensor for detecting the remaining battery level and temperature, and an impact sensor for detecting external impacts.

[0088] Storage unit 28 includes at least one of non-volatile storage medium and volatile storage medium, storing data and programs. Storage unit 28 can be used, for example, as EEPROM (Electrically Erasable Programmable Read Only Memory) and RAM (Random Access Memory). As the storage medium, magnetic storage devices such as HDD (Hard Disc Drive), semiconductor storage devices, optical storage devices, and opto-magnetic storage devices can be used. Storage unit 28 stores various programs and data used by various parts of the vehicle control system 11. For example, storage unit 28 may have an EDR (Event Data Recorder) or DSSAD (Data Storage System for Automated Driving), storing information about the vehicle 1 before and after events such as accidents, and information acquired by in-vehicle sensors 26.

[0089] The driving assistance and automatic driving control unit 29 controls the driving assistance and automatic driving of the vehicle 1. For example, the driving assistance and automatic driving control unit 29 includes an analysis unit 61, an action planning unit 62, and an operation control unit 63.

[0090] The analysis unit 61 performs analysis and processing of the vehicle 1 and the surrounding conditions. The analysis unit 61 includes a position estimation unit 71, a sensor fusion unit 72, and an identification unit 73.

[0091] The self-position estimation unit 71 estimates the self-position of vehicle 1 based on sensor data from external identification sensor 25 and a high-precision map accumulated in map information accumulation unit 23. For example, the self-position estimation unit 71 generates a local map based on sensor data from external identification sensor 25, and estimates the self-position of vehicle 1 by matching the local map with the high-precision map. The position of vehicle 1 is, for example, based on the center of the rear wheel axle.

[0092] The local map may be a high-precision 3D map or an occupancy grid map created using technologies such as SLAM (Simultaneous Localization and Mapping). The high-precision 3D map may be a point cloud map as described above. The occupancy grid map is a map that divides the 3D or 2D space surrounding vehicle 1 into grids of predetermined size, and represents the occupancy status of objects in units of grids. The occupancy status of an object may be represented, for example, by the presence or absence of the object or its probability of existence. The local map is also used, for example, for the detection and recognition processing of the external condition of vehicle 1 performed by the recognition unit 73.

[0093] In addition, the self-position estimation unit 71 can also estimate the self-position of the vehicle 1 based on the position information obtained by the position information acquisition unit 24 and the sensor data from the vehicle sensor 27.

[0094] The sensor fusion unit 72 performs sensor fusion processing, which combines multiple types of sensor data (e.g., image data supplied from camera 51 and sensor data supplied from radar 52) to obtain new information. Methods for combining different types of sensor data include integration, fusion, and combination.

[0095] The identification unit 73 performs detection processing to detect the external condition of the vehicle 1 and identification processing to identify the external condition of the vehicle 1.

[0096] For example, the identification unit 73 performs detection and identification processing of the external condition of the vehicle 1 based on information from the external identification sensor 25, information from its own position estimation unit 71, and information from the sensor fusion unit 72.

[0097] Specifically, for example, the recognition unit 73 performs detection and recognition processing of objects around the vehicle 1. Object detection processing includes, for example, detecting the presence, size, shape, position, and movement of objects. Object recognition processing includes, for example, recognizing attributes such as the type of object, or recognizing a specific object. However, detection processing and recognition processing are not necessarily clearly separated and may sometimes overlap.

[0098] For example, the identification unit 73 detects objects around the vehicle 1 by performing clustering of point clouds based on sensor data such as radar 52 or LiDAR 53, classifying each cluster of point clouds. Thus, it detects the presence, size, shape, and location of objects around the vehicle 1.

[0099] For example, the recognition unit 73 detects the motion of objects around the vehicle 1 by tracking the motion of clusters of point clouds classified by clustering. Thus, it detects the speed and direction of travel (movement vector) of the objects around the vehicle 1.

[0100] For example, the recognition unit 73 detects or identifies vehicles, people, bicycles, obstacles, structures, roads, traffic lights, traffic signs, road markings, etc., based on image data supplied from the camera 51. Furthermore, the recognition unit 73 can also identify the types of objects around the vehicle 1 by performing recognition processing such as semantic segmentation.

[0101] For example, based on the map accumulated in the map information accumulation unit 23, the estimation result of its own position from the self-position estimation unit 71, and the recognition result of objects around the vehicle 1 from the recognition unit 73, the recognition unit 73 can perform traffic rule recognition processing around the vehicle 1. Through this processing, the recognition unit 73 can recognize the position and status of traffic lights, the content of traffic signs and road markings, the content of traffic control, and the lanes that can be driven, etc.

