An antenna array and an autonomous driving system

Abstract

This application relates to the field of autonomous driving technology, disclosing an antenna array and an autonomous driving system. The antenna array includes a circuit board, a first metal plate, a second metal plate, a first antenna element, a second antenna element, and a choke structure. The first antenna element includes a first antenna, a second antenna, and a third antenna. The first antenna includes a first radiating component, a first cavity, and a first waveguide channel. The second antenna element includes a fourth antenna, a fifth antenna, a sixth antenna, a seventh antenna, and an eighth antenna. The fourth antenna includes a second cavity, a second radiating component, and a second waveguide channel. The choke structure is used to control the beam shape of the first and second antenna elements. Through the above method, this application embodiment can optimize the phase distribution characteristics of the antenna array during electromagnetic wave radiation, avoid the problem of excessive phase concentration, and thus improve the beam broadening capability of the antenna array in the horizontal plane.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an antenna array and an autonomous driving system. Background Technology

[0002] As autonomous driving technology advances towards Level 4 intelligence, millimeter-wave radar, as a core environmental perception sensor, faces increasingly stringent technical requirements. Due to its superior resolution and penetration performance, millimeter-wave radar has become the mainstream solution for 4D radar systems. However, existing technologies still face key bottlenecks in meeting the demands of omnidirectional environmental perception. The core issue with current millimeter-wave antenna array technology lies in beamwidth limitations. Traditional millimeter-wave antenna arrays are prone to beam splitting or gain attenuation during wide-angle detection, making it difficult to meet the omnidirectional environmental perception requirements of scenarios such as autonomous driving.

[0003] In implementing the embodiments of this application, the inventors discovered that the beamwidth of existing millimeter-wave antenna arrays is currently limited by defects in antenna structure design. In traditional antenna design, antenna elements are arranged in a regular symmetrical manner. This structure results in a relatively concentrated phase distribution during electromagnetic wave radiation, which cannot effectively control the diffusion characteristics of electromagnetic waves in the horizontal plane, thus limiting the ability to broaden the horizontal radiation pattern. At the same time, existing antenna structures lack a dedicated beam control mechanism, and the antenna surface does not have structural units for adjusting the beamwidth, making it impossible to optimize and adjust the beam shape according to application requirements. Utility Model Content

[0004] The main technical problem addressed by this application is to provide an antenna array that, by setting a first antenna element, a second antenna element, and a choke structure, can optimize the phase distribution characteristics of electromagnetic wave radiation, avoid the problem of excessive phase concentration, and thus improve the beamwidth capability of the antenna array in the horizontal plane. The choke structure provides active control capability for the beam shape, making up for the lack of a dedicated beam adjustment mechanism in the prior art, enabling the antenna array to dynamically optimize the beam shape according to specific application requirements, and meeting the stringent technical requirements for omnidirectional environmental perception in high-precision application scenarios such as autonomous driving.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application embodiment is: providing an antenna array including a circuit board, a first metal plate, a second metal plate, a first antenna element, a second antenna element, and a choke structure. The second metal plate is stacked with the first metal plate and the circuit board. The first antenna element is disposed on the first metal plate and includes a first antenna, a second antenna, and a third antenna. The first antenna and the second antenna are symmetrically arranged, and the second antenna and the third antenna are also symmetrically arranged. The first antenna includes a first radiating component, a first cavity, and a first waveguide channel. The first radiating component is disposed in the first cavity, and the first waveguide channel is disposed in the second metal plate. Furthermore, the first waveguide channel is connected to the first radiating component, and the second antenna unit is disposed on the first metal plate. The second antenna unit includes a fourth antenna, a fifth antenna, a sixth antenna, a seventh antenna, and an eighth antenna. The fourth antenna and the first antenna are spaced apart, the fifth antenna and the sixth antenna are adjacent to each other, and the seventh antenna and the eighth antenna are staggered. The fourth antenna includes a second cavity, a second radiating component, and a second waveguide channel. The second waveguide channel is disposed on the second metal plate and is connected to the second radiating component. The choke structure is disposed on the first metal plate and is used to control the beam shape of the first antenna unit and the second antenna unit.

