Antenna structure, radar and vehicle

Abstract

The application relates to an antenna structure, a radar and a vehicle, and the antenna structure comprises a radiation layer and a feed line layer, the feed line layer is arranged on the electromagnetic wave input side of the radiation layer; wherein the feed line layer is provided with a plurality of waveguide channels, the outer periphery of the side, away from the radiation layer, of the plurality of waveguide channels is provided with a first choke groove, and the outer periphery of the first choke groove is provided with a plurality of pegs, and the plurality of pegs form a peg bed. By arranging the first choke groove and the plurality of pegs on the outer periphery of the waveguide channels of the feed line layer, and by forming the peg bed by the plurality of pegs, the first choke groove and the peg bed jointly act to reduce electromagnetic leakage caused by assembly gaps of the feed structure, and improve the transmission efficiency of electromagnetic waves.

Description

Technical Field

[0001] This application relates to the field of antenna technology, and more particularly to an antenna structure, radar, and vehicle. Background Technology

[0002] Currently, waveguide antennas are fabricated independently, making low-loss transmission between the waveguide antenna and the RF chip a major technical challenge. Some current solutions address this transmission loss by adding an artificial magnetic conductor bed structure to the waveguide antenna feed structure. However, this bed structure is affected by varying fabrication dimensions and manufacturing errors, resulting in unsatisfactory electromagnetic wave leakage suppression.

[0003] Therefore, a technical solution is needed to at least partially solve the above-mentioned technical problems. Summary of the Invention

[0004] This application provides an antenna structure, radar, and vehicle. The antenna structure is used to suppress electromagnetic wave leakage and improve electromagnetic wave transmission efficiency, thereby at least partially solving the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, an antenna structure is provided, comprising:

[0006] The radiative layer radiates electromagnetic waves into the air; and

[0007] A feeder layer is attached to one side of the radiating layer;

[0008] The feeder layer is provided with multiple waveguide channels. The outer periphery of the multiple waveguide channels away from the radiation layer is provided with a first choke groove. The outer periphery of the first choke groove is provided with multiple nail posts, which form a nail bed.

[0009] In some embodiments, the radiating layer includes a first surface and a second surface disposed opposite to each other, the first surface being disposed away from the feeder layer; the first surface is provided with a plurality of first grooves, and the first grooves are provided with radiating gaps penetrating the radiating layer.

[0010] In some embodiments, the radial slit is elongated, and at least one second choke groove is provided at intervals on the opposite sides of the first groove, and the second choke groove is provided on the first surface along the length direction of the radial slit.

[0011] In some embodiments, the second surface is provided with a radiation cavity, and the radiation gaps located in the same first groove are a group, with each group of radiation gaps disposed in one radiation cavity.

[0012] In some embodiments, the radiation cavity includes two symmetrically arranged and interconnected sub-cavities. Each sub-cavity includes multiple sequentially connected radiation cavity segments. Each radiation cavity segment is provided with a radiation slit. The center lines of adjacent radiation cavity segments in the same sub-cavity are parallel to each other and staggered. Each group of radiation slits is collinearly arranged.

[0013] In some embodiments, the radiation cavity includes two symmetrically arranged and interconnected sub-cavities. Each sub-cavity includes multiple sequentially connected radiation cavity segments. Each radiation cavity segment is provided with a radiation slit. The center lines of adjacent radiation cavity segments in the same sub-cavity are collinearly arranged, and each group of radiation slits is staggered.

[0014] In some embodiments, a protrusion is provided between the two sub-cavities, which partially blocks the space between the two sub-cavities.

[0015] In some embodiments, the second surface is further provided with a first sub-cavity, and each of the radiation cavities is respectively connected to a first end of a first sub-cavity, the first sub-cavity being used to transmit electromagnetic wave signals.

[0016] In some embodiments, the feed layer has a second sub-cavity on the side near the radiating layer. The number and structural shape of the second sub-cavity match those of the first sub-cavity, so that multiple feed cavities are formed between the feed layer and the radiating layer.

[0017] In some implementations, each of the feeder cavities is connected at one end to a waveguide channel and at the other end to at least one of the radiating cavities.

[0018] In some implementations, the nails are arranged periodically.

[0019] In some embodiments, a metal layer is included, which is spaced apart on the side of the nail bed away from the feed layer.