[0102] For example, the identification unit 73 can perform identification processing of the surrounding environment of the vehicle 1. The surrounding environment, which is the object of identification by the identification unit 73, includes factors such as weather, temperature, humidity, brightness, and road surface conditions.

[0103] The Action Planning Department 62 creates an action plan for vehicle 1. For example, the Action Planning Department 62 creates an action plan by performing path planning and path following processes.

[0104] Additionally, path planning (global path planning) refers to the process of planning a general path from the starting point to the destination. This path planning is called route planning and includes the following processes: considering the motion characteristics of vehicle 1 in the planned path, generating a route that enables safe and smooth travel near vehicle 1 (local path planning).

[0105] Path following is a process used to plan operations for safe and correct travel on a path planned by path planning within a planned time. The action planning unit 62, for example, can calculate the target speed and target angular velocity of vehicle 1 based on the results of this path following process.

[0106] In order to realize the action plan prepared by the action planning unit 62, the operation control unit 63 controls the movement of the vehicle 1.

[0107] For example, the operation control unit 63 controls the steering control unit 81, braking control unit 82, and drive control unit 83 included in the vehicle control unit 32 (described later) to perform acceleration / deceleration control and directional control, so that the vehicle 1 travels on the route calculated by the route planning. For example, the operation control unit 63 performs coordinated control for the purpose of realizing ADAS functions, such as collision avoidance or impact mitigation, following, maintaining vehicle speed, collision warning, and lane departure warning. For example, the operation control unit 63 performs coordinated control for the purpose of autonomous driving, such as driving independently without driver input.

[0108] Based on sensor data from in-vehicle sensor 26 and input data to HMI 31 (described later), DMS 30 performs driver authentication and driver status recognition. The driver's status as the object of recognition includes, for example, perceived physical condition, level of alertness, level of concentration, level of fatigue, direction of gaze, level of intoxication, driving actions, and posture.

[0109] In addition, DMS30 can also perform authentication processing for passengers other than the driver and identification processing for the status of those passengers. Furthermore, for example, DMS30 can also perform identification processing for the conditions inside the vehicle based on sensor data from in-vehicle sensor 26. The conditions inside the vehicle that are the objects of identification include, for example, temperature, humidity, brightness, and odor.

[0110] The HMI31 is used for inputting various data and instructions, and for providing various data prompts to the driver, etc.

[0111] A brief description of data input based on the HMI31 is provided. The HMI31 has an input device for human data input. The HMI31 generates input signals based on data, instructions, etc., input from the input device and supplies them to various parts of the vehicle control system 11. The HMI31 may include, for example, operating elements such as touch panels, buttons, switches, and joysticks as input devices. Not limited to this, the HMI31 may also include input devices that allow information input using methods other than manual operation, such as voice or gestures. Furthermore, the HMI31 may also use external connected devices such as remote control devices using infrared or radio waves, mobile devices corresponding to the operation of the vehicle control system 11, or wearable devices as input devices.

[0112] A brief explanation of the prompts based on HMI31 data is provided. HMI31 generates visual, auditory, and tactile information for the occupant or the outside of the vehicle. Furthermore, HMI31 controls the output of the generated information, including its content, timing, and method. For example, HMI31 generates and outputs visual information such as operation screens, vehicle status displays, warning displays, and monitoring images showing the surrounding conditions of vehicle 1, or information represented by light. Additionally, HMI31 generates and outputs auditory information such as voice guidance, warning sounds, and warning messages. Finally, HMI31 generates and outputs tactile information, such as information provided to the occupant through force, vibration, and motion.

[0113] As the output device for visual information output by HMI31, for example, a display device that displays visual information by showing images on its own or a projection device that projects images to display visual information can be used. In addition to display devices with conventional monitors, the display device can also be a head-up display, a see-through display, or a wearable device with AR (Augmented Reality) functionality—a device that displays visual information within the passenger's field of vision. Furthermore, HMI31 can also use display devices installed in the vehicle 1, such as navigation devices, dashboards, CMS (Camera Monitoring System), electronic rearview mirrors, and lights, as output devices for visual information output.

[0114] As an output device for HMI31 to output auditory information, it can be used, for example, with audio speakers, headphones, or earphones.