[0006] Optionally, the first radiation component includes a first radiation aperture, a second radiation aperture, a third radiation aperture, and a fourth radiation aperture, wherein the first radiation aperture and the second radiation aperture are offset from each other, and the third radiation aperture and the fourth radiation aperture are offset from each other.

[0007] Optionally, the first antenna further includes a first protrusion, a second protrusion, a third protrusion, and a fourth protrusion. The first protrusion is bent and connected to one end of the second and third protrusions, and the fourth protrusion is bent and connected to the other end of the second and third protrusions. The first, second, third, and fourth protrusions together form a first cavity.

[0008] Optionally, the first waveguide channel is provided with a plurality of first adjustment blocks, which are spaced apart.

[0009] Optionally, the choke structure includes a first annular choke groove, a second annular choke groove, and a first longitudinal choke groove. The first annular choke groove is disposed on one side of the first cavity, the second annular choke groove is disposed on the other side of the first cavity, and the first longitudinal choke groove is disposed on the fourth protrusion.

[0010] Optionally, the choke structure further includes a first choke component, a second choke component, a third choke component, a fourth choke component, a fifth choke component, a sixth choke component, a seventh choke component, an eighth choke component, a ninth choke component, and a tenth choke component. The first choke component, the second choke component, the third choke component, the fourth choke component, and the fifth choke component are disposed between the fourth antenna and the seventh antenna. The sixth choke component and the eighth antenna are disposed adjacent to each other. The seventh choke structure is disposed between the second antenna and the fifth antenna. The first, eighth, ninth, and tenth choke components are disposed between the sixth antenna and the third antenna.

[0011] Optionally, the dual-radiation assembly includes a fifth radiation aperture, a sixth radiation aperture, a seventh radiation aperture, and an eighth radiation aperture, wherein the fifth and sixth radiation apertures are staggered, and the seventh and eighth radiation apertures are staggered.

[0012] Optionally, the second waveguide channel is provided with a plurality of second adjustment blocks, which are spaced apart.

[0013] Optionally, the antenna array further includes a feed port, which is connected to the first waveguide channel and the second waveguide channel, respectively.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in the embodiments of this application is to provide an autonomous driving system, including any of the antenna arrays mentioned above.

[0015] This application provides an antenna array including a circuit board, a first metal plate, a first antenna element, a second antenna element, and a choke structure. The second metal plate is stacked with the first metal plate and the circuit board. The first antenna element is disposed on the first metal plate and includes a first antenna, a second antenna, and a third antenna. The first antenna and the second antenna are symmetrically arranged, and the second antenna and the third antenna are also symmetrically arranged. The first antenna includes a first radiating component, a first cavity, and a first waveguide channel. The first radiating component is disposed in the first cavity, and the first waveguide channel is disposed on the second metal plate and communicates with the first radiating component. The second antenna element is disposed on the first metal plate and includes a fourth antenna, a fifth antenna, a sixth antenna, a seventh antenna, and an eighth antenna. The fourth antenna and the first antenna are spaced apart, and the fifth antenna and the sixth antenna are spaced apart. The antennas are arranged adjacent to each other, with the seventh and eighth antennas staggered. The fourth antenna includes a second cavity, a second radiating component, and a second waveguide channel. The second waveguide channel is disposed on the second metal plate and is connected to the second radiating component. The choke structure is disposed on the first metal plate and is used to control the beam shape of the first and second antenna units. By setting the first antenna unit, the second antenna unit, and the choke structure, the phase distribution characteristics of the electromagnetic wave radiation of the antenna array can be optimized, avoiding the problem of excessive phase concentration, thereby improving the beam broadening capability of the antenna array in the horizontal plane. The choke structure provides active beam shape adjustment capability, making up for the lack of a dedicated beam adjustment mechanism in the existing technology. This enables the antenna array to achieve dynamic optimization of the beam shape according to specific application requirements, meeting the stringent technical requirements for omnidirectional environmental perception in high-precision application scenarios such as autonomous driving. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a schematic diagram of the antenna array according to an embodiment of this application; Figure 2 This is yet another schematic diagram of the antenna array according to an embodiment of this application; Figure 3 This is an exploded view of the antenna array according to an embodiment of this application; Figure 4 This is a schematic diagram of the first metal plate of the antenna array according to an embodiment of this application; Figure 5This is a schematic diagram of the antenna array from another angle according to an embodiment of this application; Figure 6 This is yet another schematic diagram of the first metal plate of the antenna array in an embodiment of this application; Figure 7 This is a schematic diagram of the second metal plate of the antenna array according to an embodiment of this application; Figure 8 This is a schematic diagram of the return loss of the antenna array according to an embodiment of this application; Figure 9 This is another schematic diagram of the return loss of the antenna array in the embodiments of this application; Figure 10 These are gain diagrams of the antenna array at different angles according to embodiments of this application; Figure 11 This is yet another gain diagram of the antenna array at different angles according to the embodiments of this application; Figure 12 This is the radiation pattern of the antenna array in an embodiment of this application; Figure 13 This is yet another radiation pattern of the antenna array in the embodiments of this application.