[0020] A second aspect of this application provides a radar including the aforementioned antenna structure.

[0021] In some implementations, a PCB board is included, which is mounted on the antenna structure on one side of the feed layer.

[0022] In some implementations, the PCB board has a waveguide cavity hole corresponding to the waveguide channel, and an RF chip is provided on the side of the waveguide cavity hole away from the feed layer.

[0023] According to a third aspect of this application, a vehicle is provided, including the radar or antenna structure described above.

[0024] In the antenna structure of this application embodiment, by means of the above technical solution, a first choke slot and a plurality of pins are provided on the outer periphery of the waveguide channel of the feed layer, and the plurality of pins form a bed of pins. The first choke slot and the bed of pins work together to suppress electromagnetic leakage and improve the transmission efficiency of electromagnetic waves.

[0025] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0028] Figure 1 This is a three-dimensional structural diagram of the antenna structure provided in an exemplary embodiment of this application;

[0029] Figure 2 This is a partial cross-sectional structural diagram of the radar structure provided in an exemplary embodiment of this application;

[0030] Figure 3 This is a schematic diagram of the feeder layer away from the radiation layer in an exemplary embodiment of this application;

[0031] Figure 4 This is a schematic diagram of the structure of the feeder layer near the radiating layer provided in an exemplary embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the structure of the side of the radiating layer away from the feeder layer provided in an exemplary embodiment of this application;

[0033] Figure 6 This is a schematic diagram of the structure of the radiation layer near the feeder layer in an exemplary embodiment of this application;

[0034] Figure 7 This is a schematic diagram of the structure of the radiation cavity provided in an exemplary embodiment of this application.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1-Feeder layer, 11-Waveguide channel, 12-First choke slot, 13-Pin, 14-Second cavity, 15-Metal layer;

[0037] 2-Radiation layer, 201-First surface, 202-Second surface, 21-First groove, 22-Radiation gap, 23-Second choke groove, 24-Radiation cavity, 241-Sub-cavity, 2411-Radiation cavity segment, 2412-Divider line, 242-Protrusion, 243-Axis of symmetry, 244-Electromagnetic wave input port, 25-First sub-cavity;

[0038] 3-Feeder cavity;

[0039] 4-PCB board, 41-waveguide cavity hole, 42-RF chip;

[0040] 5-Screw. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0042] With technological advancements, the demand for advanced driver assistance systems (ADAS) in automobiles is constantly growing. Millimeter-wave radar, due to its advantages such as all-weather operation, high precision, and small size, has wide applications. The antenna, as the "eye" of the millimeter-wave radar, plays a crucial role in the overall performance of the system.

[0043] Traditional millimeter-wave radar antennas are fabricated by etching microstrip line patterns onto a high-frequency dielectric substrate. This process results in high radio frequency (RF) losses, limiting radar detection capabilities. Furthermore, the expensive high-frequency dielectric substrates and complex PCB manufacturing processes contribute to the high cost of millimeter-wave radars using these substrates. Currently, millimeter-wave radar antennas are evolving towards waveguide antenna technology. Waveguide antennas have significantly lower transmission losses than microstrip antennas, greatly improving the detection performance of millimeter-wave radars. With advancements in current manufacturing processes, waveguide antennas can now be fabricated using plastic molding and electroplating, significantly reducing the cost of millimeter-wave radar.

[0044] A first aspect of this application provides an antenna structure, please refer to... Figures 1 to 3The antenna structure includes a radiating layer 2 and a feed layer 1. The radiating layer 2 radiates received electromagnetic waves into the air. The feed layer 1 is attached to one side of the radiating layer 2. The side of the feed layer 1 away from the radiating layer 2 includes a feed structure, which comprises multiple waveguide channels 11, a first choke slot 12, and a bed of nails formed by multiple posts 13. In other words, the feed layer 1 has multiple waveguide channels 11, and the outer periphery of the multiple waveguide channels 11 away from the radiating layer 2 has a first choke slot 12. Multiple posts 13 are arranged around the outer periphery of the first choke slot 12, forming a bed of nails. It is understood that by providing a first choke slot 12 on the outer periphery of the waveguide channel 11 in the feed layer 1, when there is an assembly gap in the waveguide antenna, such as with the PCB board, electromagnetic waves will leak during transmission in the waveguide channel 11 of the feed layer 1 and the waveguide cavity of the PCB board 4. The leaked electromagnetic waves enter the first choke slot 12, and the wave reflected from the bottom of the slot has a 180° phase difference with the incident wave, forming a reverse superposition cancellation at the slot opening, blocking energy leakage. The formed bed of nails structure can disrupt the propagation mode of the waveguide, forming an electromagnetic bandgap and suppressing stray wave leakage. Therefore, the first choke slot 12 and multiple periodically arranged nails 13 are used to limit the radiation of electromagnetic waves along the outer periphery of the waveguide channel 11, forming a dual electromagnetic leakage suppression, allowing electromagnetic waves to transmit through the waveguide channel 11, thereby suppressing electromagnetic leakage and improving the transmission efficiency of electromagnetic waves.

