Signal feed-in constraint structure suitable for waveguide, waveguide transmission line, waveguide antenna radar and automobile

Abstract

The utility model provides a signal feed-in constraint structure suitable for a waveguide and a waveguide transmission line, and the structure comprises a PCB mainboard and a waveguide antenna, and the waveguide antenna is provided with a waveguide cavity. A substrate integrated waveguide is formed on the PCB mainboard, the substrate integrated waveguide comprises grounding holes, and the grounding holes are distributed in the edge, located on the substrate integrated waveguide, of the PCB mainboard; the substrate integrated waveguide provides a first area, and the grounding holes are also distributed at the tail end of the first area; wherein the first area comprises the arrangement position of the coupling slot. According to the utility model, radio-frequency signals are constrained through the grounding hole, so that the signals can be fed into the waveguide from the coupling gap on the substrate integrated waveguide along the direction perpendicular to the bottom surface of the waveguide H surface, and the problems of signal constraint and signal excitation of feeding from the substrate integrated waveguide to the bottom surface of the waveguide H surface are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of waveguide structures, and particularly to a signal feeding constraint structure applicable to a waveguide and a waveguide transmission line. Background Art

[0002] With the rapid development of wireless communication technology, microwaves and millimeter waves have gradually come into people's view and play an important role in the communication field.

[0003] At present, in the application of vehicle-mounted millimeter-wave radars, waveguide antennas have received increasing attention due to their advantages such as low loss and high isolation; in the application of the 76 - 81 GHz frequency band of vehicle-mounted radars, since the new radio frequency chip technology with waveguide ports is not yet mature, using existing radio frequency chips for waveguide connection has become an effective way to apply waveguide antennas in vehicle-mounted radars.

[0004] At present, taking the substrate integrated waveguide as the radio frequency signal extraction end, how to constrain and guide the radio frequency signal from the substrate integrated waveguide to the waveguide transmission line has become a key problem. Summary of the Utility Model

[0005] Aiming at the defects in the prior art, the purpose of the utility model is to provide a signal feeding constraint structure applicable to a waveguide and a waveguide transmission line.

[0006] A signal feeding constraint structure applicable to a waveguide according to the utility model includes: a PCB main board and a waveguide antenna, and the waveguide antenna has a waveguide cavity;

[0007] A substrate integrated waveguide is formed on the PCB main board, and the substrate integrated waveguide includes grounding holes, and the grounding holes are distributed on the edge of the substrate integrated waveguide on the PCB main board;

[0008] The substrate integrated waveguide provides a first region, and the grounding holes are also distributed at the end of the first region;

[0009] Wherein, the first region includes the setting position of a coupling slot.

[0010] Preferably, a coupling slot is arranged in the first region, and the feeding port at the bottom surface of the H-plane of the waveguide cavity covers the coupling slot.

[0011] Preferably, a grounded coplanar waveguide is further formed on the top surface of the PCB main board, one end of the grounded coplanar waveguide is used to connect a radio frequency chip, and the other end of the grounded coplanar waveguide is connected to the substrate integrated waveguide; the feeding port is located at the end of the bottom surface of the H-plane of the waveguide cavity; the waveguide cavity is a cavity at the feeding port;

[0012] The grounded coplanar waveguide includes grounding holes, and the grounding holes are distributed on the edge of a waveguide transmission channel composed of the grounded coplanar waveguide and the substrate integrated waveguide.

[0013] Preferably, a waveguide cavity is arranged inside the waveguide antenna;

[0014] Alternatively, the waveguide antenna and the PCB main board are combined to form a waveguide cavity.

[0015] Preferably, the waveguide antenna includes a waveguide top layer and a magnetic conductor; a signal transmission bottom surface is further formed on the top surface of the PCB main board;

[0016] The waveguide top layer, the magnetic conductor, and the signal transmission bottom surface enclose to form a waveguide cavity. The magnetic conductor is arranged on the bottom surface of the waveguide top layer. The magnetic conductor forms two E-plane side surfaces and two closed end surfaces of the waveguide cavity. The bottom surface of the waveguide top layer forms the H-plane top surface of the waveguide cavity, and the signal transmission bottom surface forms the H-plane bottom surface of the waveguide cavity.