[0115] As an output device for HMI31 that outputs tactile information, a tactile element using tactile technology can be applied, for example. The tactile element can be installed, for example, on parts of the vehicle 1 that are in contact with by the occupant, such as the steering wheel and the seat.

[0116] The vehicle control unit 32 controls various parts of the vehicle 1. The vehicle control unit 32 includes a steering control unit 81, a braking control unit 82, a drive control unit 83, a body system control unit 84, a lighting control unit 85, and a horn control unit 86.

[0117] The steering control unit 81 detects and controls the status of the steering system of vehicle 1. The steering system may include, for example, a steering mechanism with a steering wheel, or electric power steering. The steering control unit 81 may include, for example, a steering ECU for controlling the steering system and an actuator for driving the steering system.

[0118] The brake control unit 82 detects and controls the status of the braking system of the vehicle 1. The braking system includes, for example, a brake mechanism including a brake pedal, ABS (Anti-lock Braking System), and a regenerative braking mechanism. The brake control unit 82 includes, for example, a brake ECU for controlling the braking system and an actuator for driving the braking system.

[0119] The drive control unit 83 detects and controls the status of the drive system of the vehicle 1. The drive system includes, for example, an accelerator pedal, a drive force generating device for generating drive force from an internal combustion engine or a drive electric motor, and a drive force transmission mechanism for transmitting drive force to the wheels. The drive control unit 83 includes, for example, a drive ECU for controlling the drive system and an actuator for driving the drive system.

[0120] The vehicle body system control unit 84 detects and controls the status of the vehicle body system of the vehicle 1. The vehicle body system includes, for example, a keyless entry system, a smart key system, power windows, power seats, air conditioning, airbags, seat belts, and a gear shift lever. The vehicle body system control unit 84 includes, for example, a vehicle body system ECU for controlling the vehicle body system and actuators for driving the vehicle body system.

[0121] The lighting control unit 85 detects and controls the status of various lights in the vehicle 1. Lights that are controlled include, for example, headlights, reversing lights, fog lights, turn signals, brake lights, spotlights, and bumper indicator lights. The lighting control unit 85 includes a light ECU for controlling the lights and actuators for driving the lights.

[0122] The horn control unit 86 detects and controls the status of the car horn of vehicle 1. The horn control unit 86 may include, for example, a horn ECU for controlling the car horn and an actuator for driving the car horn.

[0123] Figure 22 It means Figure 21 The diagram shows an example of the sensing area of ​​the external identification sensor 25, including the camera 51, radar 52, LiDAR 53, and ultrasonic sensor 54. Additionally, in... Figure 22 The diagram illustrates the view of vehicle 1 from above, with the left side being the front (front) side of vehicle 1 and the right side being the rear (rear) side of vehicle 1.

[0124] Sensing areas 101F and 101B represent examples of the sensing areas of the ultrasonic sensors 54. Sensing area 101F covers the front periphery of the vehicle 1 via multiple ultrasonic sensors 54. Sensing area 101B covers the rear periphery of the vehicle 1 via multiple ultrasonic sensors 54.

[0125] The sensing results in sensing areas 101F and 101B can be used for applications such as parking assistance for vehicle 1.

[0126] Sensing areas 102F to 102B represent examples of the sensing areas of radar 52 used for short or medium range applications. Sensing area 102F covers a distance further in front of vehicle 1 than sensing area 101F. Sensing area 102B covers a distance further behind vehicle 1 than sensing area 101B. Sensing area 102L covers the rear perimeter of the left side of vehicle 1. Sensing area 102R covers the rear perimeter of the right side of vehicle 1.

[0127] The sensing results in sensing area 102F are used, for example, for detecting vehicles, pedestrians, etc., located in front of vehicle 1. The sensing results in sensing area 102B are used, for example, for rear-end collision avoidance functions of vehicle 1. The sensing results in sensing areas 102L and 102R are used, for example, for detecting objects in blind spots to the sides of vehicle 1.

[0128] Sensing areas 103F to 103B represent examples of the sensing areas of camera 51. Sensing area 103F covers the area in front of vehicle 1 further than sensing area 102F. Sensing area 103B covers the area behind vehicle 1 further than sensing area 102B. Sensing area 103L covers the perimeter of the left side of vehicle 1. Sensing area 103R covers the perimeter of the right side of vehicle 1.

[0129] The sensing results in sensing area 103F can be used, for example, for traffic light and traffic sign recognition, lane departure prevention assist systems, and automatic headlight control systems. The sensing results in sensing area 103B can be used, for example, for parking assist and surround view systems. The sensing results in sensing areas 103L and 103R can be used, for example, for surround view systems.