[0045] The waveguide channel 11 has an elongated circular cross-section that extends through the feed layer 1. A first choke groove 12 is adapted to the shape of the waveguide channel 11. Multiple waveguide channels 11 form a group; for example, eight waveguide channels 11 form a group. Each waveguide channel 11 has a first choke groove 12 on its outer periphery, forming eight first choke grooves 12. A bed of nails is provided on the outer periphery of the eight first choke grooves 12. Furthermore, the depth of the first choke groove 12 is set to 1 / 4 of the operating wavelength. For example, the millimeter-wave radar operates at 77 GHz, so the groove depth of the first choke groove 12 is 0.9 mm. Its processing error can be set to ±a, where a can be set to 0-0.2 mm. The groove width of the first choke groove 12 is influenced by many factors; the groove width is designed to be 0.9 mm based on processing capabilities, and its processing error can be set to ±b, where b can be set to 0-0.3 mm. In addition, during processing, the radiating layer 2 and the feed layer 1 are connected by injection molding, electroplating, and welding, enabling mass production at low cost. Furthermore, the shape of the pins 13 is not limited; they can be cylindrical, cuboid, frustum-shaped, etc. The nail bed formed by the pins 13 is a periodic nail bed. By adjusting the height, diameter, and periodic spacing of the pins 13, a stopband in the 77GHz frequency band can be formed, achieving electromagnetic wave leakage suppression with a gap of less than one-quarter of the operating wavelength. Compared with a non-periodic nail bed, the periodic nail bed provides better consistency and translational symmetry, adapting to waveguide channels 11 of different sizes.

[0046] In some implementations, please refer to Figure 1 and Figure 5 The radiating layer 2 includes a first surface 201 and a second surface 202 disposed opposite to each other, with the first surface 201 disposed away from the feed layer 1. The first surface 201 has a plurality of first grooves 21, and each first groove 21 has a radiating slot 22 penetrating through the radiating layer 2. It can be understood that by providing a penetrating radiating slot 22 within the first groove 21, the first groove 21 reduces the thickness of the waveguide antenna radiating slot 22, enabling related impedance modulation. Furthermore, by controlling the slope of the groove, energy is confined to the radiating aperture, reducing electromagnetic wave edge diffraction and improving directional stability. Figure 1 To the point of being responsive.

[0047] In some embodiments, the radiating slots 22 are elongated strips, arranged in groups of a predetermined number along their length or width. At least one second choke groove 23 is provided at intervals on opposite sides of the first groove 21. The second choke grooves 23 are located on the first surface along the length of the radiating slot 22. It can be understood that the second choke grooves 23 form a periodic choke structure, creating an equivalent artificial magnetic conductor surface, exciting the electromagnetic bandgap, forcibly blocking surface waves from propagating along non-radiative paths, improving the isolation between adjacent waveguide antennas, and improving the pattern flatness. The arrangement along the length of the radiating slots 22 means arranging them along the direction where the side length of the radiating slots 22 is longer. The radiating slots 22 can be arranged collinearly or staggered. Each group of radiating slots 22 is typically designed with the same shape and the same orientation. As mentioned earlier, the first groove 21, on the one hand, reduces the thickness of the waveguide antenna radiating slot 22 for related impedance regulation; on the other hand, by controlling the slope of the groove, it constrains energy to concentrate towards the radiating aperture, reduces electromagnetic wave edge diffraction, and improves the directional... Figure 1 Consistency. Therefore, the first groove 21 and the second choke groove 23 work together to improve the flatness and consistency of the antenna pattern. The depth of the second choke groove 23 is designed according to the quarter-wavelength principle. For example, the millimeter-wave radar operates at 77 GHz, so the groove depth of the second choke groove 23 is 0.9 mm, and the processing error can be set to ±c, where c can be set to 0-0.2 mm. Its width can be designed to be 0.9 mm, and the processing error can be set to ±d, where d can be set to 0-0.3 mm. The operating wavelength refers to the electromagnetic wave wavelength for which this structure is suitable or designed, specifically the spatial distance corresponding to the oscillation period of the electromagnetic wave propagating in a specific medium.