[0017] Preferably, a grounded coplanar waveguide is further formed on the top surface of the PCB main board. One end of the grounded coplanar waveguide is used to connect to a radio frequency chip, and the other end of the grounded coplanar waveguide is connected to the substrate integrated waveguide; the feeding port is located at the end of the waveguide cavity on the H-plane bottom surface; the waveguide cavity is a cavity at the feeding port;

[0018] The grounded coplanar waveguide includes grounding holes, and the grounding holes are distributed on the edge of the grounded coplanar waveguide and the substrate integrated waveguide;

[0019] The waveguide antenna includes a waveguide top layer and a magnetic conductor; a signal transmission bottom surface is further formed on the top surface of the PCB main board;

[0020] The waveguide top layer, the magnetic conductor, and the signal transmission bottom surface enclose to form a waveguide cavity. The magnetic conductor is arranged on the bottom surface of the waveguide top layer. The magnetic conductor forms two E-plane side surfaces and two closed end surfaces of the waveguide cavity. The bottom surface of the waveguide top layer forms the H-plane top surface of the waveguide cavity, and the signal transmission bottom surface forms the H-plane bottom surface of the waveguide cavity.

[0021] Preferably, a magnetic conductor is arranged on the bottom surface of the waveguide top layer, and the magnetic conductor is arranged in a single-loop structure or a multi-loop structure; a shielding wall extending from the bottom surface of the waveguide top layer is arranged on the outer side of the magnetic conductor relative to the waveguide cavity;

[0022] The bottom end surface of the shielding wall covers the grounding hole, and the grounding hole is located outside the waveguide cavity;

[0023] The inner side surface of the shielding wall is located between the side surface of the coupling gap and the grounding hole.

[0024] A waveguide transmission line provided by the present utility model includes the signal feeding constraint structure applicable to the waveguide.

[0025] A waveguide antenna radar provided by the present utility model includes the waveguide transmission line.

[0026] A vehicle provided by the present utility model includes the waveguide antenna radar.

[0027] Compared with the prior art, the present utility model has the following beneficial effects:

[0028] 1. The present utility model constrains the radio frequency signal through the grounding holes, enabling the signal to be fed into the waveguide along the coupling slot on the substrate integrated waveguide perpendicular to the bottom surface of the waveguide H-plane, solving the problems of signal constraint and signal excitation for feeding from the substrate integrated waveguide to the bottom surface of the waveguide H-plane.

[0029] 2. The present utility model realizes parallel coupling feeding from the substrate integrated waveguide to the waveguide cavity through the coupling slot. The substrate integrated waveguide arranged on the PCB main board is parallel to the waveguide cavity, without additional protruding components, and the structure is simple and compact.

[0030] 3. The present utility model adopts various waveguide cavity structure forms such as single-turn enclosure, multi-turn enclosure, and magnetic conductor plus enclosure, which can adapt to various processing methods of waveguide antennas and connection and fixing methods with the PCB main board, solving the process difficulties in processing and installing waveguide antennas. Description of the Drawings

[0031] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, purposes, and advantages of the present utility model will become more obvious:

[0032] Figure 1 Schematic diagram of a waveguide transmission line in the prior art;

[0033] Figure 2 Schematic diagram of a waveguide transmission line with EH conversion in the prior art;

[0034] Figure 3 Three-dimensional view of a millimeter-wave radar waveguide antenna with a single-layer waveguide structure disclosed by the present utility model;

[0035] Figure 4 Top view of a millimeter-wave radar waveguide antenna with a single-layer waveguide structure disclosed by the present utility model;

[0036] Figure 5 Schematic diagram of the matching between the waveguide antenna and the PCB main board disclosed by the present utility model;

[0037] Figure 6 Top view of the signal feeding structure disclosed by the present utility model;

[0038] Figure 7 Cross-sectional view of the grounded coplanar waveguide disclosed by the present utility model;

[0039] Figure 8 Cross-sectional view of the waveguide transition section disclosed by the present utility model;

[0040] Figure 9 Cross-sectional view of the substrate integrated waveguide disclosed by the present utility model;