[0018] The reference numerals in the accompanying drawings of the specific embodiments are as follows: 100, antenna array; 10, circuit board; 20, first metal plate; 30, second metal plate; 40, first antenna element; 41, first antenna; 42, second antenna; 43, third antenna; 401, first radiating component; 402, first cavity; 403, first waveguide channel; 404, first protrusion; 405, second protrusion; 406, third protrusion; 407, fourth protrusion; 411, first radiating aperture; 412, second radiating aperture; 413, third radiating aperture; 414, fourth radiating aperture; 431, first adjusting block; 50, second antenna element; 51, fourth antenna; 52, fifth antenna; 53, sixth antenna; 54, seventh... Antenna; 55, Eighth antenna; 501, Second cavity; 502, Second radiating component; 521, Fifth radiating aperture; 522, Sixth radiating aperture; 523, Seventh radiating aperture; 524, Eighth radiating aperture; 503, Second waveguide channel; 531, Second adjustment block; 60, Choke structure; 601, First annular choke slot; 602, Second annular choke slot; 603, First longitudinal choke slot; 61, First choke component; 62, Second choke component; 63, Third choke component; 64, Fourth choke component; 65, Fifth choke component; 66, Sixth choke component; 67, Seventh choke component; 68, Eighth choke component; 69, Ninth choke component; 70, Tenth choke component; 80, Feed port. Detailed Implementation

[0019] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0022] This embodiment provides an antenna array 100 specifically designed for 73-78GHz millimeter-wave radar systems. Through optimized radiation structure design and precise feed configuration, the antenna array 100 achieves wide horizontal plane radiation pattern coverage and ultra-wideband transmission characteristics, making it particularly suitable for omnidirectional environmental perception applications in autonomous driving systems.

[0023] Please see Figure 1 The antenna array 100 comprises a circuit board 10, a first metal plate 20, a second metal plate 30, a first antenna element 40, a second antenna element 50, and a choke structure 60. The circuit board 10 serves as the basic carrier, and the second metal plate 30 is stacked on top of the first metal plate 20 and the circuit board 10. Both the first metal plate 20 and the second metal plate 30 are made of high-conductivity aluminum alloy. The second metal plate 30 provides the main spatial channel for electromagnetic wave transmission and also serves for signal distribution and impedance matching. (See also...) Figure 2The first antenna element 40 includes a first antenna 41, a second antenna 42, and a third antenna 43. The first antenna 41 and the second antenna 42 are symmetrically arranged to form a balanced electromagnetic field distribution. The second antenna 42 and the third antenna 43 are also symmetrically arranged. This double-symmetric structure effectively improves the problem of overly concentrated phase distribution in traditional antenna arrays 100. The second antenna element 50 includes a fourth antenna 51, a fifth antenna 52, a sixth antenna 53, a seventh antenna 54, and an eighth antenna 55. The fourth antenna 51 is spaced apart from the first antenna 41, maintaining an appropriate spatial distance to avoid strong coupling interference. The fifth antenna 52 and the sixth antenna 53 are arranged adjacently, forming a coordinated antenna pair. The seventh antenna 54 and the eighth antenna 55 are staggered, further optimizing the overall electromagnetic field distribution characteristics. (See also...) Figure 3 The first antenna 41 includes a first radiating component 401, a first cavity 402, and a first waveguide channel 403. The first radiating component 401 is disposed within the first cavity 402 and is responsible for the spatial radiation function of electromagnetic waves. The first waveguide channel 403 is disposed on the second metal plate 30 and communicates with the first radiating component 401, establishing a complete signal path from the input end to the radiating end. The fourth antenna 51 includes a second cavity 501, a second radiating component 502, and a second waveguide channel 503. The second waveguide channel 503 is also disposed within the second metal plate 30 and communicates with the second radiating component 502, forming an independent signal transmission and radiation system. The choke structure 60 is disposed on the surface of the first metal plate 20 and is specifically used to control the beam shape of the first antenna element 40 and the second antenna element 50. Through precise geometric parameter design, the choke structure 60 can regulate the propagation characteristics of electromagnetic waves, suppress unnecessary sidelobes and beam splitting phenomena, and ensure that the antenna array 100 achieves the expected wide-angle coverage performance. In this embodiment, the technical goal of a wide horizontal radiation pattern is successfully achieved through multi-antenna coordinated setup and beam control function of choke structure 60, providing efficient omnidirectional environmental perception capability for millimeter-wave radar systems. The combination of symmetrical and staggered design of antenna array 100, along with precise control of choke structure 60, enables the entire system to maintain high gain characteristics while possessing excellent angular coverage performance.