[0130] Sensing area 104 represents an example of the sensing area of ​​LiDAR 53. Sensing area 104 covers a position further in front of vehicle 1 than sensing area 103F. On the other hand, the range of sensing area 104 in the left and right directions is narrower than that of sensing area 103F.

[0131] The sensing results in sensing area 104 can be used for, for example, the detection of objects such as surrounding vehicles.

[0132] Sensing area 105 represents an example of the sensing area of ​​a long-range radar 52. The sensing area 105 covers a position further in front of the vehicle 1 than the sensing area 104. On the other hand, the left and right range of the sensing area 105 is narrower than that of the sensing area 104.

[0133] The sensing results in sensing area 105 are used for ACC (Adaptive Cruise Control), emergency braking, collision avoidance, etc.

[0134] In addition, the sensing areas of each sensor included in the external identification sensor 25, such as camera 51, radar 52, LiDAR 53, and ultrasonic sensor 54, are in addition to... Figure 22 Various other structures can also be used. Specifically, the ultrasonic sensor 54 can sense the side of the vehicle 1, and the LiDAR 53 can sense the rear of the vehicle 1. Furthermore, the placement of each sensor is not limited to the examples described above. In addition, there can be one or more sensors.

[0135] Furthermore, the present invention is not limited to the embodiments described above. During implementation, the constituent elements can be modified and customized without departing from its spirit. Moreover, various inventions can be formed through appropriate combinations of the multiple constituent elements disclosed in the above embodiments. For example, several constituent elements may be deleted from all the constituent elements shown in the embodiments. Furthermore, constituent elements from different embodiments may be appropriately combined.

[0136] Furthermore, the effects of the present invention described in this specification are merely illustrative and may have other effects as well.

[0137] Alternatively, the present invention can also adopt the following structure. [Project 1] An antenna device, comprising: Waveguides are used to transmit signals. A plurality of openings, the plurality of openings being arranged in a row along the waveguide direction of the waveguide, and the plurality of openings being alternately offset along the waveguide direction; and Multiple radiating elements are configured corresponding to the multiple openings, and receive the signal from the waveguide via the multiple openings. [Project 2] The antenna device according to Project 1, wherein, The plurality of radiating elements are arranged to cover the opening. [Project 3] The antenna device according to Project 2, wherein, The plurality of radiating elements are alternately offset along the waveguide direction of the waveguide. [Project 4] The antenna device according to any one of Projects 1 to 3, wherein, The waveguide includes: a first conductive layer; a first dielectric layer formed on the first conductive layer; and a second conductive layer disposed on the first dielectric layer, wherein the signal is transmitted in the first dielectric layer between the first conductive layer and the second conductive layer. The plurality of openings are formed in the second conductor layer. A second dielectric layer is disposed on the second conductor layer. The plurality of radiating elements are arranged on the second dielectric layer corresponding to the plurality of openings. [Item 5] The antenna device according to Item 4, wherein... The plurality of openings are alternately arranged on a first side and a second side opposite to the first side along a line parallel to the surface of the second conductor layer or the surface of the second dielectric layer. [Item 6] The antenna device according to Item 5, wherein... The plurality of radiating elements are alternately arranged along the line on the first side and the second side. [Item 7] The antenna device according to Item 6, wherein, A portion of each of the radiating elements disposed on the second side is contained on the first side, and a portion of each of the radiating elements disposed on the first side is contained on the second side, such that each of the plurality of radiating elements extends from one side of the first side and the second side to the other side. [Item 8] The antenna device according to Item 6 or 7, wherein, The spacing between adjacent radiating elements on the first or second side is approximately an even multiple of half the wavelength of the operating frequency. [Item 9] The antenna device according to any one of Items 6 to 8, wherein, The length of the radiating element in the direction parallel to the surface of the second dielectric layer and orthogonal to the line is shorter than the length in the direction corresponding to the line. [Item 10] An antenna device according to any one of Items 1 to 9, wherein, The plurality of radiating elements are metal plates. [Item 11] The antenna device according to any one of Items 1 to 10 further includes: The wireless unit generates the signal and supplies the signal to the waveguide. [Item 12] A radar device, comprising: Antenna device, the antenna device having: Waveguides are used to transmit signals. A plurality of openings are arranged in a row along the waveguide direction of the waveguide, and the plurality of openings are alternately offset along the waveguide direction; and Multiple radiating elements are configured corresponding to the multiple openings, and receive the signal from the waveguide via the multiple openings; and The transmitting and receiving unit uses the antenna device to transmit and receive the signal. Explanation of reference numerals in the attached figures