[0048] The shape of the first groove 21 is not limited and can be a rectangular groove, trapezoidal groove, etc., but it is usually set as a long strip or a flat rectangle. The second choke groove 23 is arranged on both sides of the length direction of the first groove 21, and the second choke groove 23 is arranged on the first surface along the arrangement direction of the radiation gap 22. It can be understood that usually at least one second choke groove 23 is provided on each side of the first groove 21, and the second choke grooves 23 are symmetrically arranged on both sides of the first groove 21, so as to facilitate the control of the azimuth beamwidth of the waveguide antenna and improve the flatness of the antenna pattern.

[0049] In some implementations, please refer to Figures 5 to 7 The second surface 202 is provided with a radiation cavity 24. The radiation gaps 22 located in the first groove 21 are grouped together, with each group of radiation gaps 22 disposed within a radiation cavity 24. It can be understood that the radiation gaps 22 connect to both sides of the radiation layer 2, guiding and controlling the conduction of electromagnetic waves through the radiation cavity 24, and radiating outwards through the radiation gaps 22. There are multiple radiation gaps 22, forming multiple groups of radiation gaps 22 in a predetermined number, and arranged on the radiation layer 2 according to a predetermined pattern. For some embodiments, please refer to... Figure 6 and Figure 7The radiation cavity 24 includes two symmetrically arranged and interconnected sub-cavities 241. Each sub-cavity 241 includes multiple sequentially connected radiation cavity segments 2411. Each radiation cavity segment 2411 has a radiation slot 22. The centerlines of adjacent radiation cavity segments 2411 within the same sub-cavity 241 are parallel and staggered. Each group of radiation slots 22 is collinearly arranged. Electromagnetic waves are transmitted to the radiation cavity 24 through the feed layer 1. The radiation cavity 24 includes two sub-cavities 241, each sub-cavity 241 including multiple radiation cavity segments 2411. Each radiation cavity segment 2411 has a radiation slot 22. The centerlines of adjacent radiation cavity segments 2411 within the sub-cavity 241 are parallel and staggered. Each group of radiation slots 22 is collinearly arranged to control the electromagnetic wave energy radiated by the radiation slots 22 within different radiation cavity segments 2411, achieving low sidelobes. The centerline of each radiating cavity segment 2411 is the centerline along its connection direction with adjacent radiating cavity segments 2411. Their staggered distribution means that the centerlines of adjacent radiating cavity segments 2411 do not coincide, while the centerlines of spaced-apart radiating cavity segments 2411 may or may not coincide. To illustrate the spacing of the radiating cavity segments 2411, they can be exemplarily separated by a dividing line 2412, with one radiating cavity segment 2411 on top and another on the bottom. It should be noted that low sidelobes refer to reducing the radiated power of the antenna array sidelobes through specific techniques to enhance the main lobe signal and suppress interference signals. Furthermore, two sub-cavities 241 are symmetrically arranged along the axis of symmetry 243. A protrusion 242 is provided between the two sub-cavities 241, which partially blocks the space between them. The protrusion 242 is symmetrically arranged on the axis of symmetry 243 and is connected to one side of the inner wall of the radiation cavity 24. The protrusion 242 is located on the side opposite to the electromagnetic wave input port 244. The protrusion 242 serves to distribute the energy of the electromagnetic waves to the two sub-cavities 241 and to block crosstalk between them. The number of radiation slits 22 provided in the first groove 21 can be multiple. For example, four radiation slits 22 are provided in one first groove 21 as a group.