[0041] Figure 10 Example diagrams of different shapes of the coupling slot disclosed by the present utility model;

[0042] Figure 11 Example diagram of the shielding wall solution disclosed by the present utility model;

[0043] Figure 12 S-parameter schematic diagram of the embodiment of the present utility model; S parameter (Scatter parameter), that is, scattering parameter. In the figure, S(1,1) represents the reflection coefficient of port 1 when port 2 is matched, that is, the input return loss; S(2,1) represents the forward transmission coefficient from port 1 to port 2 when port 2 is matched;

[0044] Figure 13 Stereo explosion diagram of the practical case of the 4T4R single-layer waveguide structure antenna of the present utility model.

[0045] Description of reference numerals:

[0046]

[0047] Specific implementation manners

[0048] The present utility model will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several changes and improvements can still be made. These all belong to the protection scope of the present utility model.

[0049] Typical functional surfaces of the waveguide are as Figure 1 shown. The conventional feeding method from the PCB main board to the waveguide is usually to set a patch probe parallel to the end face of the waveguide, or to use a feeding probe protruding into the waveguide cavity perpendicular to the bottom surface of the H-plane of the waveguide; since the PCB main board is usually parallel to the waveguide transmission direction, these feeding methods all require setting feeding components protruding from the PCB surface on the PCB, resulting in problems of complex structure and difficult processing and assembly.

[0050] Another relatively mainstream feeding method is as Figure 2As shown, this feeding method adds an EH conversion structure at the end of the transverse waveguide, causing the waveguide to extend a downward-facing end face, which is parallel and aligned with the patch probe arranged on the PCB main board, forming a feeding structure. This feeding method has problems such as a complex waveguide structure, the need to be divided into multiple layers during plastic molding, high assembly process requirements, and high costs.

[0051] The present utility model provides a waveguide antenna with a single-layer structure. Referring to Figures 3 - 11 as shown, it includes a PCB main board 1 and a waveguide antenna 2.

[0052] The PCB main board 1 includes a PCB top surface 11, a dielectric layer 12, and a PCB bottom surface 13. Among them, the PCB top surface 11 and the PCB bottom surface 13 are metallized layers, and the dielectric layer 12 uses a high-frequency PCB material suitable for the 76 - 81 GHz frequency band, with a thickness of 5 - 10 mil.

[0053] A feeder 111 is arranged on the PCB top surface 11. One end of the feeder 111 is connected to the signal pin of the radio frequency chip to receive or feedback electromagnetic signals. Slots 115 are arranged on both sides of the feeder 111 on the PCB top surface 11, and grounding holes 116 with appropriate sizes and spacings are arranged outside the slots 115. The grounding holes 116 are in good electrical connection with the PCB top surface 11 and the PCB bottom surface 13 respectively. The grounding coplanar waveguide is mainly formed by the combination of the feeder 111, the slots 115, and the grounding holes 116.

[0054] The grounding holes 116 extend in the direction away from the radio frequency chip, and the lateral spacing gradually increases. It mainly combines with the PCB top surface 11 and the PCB bottom surface 13 to form a substrate integrated waveguide 113. One or more columns of grounding holes 116 are closed at the end of the substrate integrated waveguide 113, forming a substrate integrated waveguide 113 with a closed end. The grounding holes 116 can be single-column or multi-column to meet the performance requirements of good grounding and signal shielding.

[0055] Between the grounding coplanar waveguide and the substrate integrated waveguide 113, the width of the feeder 111 gradually increases, the widths of the slots 115 on both sides remain unchanged but the lateral spacing gradually increases, forming a waveguide transition section 112 between the grounding coplanar waveguide and the substrate integrated waveguide 113.

[0056] There are differences in the lateral widths of the grounding coplanar waveguide and the substrate integrated waveguide 113, that is: the grounding coplanar waveguide is smaller, and the substrate integrated waveguide 113 is larger; by setting the waveguide transition section 112 with a gradually increasing spacing, the grounding coplanar waveguide and the substrate integrated waveguide 113 can be effectively connected; the gradually increasing spacing is beneficial to the gradual transition of the signal transmission mode from the grounding coplanar waveguide to the substrate integrated waveguide 113, reducing adverse effects such as reflection and loss, and ensuring the transmission efficiency.