[0024] It should be noted that each antenna in the first antenna unit 40 adopts a unified structural design principle to ensure the coordination and consistency of the entire unit. The first antenna 41 includes a first radiating component 401, a first cavity 402, and a first waveguide channel 403, forming a complete electromagnetic wave radiation transmission system. The first radiating component 401 is disposed within the first cavity 402 and is connected to the transmission network disposed on the second metal plate 30 through the first waveguide channel 403, establishing a complete signal path from the feed port 80 to the radiation port. The second antenna 42 and the third antenna 43 adopt the same structural configuration as the first antenna 41, each including its corresponding first radiating component, first cavity, and first waveguide channel. This unified structural design ensures that the electromagnetic characteristics of each antenna in the first antenna unit 40 remain highly consistent, avoiding performance mismatch problems caused by structural differences. The first radiating component of the second antenna 42 is disposed within its corresponding first cavity and is connected to the second metal plate 30 through its dedicated first waveguide channel. The third antenna 43 also has an independent first radiating component, first cavity, and first waveguide channel configuration, forming a symmetrical structural layout with the second antenna 42.

[0025] Each antenna in the second antenna unit 50 also follows a unified design principle to ensure the performance coordination of the entire unit. The fourth antenna 51 includes a second cavity, a second radiating component, and a second waveguide channel. The second radiating component 502 is disposed within the second cavity 501, and the second waveguide channel 503 is disposed within the second metal plate 30 and communicates with the second radiating component 502 to achieve effective signal transmission and radiation. The fifth antenna 52, the sixth antenna 53, the seventh antenna 54, and the eighth antenna 55 all adopt the same structural configuration as the fourth antenna 51, with each antenna including its own corresponding second cavity, second radiating component, and second waveguide channel. This consistent structural design ensures that the electromagnetic performance of each antenna in the second antenna unit 50 remains at a uniform standard, providing a structural basis for the coordinated operation of the entire antenna array 100. Due to their adjacent spatial layout, the second cavities 501 of the fifth antenna 52 and the sixth antenna 53 are spatially close to each other, and mutual interference is avoided through precise dimensional control. The seventh antenna 54 and the eighth antenna 55 are staggered, and the spatial configuration of their second cavity 501 is optimized and adjusted accordingly to ensure that the staggered layout design is fully realized.

[0026] For details, please refer to Figure 4The first radiating component 401 includes a first radiating aperture 411, a second radiating aperture 412, a third radiating aperture 413, and a fourth radiating aperture 414. The first and second radiating apertures 411 and 412 are offset, as are the third and fourth radiating apertures 413 and 414. The core principle of this offset arrangement is to achieve differential adjustment of the electromagnetic wave radiation phase of each radiating aperture through precise control of its spatial position, thereby optimizing the shape characteristics of the far-field radiation pattern. In the specific geometric parameter design, the offset distance of each radiating aperture is optimized according to the wavelength characteristics of the 73-78 GHz operating frequency band. Taking a center frequency of 77 GHz as an example, the corresponding free space wavelength is approximately 3.9 mm. The misalignment distance of each radiating aperture is precisely set to a specific fraction of the wavelength, typically between a quarter wavelength and a half wavelength, to ensure that an appropriate phase difference is generated between adjacent radiating apertures, thereby achieving a wide beam radiation effect. Each first radiating component 401 in the first antenna 41, the second antenna 42, and the third antenna 43 adopts the same misalignment setting principle and geometric parameters to ensure that the radiation characteristics of each antenna within the first antenna unit 40 remain consistent, forming a coordinated electromagnetic field distribution, and jointly realizing the wide beam radiation function of the first antenna unit 40.