[0050] In some embodiments, the radiation cavity 24 includes two symmetrically arranged and interconnected sub-cavities 241. Each sub-cavity 241 includes multiple sequentially connected radiation cavity segments 2411. Each radiation cavity segment 2411 is provided with a radiation slot 22. The centerlines of adjacent radiation cavity segments 2411 within the same sub-cavity 241 are collinear, and each group of radiation slots is staggered. It can be understood that, contrary to the previous embodiment, the collinear arrangement of the centerlines of adjacent radiation cavity segments 2411 within the same sub-cavity 241 and the staggered arrangement of each group of radiation slots can also be used to control the magnitude of electromagnetic wave energy radiated by the radiation slots 22 within different radiation cavity segments 2411, thereby achieving low sidelobes.

[0051] In some implementations, please refer to Figures 3 to 6 The second surface 202 is also provided with a first sub-cavity 25, and each of the radiation cavities 24 is respectively connected to the first end of a first sub-cavity 25. The first sub-cavity 25 is used to transmit electromagnetic wave signals. It can be understood that electromagnetic waves are conducted through the first sub-cavity 25. In addition, the radiation layer 2 is configured to have radiation gaps 22 and radiation cavities 24, both of which are located on the radiation layer 2. This application adopts a two-layer structure design, which has fewer layers, lower cost, and no need for assembly between the two, thus eliminating assembly alignment errors, reducing the requirements for processing accuracy, thereby reducing the complexity of the processing technology, improving product yield, and increasing production efficiency.

[0052] The feed layer 1 has a second sub-cavity 14 on the side close to the radiation layer 2. The number and structural shape of the second sub-cavity 14 match those of the first sub-cavity 25, so that multiple feed cavities 3 are formed between the feed layer 1 and the radiation layer 2, thereby forming a feed cavity 3 structure between the radiation layer 2 and the feed layer 1 to conduct electromagnetic wave signals.

[0053] Furthermore, each feed cavity 3 is connected at one end to a waveguide channel 11 and at least one radiating cavity 24. It is understood that the waveguide channel 11 is used for electromagnetic wave transmission; the electromagnetic wave travels from the waveguide channel 11 to the feed cavity 3, then from the feed cavity 3 to the radiating cavity 24, and is radiated into space through the radiating slot 22, thus forming a transmission path for the electromagnetic wave signal. Conversely, the electromagnetic wave signal is received through the radiating slot 22 into the radiating cavity 24, then conducted back to the feed cavity 3, and then through the waveguide channel 11 to the RF chip 42. The feed cavity 3 can connect to multiple radiating cavities 24, but must connect to at least one radiating cavity 24.

[0054] In some implementations, please refer to Figure 2The system includes a metal layer 15, which is spaced apart on the side of the nail bed away from the feed layer 1. It is understood that the metal layer 15 is positioned opposite the side of the nail bed away from the feed layer 1, with a spacing of less than a quarter wavelength, to suppress electromagnetic wave leakage from the nail bed.

[0055] A second aspect of this application provides a radar including the aforementioned antenna structure. Since this radar possesses all the technical features of the antenna structure, it also possesses all its technical effects. The radar further includes a PCB board 4, which is mounted on the antenna structure on one side of the feed layer 1. It is understood that the PCB board 4 is used to mount various electronic components for use with the feed layer 1. The PCB board 4 is typically fixed to the antenna structure using screws 5.

[0056] In some implementations, please refer to Figure 2 The PCB board 4 has a waveguide cavity hole 41 corresponding to the waveguide channel 11. An RF chip 42 is located on the side of the waveguide cavity hole 41 away from the feed layer 1. The waveguide cavity hole 41 is a through-hole of the PCB board, and its inner surface is metal-plated. Electromagnetic waves are transmitted through the waveguide cavity hole 41 and the waveguide channel 11, providing both a generation and a receiving end for electromagnetic waves. Specifically, the RF chip 42 emits electromagnetic waves, which pass through the waveguide cavity hole 41, the waveguide channel 11, and the feed cavity 3 on the PCB board 4 to the radiation cavity 24, and then through the radiation gap 22 of the radiation layer 2. When receiving electromagnetic waves, the electromagnetic waves pass through the radiation gap 22 to the radiation cavity 24, and then through the feed cavity 3, the waveguide channel 11, and the waveguide cavity hole 41 to the RF chip 42, where the RF chip 42 receives and processes the electromagnetic waves. In addition, the number of millimeter-wave radar waveguide antennas is an integer multiple of the number of radio frequency channels of the radio frequency chip 42. For example, the number of channels of the radio frequency chip 42 is 4 transmit and 4 receive, and the waveguide antenna is 4 transmit and 4 receive or 8 transmit and 8 receive, etc. The waveguide cavity 41 and the waveguide channel 11 are designed accordingly.