[0138] 1 vehicle 11 Vehicle Control System 22 Ministry of Communications 23. Map Information Accumulation Department 24 Location Information Acquisition Department 25 External identification sensors 26 In-vehicle sensors 27 Vehicle Sensors 28 Storage Department 29 Driving Assistance and Automated Driving Control Unit 30 Driver Monitoring System (DMS) 31 Human-Machine Interface (HMI) 32 Vehicle Control Department 41 Communication Networks 51 cameras 52 Radar 54 Ultrasonic Sensors 61 Analysis Department 62 Action Planning Department 63 Operation and Control Department 71 Self-position estimation department 72 Sensor Fusion Unit 73 Identification Department 81 Steering Control Unit 82 Braking Control Unit 83 Drive Control Unit 84 Body System Control Unit 85 Lighting Control Department 86. Horn Control Unit 100 Dielectric substrate (substrate) 100 dielectric substrate 101B Sensing Area 101F sensing area 102B Sensing Area 102F sensing area 102L sensing area 102R sensing area 103B Sensing Area 103F sensing area 103L sensing area 103R sensing area 104 Sensing Area 105 Sensing Area 110 First Conductor Layer 150 First dielectric layer 150A Dielectric Layer 150B Dielectric Layer 200 Wireless Department 250 Second dielectric layer 250A Dielectric Layer 250B Dielectric Layer 300 waveguide 310 Second Conductor Layer 330 through hole 350 gap 400 Radiation Department 410 Radiation element (third conductor layer) 410A radiating element 800 Transmitting and Receiving Unit 1000 antenna device 1000_1 Antenna Device 1000_2 Antenna Device 1000A Antenna Device 2000 radar device

Claims

1. An antenna device comprising: Waveguides are used to transmit signals. Multiple openings are arranged in a row along the waveguide direction of the waveguide, and the multiple openings are alternately offset along the waveguide direction; as well as Multiple radiating elements are configured corresponding to the multiple openings, and receive the signal from the waveguide via the multiple openings.

2. The antenna device according to claim 1, wherein, The plurality of radiating elements are arranged to cover the opening.

3. The antenna device according to claim 2, wherein, The plurality of radiating elements are alternately offset along the waveguide direction of the waveguide.

4. The antenna device according to claim 1, wherein, The waveguide includes: a first conductive layer; a first dielectric layer formed on the first conductive layer; and a second conductive layer disposed on the first dielectric layer, wherein the signal is transmitted in the first dielectric layer between the first conductive layer and the second conductive layer. The plurality of openings are formed in the second conductor layer. A second dielectric layer is disposed on the second conductor layer. The plurality of radiating elements are arranged on the second dielectric layer corresponding to the plurality of openings.

5. The antenna device according to claim 4, wherein, The plurality of openings are alternately arranged on a first side and a second side opposite to the first side along a line parallel to the surface of the second conductor layer or the surface of the second dielectric layer.

6. The antenna device according to claim 5, wherein, The plurality of radiating elements are alternately arranged along the line on the first side and the second side.

7. The antenna device according to claim 6, wherein, A portion of each of the radiating elements disposed on the second side is contained on the first side, and a portion of each of the radiating elements disposed on the first side is contained on the second side, such that each of the plurality of radiating elements extends from one side of the first side and the second side to the other side.

8. The antenna device according to claim 6, wherein, The spacing between adjacent radiating elements on the first or second side is approximately an even multiple of half the wavelength of the operating frequency.

9. The antenna device according to claim 6, wherein, The length of the radiating element in the direction parallel to the surface of the second dielectric layer and orthogonal to the line is shorter than the length in the direction corresponding to the line.

10. The antenna device according to claim 1, wherein, The plurality of radiating elements are metal plates.

11. The antenna device according to claim 1, further comprising: The wireless unit generates the signal and supplies the signal to the waveguide.

12. A radar device comprising: Antenna device, the antenna device having: Waveguides are used to transmit signals. Multiple openings are arranged in a row along the waveguide direction of the waveguide, and the multiple openings are alternately offset along the waveguide direction; and Multiple radiating elements are configured corresponding to the multiple openings, and receive the signal from the waveguide via the multiple openings; as well as The transmitting and receiving unit uses the antenna device to transmit and receive the signal.

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