[0027] The dual-radiating components include a fifth radiating aperture 521, a sixth radiating aperture 522, a seventh radiating aperture 523, and an eighth radiating aperture 524. The fifth and sixth radiating apertures 521 and 522 are staggered, as are the seventh and eighth radiating apertures 523 and 524. Each second radiating component 502 in the fourth antenna 51, fifth antenna 52, sixth antenna 53, seventh antenna 54, and eighth antenna 55 adopts the same staggered arrangement principle, achieving overall performance optimization of the second antenna unit 50 through a unified design standard. Through the coordinated configuration of the first radiating component 401 and the second radiating component 502, this embodiment achieves optimized performance of the dual-radiating system of the first antenna unit 40 and the second antenna unit 50. Each radiating component can independently complete wide-beam radiation, while the two form effective performance complementarity, jointly realizing the wide-angle detection capability of the antenna array 100.

[0028] This application embodiment provides an independent and optimized electromagnetic environment for different antennas. Specifically, the first cavity 402 serves as the main transmission space of the entire system, accommodating the waveguide channels of the first antenna 41, the second antenna 42, the third antenna 43, the fourth antenna 51, the fifth antenna 52, the sixth antenna 53, the seventh antenna 54, and the eighth antenna 55, forming a centralized signal distribution network. The first cavity 402 provides radiation space for the first antenna 41, and the first radiating components 401 of the second antenna 42 and the third antenna 43 are each disposed within their respective first cavities 402. The second cavity 501 provides a dedicated radiation environment for the fourth antenna 51. The second radiation components 502 of the fifth antenna 52, the sixth antenna 53, the seventh antenna 54, and the eighth antenna 55 are all housed in their respective second cavities 501. Through the above arrangement, independent electromagnetic environments are provided for components with different functions, effectively avoiding mutual interference between different antennas. At the same time, optimized operating conditions are provided for each radiation component. Furthermore, the size parameters of the first cavity 402 and the second cavity 501 are designed according to the characteristics of the radiation components they support, ensuring appropriate resonance characteristics and low-loss transmission performance in the 73-78GHz frequency band.

[0029] In the embodiments of this application, please refer to Figure 5 The antenna array 100 also includes a feed port 80. The first antenna 41, the second antenna 42, and the third antenna 43 each have their own independent first waveguide channel 403. Multiple first waveguide channels 403 are disposed within the second metal plate 30, connecting the feed port 80 to the corresponding first radiating component 401 via a curved channel design. The fourth antenna 51, the fifth antenna 52, the sixth antenna 53, the seventh antenna 54, and the eighth antenna 55 each have their own independent second waveguide channel 503, disposed within the second metal plate 30, and connected to the corresponding second radiating component 502. The curved waveguide channel design not only saves space but, more importantly, achieves impedance matching and phase adjustment functions through precise control of the path length. The multiple first waveguide channels 403 and the multiple second waveguide channels 503 employ an optimized layout design within the first cavity 402, ensuring maximum transmission efficiency while avoiding mutual interference through precise space planning. The cross-sectional dimensions of the waveguide channel are designed according to the characteristics of millimeter-wave transmission, and a standard rectangular waveguide structure is adopted to ensure low-loss transmission characteristics and good power handling capability in the 73-78GHz frequency band.

[0030] In this embodiment, a reliable connection with an external radio frequency system is achieved through a standardized feed port 80 design. The feed port 80 is connected to multiple first waveguide channels 403 and multiple second waveguide channels 503 respectively, forming a dual-feed configuration. It also supports 4TX and 4RX signal transmission modes, and can process transmitted and received signals simultaneously, meeting the technical requirements of 4D millimeter-wave radar system for full-duplex communication.