[0057] A third aspect of this application provides a vehicle that includes the aforementioned radar or antenna structure. Since the vehicle possesses all the technical features of the radar or antenna structure, it also possesses all its technical effects.

[0058] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0059] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0060] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0061] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. An antenna structure, characterized by include: Radiation layer (2) radiates electromagnetic waves into the air; and A feeder layer (1) is disposed on one side of the radiation layer (2); The feed layer (1) is provided with multiple waveguide channels (11), and the outer periphery of the multiple waveguide channels (11) away from the radiation layer (2) is provided with a first choke groove (12), and the outer periphery of the first choke groove (12) is provided with multiple nail posts (13), which form a nail bed.

2. The antenna structure of claim 1, wherein, The radiation layer (2) includes a first surface (201) and a second surface (202) disposed opposite to each other. The first surface (201) is disposed away from the feeder layer (1). The first surface (201) is provided with a plurality of first grooves (21), and the first grooves (21) are provided with radiation gaps (22) that penetrate the radiation layer (2).

3. The antenna structure of claim 2, wherein, The radial slit (22) is elongated, and at least one second choke groove (23) is provided on each of the opposite sides of the first groove (21), and the second choke groove (23) is provided on the first surface along the length direction of the radial slit (22).

4. The antenna structure of claim 3, wherein, The second surface (202) is provided with a radiation cavity (24), and the radiation gaps (22) located in the same first groove (21) are a group, and each group of radiation gaps (22) is provided in one radiation cavity (24).

5. The antenna structure of claim 4, wherein, The radiation cavity (24) includes two symmetrically arranged and interconnected sub-cavities (241). Each sub-cavity (241) includes multiple sequentially connected radiation cavity segments (2411). Each radiation cavity segment (2411) is provided with a radiation slit (22). The center lines of adjacent radiation cavity segments (2411) located in the same sub-cavity (241) are parallel to each other and staggered. Each group of radiation slits is collinearly arranged.

6. The antenna structure of claim 4, wherein, The radiation cavity (24) includes two symmetrically arranged and interconnected sub-cavities (241). Each sub-cavity (241) includes multiple sequentially connected radiation cavity segments (2411). Each radiation cavity segment (2411) is provided with a radiation slit (22). The center lines of adjacent radiation cavity segments (2411) located in the same sub-cavity (241) are collinear, and each group of radiation slits is staggered.

7. The antenna structure of claim 5 or 6, wherein, A protrusion (242) is provided between the two sub-cavities (241), and the protrusion (242) partially blocks the space between the two sub-cavities (241).

8. The antenna structure of claim 4, wherein, The second surface (202) is also provided with a first sub-cavity (25), and each of the radiation cavities (24) is connected to the first end of a first sub-cavity (25), which is used to transmit electromagnetic wave signals.

9. The antenna structure of claim 8, wherein, The feed layer (1) has a second sub-cavity (14) on the side close to the radiation layer (2). The number and structural shape of the second sub-cavity (14) match those of the first sub-cavity (25) so that multiple feed cavities (3) are formed between the feed layer (1) and the radiation layer (2).

10. The antenna structure of claim 9, wherein, Each of the feed cavity (3) is connected at one end to a waveguide channel (11) and at the other end to at least one of the radiation cavities (24).

11. The antenna structure of any one of claims 1-6, wherein, The nails (13) are arranged periodically.

12. The antenna structure of any one of claims 1-6, wherein, It includes a metal layer (15) which is spaced apart on the side of the nail bed away from the feeder layer (1).

13. A radar, characterized by Includes the antenna structure described in any one of claims 1-12.

14. The radar of claim 13, wherein, Includes a PCB board (4), which is mounted on the antenna structure on one side of the feed layer (1).

15. The radar of claim 14, wherein, The PCB board (4) is provided with a waveguide cavity hole (41) corresponding to the waveguide channel (11), and an RF chip (42) is provided on the side of the waveguide cavity hole (41) away from the feed layer (1).

16. A vehicle characterized by comprising: Includes the radar as described in any one of claims 12-15 or the antenna structure as described in any one of claims 1-12.

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