[0057] The substrate integrated waveguide 113 provides a first region, and the grounding vias 116 are also distributed at the end of the first region; wherein, the first region includes the setting position of the coupling slot 114, and the end of the first region is the end of the substrate integrated waveguide 113. A coupling slot 114 is arranged in the first region, and the end face of the waveguide cavity at the bottom of the H-plane covers the coupling slot 114.

[0058] In the area of the PCB top surface 11 where the substrate integrated waveguide 113 is located, a non-metallized or de-metallized coupling slot 114 is arranged; the coupling slot 114 is arranged at the end of the substrate integrated waveguide 113 and is aligned with the substrate integrated waveguide 113 along the center line; an electric field perpendicular to the H-plane of the waveguide is excited through the coupling slot 114, so as to couple the energy of the baseband integrated waveguide into the waveguide. The shape of the coupling slot 114 can be in the forms of H-shaped, oblique slot-shaped, circular, annular, cross-shaped, V-shaped, etc., which are not limited here, as long as the mode conversion from the substrate integrated waveguide 113 to the waveguide can be excited. By adjusting the local dimensions of the shape, the reflection and impedance matching of the conversion can be improved, and then the transmission efficiency can be enhanced.

[0059] Refer to Figure 10 As shown, the coupling slot 114 can be set in a variety of different shapes. In the Figure 10 shown coupling slot 114 (the shaded part in the figure), a is H-shaped, b is oblique slot-shaped, c is cross-shaped, d is V-shaped, e is circular, and f is annular.

[0060] The waveguide antenna 2 includes: a waveguide top layer 21, a shielding wall 22, a magnetic conductor 24, and a slot antenna 23.

[0061] The waveguide top layer 21 is the main component of the waveguide antenna 2, and a shielding wall 22 and a magnetic conductor 24 are arranged below it; the shielding wall 22 and the magnetic conductor 24 are combined with the waveguide top layer 21 to form two E-plane sides, the H-plane top surface, and two end faces of the waveguide cavity. A signal transmission bottom surface 117 is also formed on the top surface of the PCB main board 1, and the signal transmission bottom surface 117 covers the waveguide cavity and constitutes the H-plane bottom surface of the waveguide cavity, and a complete waveguide cavity is formed in combination.

[0062] The end feeding port 26 of the waveguide cavity at the bottom of the H-plane covers the coupling slot 114. As Figure 5 shown, a feeding port 26 for signals to enter from the coupling slot 114 to the waveguide antenna is formed on the H-plane bottom surface of the waveguide cavity. The coupling slot 114 and the feeding port 26 are centered and aligned along the signal transmission direction. The coupling slot 114 and the end feeding port 26 of the H-plane bottom surface of the waveguide keep an appropriate distance to ensure excellent coupling efficiency. The extending direction of the waveguide cavity is parallel to the PCB main board 1. Among them, both the H-plane top surface and the H-plane bottom surface of the waveguide cavity are parallel to the PCB main board 1.

[0063] In the design of the waveguide antenna 2, the fewer the number of waveguide layers, the simpler the manufacturing process, the smaller the volume, and the lower the cost. Therefore, the optimal structure of the waveguide antenna 2 is a single layer. And the single-layer waveguide antenna 2 needs to use the metal top surface of the PCB main board 1 as the bottom surface of the H-plane of the waveguide. The single-layer structure is beneficial to the plastic molding of the waveguide antenna and the subsequent surface metallization process, and does not require additional connection processes such as welding or gluing, which is more conducive to the processing and assembly of the radar waveguide antenna, reduces the dimensional accuracy requirements, and saves manufacturing costs.

[0064] The main characteristic requirement of waveguide feeding is that the electric field direction of the fed signal must be perpendicular to the H-plane of the waveguide (i.e., the long-side plane). Since in the design of the single-layer waveguide body, the top surface of the PCB main board 1 is parallel to and closely adheres to the bottom surface H-plane of the waveguide cavity, the electric field direction of the electromagnetic signal excited by the patch probe provided by the traditional microstrip design is necessarily parallel to the H-plane of the waveguide, so the waveguide transmission mode cannot be excited.