[0031] In this embodiment, when a radio frequency signal is input through the feed port 80, the signal is transmitted to the corresponding radiating components via the first waveguide channel 403 system and the second waveguide channel 503 system, respectively. In the first antenna unit 40, the first radiating components 401 of the first antenna 41, the second antenna 42, and the third antenna 43 operate simultaneously. Each first radiating component 401 radiates electromagnetic waves into space through four staggered radiating apertures. Due to the staggered arrangement of the radiating apertures, the generated electromagnetic waves have different phase characteristics. In the second antenna unit 50, the second radiating components 502 of the fourth antenna 51, the fifth antenna 52, the sixth antenna 53, the seventh antenna 54, and the eighth antenna 55 operate in coordination, achieving wide beam coverage through a similar staggered radiation mechanism.

[0032] The electromagnetic waves generated by all radiating components form a complex coherent superposition in the far field. Through the coordinated operation of the first antenna element 40 and the second antenna element 50, combined with the beamform control function of the choke structure 60, an ultra-wide-angle beam coverage effect is achieved. According to the test data provided in the disclosure document, this embodiment can achieve a horizontal beamwidth of greater than or equal to 150 degrees at a working frequency of 77 GHz, which is more than 50% higher than the 90-120 degree beamwidth of the traditional millimeter-wave antenna array 100. In the vertical direction, the beamwidth reaches more than 90 degrees, ensuring comprehensive spatial coverage capability.

[0033] Please combine Figure 8 and Figure 9 Regarding frequency band characteristics, this embodiment maintains excellent impedance matching performance throughout the 73-78GHz operating frequency band. At 76GHz, the return loss reaches below -11dB, and the return loss is better than -8dB across the entire 5GHz bandwidth, achieving true ultra-wideband transmission characteristics. Please refer to... Figure 10 and Figure 11 The maximum radiation gain of the antenna array 100 reaches over 11 dBi at a frequency of 77 GHz, and the gain fluctuation is controlled within 3 dB over a wide angle range, ensuring stable radiation performance.

[0034] This application embodiment successfully solves the technical bottlenecks of traditional millimeter-wave antenna array 100 in terms of beamwidth limitation and insufficient bandwidth by using a precise misalignment design of eight antennas, optimized configuration of layered waveguide channels, precise connection of standardized feeding system, and beam control function of choke structure 60. It provides a high-performance environmental perception antenna solution with high integration and strong anti-interference capability for autonomous driving system.

[0035] Please see Figure 6The first antenna 41 further includes a first protrusion 404, a second protrusion 405, a third protrusion 406, and a fourth protrusion 407. The first protrusion 404 is bent and connected to one end of each of the second and third protrusions 405 and 406. The fourth protrusion 407 is bent and connected to the other end of each of the second and third protrusions 405 and 406. The first, second, third, and fourth protrusions 404, 405, 406, and 407 together form a first cavity 402. The enclosing structure of the first cavity 402 provides an isolated and optimized electromagnetic environment for the first radiating component 401, effectively shielding it from external interference signals that could affect its radiation performance. The three-dimensional design of each protrusion, through precise geometric parameter control, enables the regulation of the radiation mode of the first radiating component 401, improving radiation efficiency and directional accuracy.

[0036] In the embodiments of this application, please refer to Figure 7 The first waveguide channel 403 is provided with multiple first adjustment blocks 431, which are distributed at intervals to form a periodic impedance adjustment network within the first waveguide channel 403. The width and thickness parameters of the first adjustment blocks 431 are optimized through electromagnetic field simulation to ensure the expected impedance transformation effect in the 73-78GHz frequency band. The spacing between the multiple first adjustment blocks 431 is designed using a specific fraction of the waveguide wavelength. By utilizing the impedance transformation characteristics of the distributed parameter network, progressive impedance matching is achieved from the feed interface to the first radiating component 401. This spacing not only provides impedance adjustment functionality but also effectively suppresses high-order transmission modes through the periodic structure, ensuring the purity and stability of signal transmission within the waveguide channel.