[0065] The present utility model uses signal conversion through the coupling slot 114 on the substrate integrated waveguide 113 to solve the signal transmission problem from the PCB main board 1 to the single-layer waveguide antenna 2. The slot coupling principle is essentially a waveguide coupler. The basic structure of a waveguide coupler includes an input waveguide, an output waveguide, and a coupling component. When a microwave signal enters the coupling component from the input waveguide, the signal can be coupled to the output waveguide to achieve signal transmission and distribution.

[0066] At the other end of the waveguide cavity, multiple slot structures are provided to penetrate the top layer 21 of the waveguide to form a waveguide slot antenna 23 for signal transmission and reception of the waveguide antenna 2. The number of slots of the slot antenna 23 depends on different antenna radiation performances. In vehicle-mounted radar applications, considering the size scale of the waveguide structure itself, generally 4 - 12 slots are provided.

[0067] Refer to Figure 11 As shown, the internal dimensions of the waveguide cavity formed by the shielding wall 22 and the magnetic conductor 24 are set such that the ratio of the width of the H-plane to the height of the E-plane is 2:1 or a similar ratio, and it meets the transmission requirements of the 76 - 81 GHz frequency band; the magnetic conductor 24 can be one, two, or multiple turns, and the shielding wall 22 is arranged outside the magnetic conductor 24; the magnetic conductor 24 is one of geometric shapes such as a periodic arrangement of cylinders, rectangular bodies, trapezoidal bodies, etc., and can be selected according to different material and process, isolation performance and other technical requirements; a ridge 25 can be added as needed to form a ridged waveguide form. A ridge 25 is provided at the midline of the waveguide cavity below the top layer of the waveguide to form a ridged waveguide transmission line. The orthographic projection of the ridge 25 on the PCB main board 1 is staggered from the coupling slot 114, and the waveguide cavity is a cavity at the feeding port 26.

[0068] The material of the waveguide antenna 2 is a metal material or a plastic material with surface metallization.

[0069] The connection between the waveguide antenna 2 and the PCB main board 11 generally includes fastening connections with metal parts and plastic parts. Among them, the shielding wall 22 and the magnetic conductor 24 can be tightly connected or arranged with a gap to the PCB main board 1; the feeding port 26 at the end of the bottom surface of the H-plane of the waveguide cavity maintains an appropriate distance from the coupling slot 114 to excite signal coupling.

[0070] Refer to Figure 12 As shown, the waveguide antenna 2 structure disclosed in the present invention realizes an efficient conversion with a working frequency of 76 - 81 GHz, a -10 dB relative bandwidth of 12.16%, and a loss of -0.6 dB, and is applicable to the application of vehicle-mounted radars. From Figure 12 it can be seen that the present invention realizes the feeding from the substrate integrated waveguide to the feeding port 26 at the end of the bottom surface of the waveguide H-plane, and has a high transmission efficiency.

[0071] Refer to Figure 13 As shown, in a specific embodiment provided by the present invention, a practical case of a 4T4R single-layer waveguide structure transmission line is introduced, which includes a radio frequency chip and 8 single-layer waveguide antennas 2 connected to the radio frequency chip.

[0072] The present invention provides a waveguide antenna radar, which adopts the above-mentioned waveguide transmission line of the present invention. The present invention also provides a vehicle, on which the above-mentioned waveguide antenna radar is installed.

[0073] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0074] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments and features in the present application can be arbitrarily combined with each other.

Claims

1. A signal feeding constraint structure applicable to a waveguide, characterized in that Comprising: A PCB main board (1) and a waveguide antenna (2), wherein the waveguide antenna (2) has a waveguide cavity; A substrate integrated waveguide (113) is formed on the PCB main board (1), the substrate integrated waveguide (113) includes via holes (116), and the via holes (116) are distributed on the edge of the PCB main board (1) located in the substrate integrated waveguide (113); The substrate integrated waveguide (113) provides a first region, and the via holes (116) are also distributed at the end of the first region; Wherein, the first region includes the setting position of a coupling slot (114).

2. The signal feeding constraint structure applicable to a waveguide according to claim 1, wherein A coupling slot (114) is arranged in the first region, and a feeding port (26) on the bottom surface of the H-plane of the waveguide cavity covers the coupling slot (114).

3. The signal feeding constraint structure applicable to a waveguide according to claim 2, characterized in that A grounded coplanar waveguide is further formed on the top surface of the PCB main board (1), one end of the grounded coplanar waveguide is used to connect to a radio frequency chip, and the other end of the grounded coplanar waveguide is connected to the substrate integrated waveguide (113); the feeding port (26) is located at the end of the bottom surface of the H-plane of the waveguide cavity; the waveguide cavity is a cavity at the feeding port (26); The grounded coplanar waveguide includes via holes (116), and the via holes (116) are distributed on the edge of a waveguide transmission channel formed by the grounded coplanar waveguide and the substrate integrated waveguide.

4. The signal feeding constraint structure applicable to a waveguide according to claim 1, characterized in that, A waveguide cavity is arranged inside the waveguide antenna (2); Or, the waveguide antenna (2) and the PCB main board (1) are combined to form a waveguide cavity.

5. The signal feeding constraint structure applicable to a waveguide according to claim 4, characterized in that, The waveguide antenna (2) includes a waveguide top layer (21) and a magnetic conductor (24); a signal transmission bottom surface (117) is further formed on the top surface of the PCB main board (1); The waveguide top layer (21), the magnetic conductor (24) and the signal transmission bottom surface (117) enclose to form a waveguide cavity, the magnetic conductor (24) is arranged on the bottom surface of the waveguide top layer (21), the magnetic conductor (24) forms two E-plane side surfaces and two closed end surfaces of the waveguide cavity, the bottom surface of the waveguide top layer (21) forms the H-plane top surface of the waveguide cavity, and the signal transmission bottom surface (117) forms the H-plane bottom surface of the waveguide cavity.

6. The signal feeding constraint structure applicable to a waveguide according to claim 2, characterized in that A grounded coplanar waveguide is further formed on the top surface of the PCB main board (1), one end of the grounded coplanar waveguide is used to connect to a radio frequency chip, and the other end of the grounded coplanar waveguide is connected to the substrate integrated waveguide (113); the feeding port (26) is located at the end of the bottom surface of the H-plane of the waveguide cavity; the waveguide cavity is a cavity at the feeding port (26); The grounded coplanar waveguide includes via holes (116), and the via holes (116) are distributed on the edge of the grounded coplanar waveguide and the substrate integrated waveguide (113); The waveguide antenna (2) includes a waveguide top layer (21) and a magnetic conductor (24); a signal transmission bottom surface (117) is further formed on the top surface of the PCB main board (1); The waveguide top layer (21), the magnetic conductor (24), and the signal transmission bottom surface (117) enclose to form a waveguide cavity. The magnetic conductor (24) is arranged on the bottom surface of the waveguide top layer (21). The magnetic conductor (24) forms two E-plane side surfaces and two closed end surfaces of the waveguide cavity. The bottom surface of the waveguide top layer (21) forms the H-plane top surface of the waveguide cavity. The signal transmission bottom surface (117) forms the H-plane bottom surface of the waveguide cavity.

7. The signal feeding constraint structure applicable to a waveguide according to claim 6, wherein The bottom surface of the waveguide top layer (21) is provided with a magnetic conductor (24), and the magnetic conductor (24) is arranged in a single-turn structure or a multi-turn structure. A shielding wall (22) extending from the bottom surface of the waveguide top layer (21) is provided on the outer side of the magnetic conductor (24) relative to the waveguide cavity. The bottom end face of the shielding wall (22) covers the grounding hole (116), and the grounding hole (116) is located outside the waveguide cavity. The inner side surface of the shielding wall (22) is located between the side surface of the coupling gap and the grounding hole (116).

8. A waveguide transmission line, characterized in that, It includes the signal feeding constraint structure applicable to the waveguide according to any one of claims 1 to 7.

9. A waveguide antenna radar, characterized in that, It includes the waveguide transmission line according to claim 8.

10. A vehicle, characterized in that, It includes the waveguide antenna radar according to claim 9.

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