[0037] The second waveguide channel 503 employs the same adjustment technology as the first waveguide channel 403. The second waveguide channel 503 is equipped with multiple second adjustment blocks 531, which are also spaced apart, forming a transmission optimization network coordinated with the first waveguide channel 403 system. The design parameters of the second adjustment blocks 531 are consistent with those of the first adjustment blocks 431, ensuring good performance matching in transmission characteristics between the two waveguide channel systems. Furthermore, the choke structure 60, through the coordinated action of beam control and transmission optimization, achieves a comprehensive improvement in the overall performance of the antenna array 100. The choke structure 60 is used to control the beam shape of the first antenna element 40 and the second antenna element 50. Combined with the transmission adjustment functions of the multiple first adjustment blocks 431 and the multiple second adjustment blocks 531, it ensures that the antenna array 100 maintains excellent signal transmission performance while achieving the designed beam characteristics.

[0038] Please combine Figure 12 and Figure 13In this embodiment, the first cavity 402 provides an optimized operating environment for the first radiating component 401, effectively improving radiation efficiency and control accuracy. The spacing configuration of multiple first adjustment blocks 431 and multiple second adjustment blocks 531 provides precise adjustment capability for signal transmission, ensuring that the antenna array 100 maintains stable transmission characteristics and excellent matching performance over a wide frequency range. Within the 73-78GHz operating frequency band, the return loss can be controlled below -15dB, and the transmission loss can be reduced to 0.3dB / cm, achieving a performance improvement of more than 30% compared to traditional waveguide designs. The first cavity 402 and the second cavity 501 provide an optimized operating environment for the first radiating component 401 and the second radiating component 502, respectively, effectively improving radiation efficiency and control accuracy. The spacing configuration of the first adjustment blocks 431 and the second adjustment blocks 531 provides precise adjustment capability for signal transmission, ensuring that the antenna array 100 maintains stable transmission characteristics and excellent matching performance over a wide frequency range.

[0039] Please reconsider. Figure 6 The choke structure 60 includes a first annular choke groove 601, a second annular choke groove 602, and a first longitudinal choke groove 603, forming a three-dimensional beam control network. The first annular choke groove 601 is disposed on one side of the first cavity 402, and the second annular choke groove 602 is disposed on the other side of the first cavity 402, forming a symmetrical spatial configuration with the first annular choke groove 601. The first longitudinal choke groove 603 is disposed on the fourth protrusion 407 and arranged along the length direction of the fourth protrusion 407. The working principle of the first annular choke groove 601 and the second annular choke groove 602 is based on the electromagnetic wave resonance suppression mechanism. When the electromagnetic wave generated by the first radiation component 401 propagates in the first cavity 402, the first annular choke groove 601 and the second annular choke groove 602 selectively reflect electromagnetic wave components of specific frequencies and directions through their resonance characteristics, while allowing electromagnetic waves in the main radiation direction to pass smoothly, thereby achieving precise control of the overall radiation pattern. The first longitudinal choke 603 works in coordination with the annular choke to further optimize the three-dimensional control accuracy of the beam shape. In a conventional antenna array 100, electromagnetic coupling between antenna elements can lead to pattern distortion and decreased detection accuracy, especially in high-density array configurations. This embodiment establishes a complete interference suppression system through a multi-layered choke structure 60 design. The first annular choke 601, the second annular choke 602, and the first longitudinal choke 603 reduce electromagnetic leakage from a single antenna to surrounding antennas through local electromagnetic modulation. Furthermore, the phase modulation effect of the first annular choke 601 and the second annular choke 602, along with the interference suppression function of the multi-component choke system, enable this embodiment to achieve wide-angle beam coverage while maintaining high gain characteristics, meeting the technical requirements of omnidirectional environmental sensing.

[0040] For further details, please refer to [link / reference]. Figure 2 The choke structure 60 also includes a first choke component 61, a second choke component 62, a third choke component 63, a fourth choke component 64, a fifth choke component 65, a sixth choke component 66, a seventh choke component 67, an eighth choke component 68, a ninth choke component 69, and a tenth choke component 70, forming a distributed interference suppression system covering the entire antenna array 100. The first choke component 61, the second choke component 62, the third choke component 63, the fourth choke component 64, and the fifth choke component 65 are arranged at equal intervals to ensure a continuous electromagnetic suppression barrier between the fourth antenna 51 and the seventh antenna 54. The first choke assembly 61, the second choke assembly 62, the third choke assembly 63, the fourth choke assembly 64, and the fifth choke assembly 65, through coordinated electromagnetic reflection and absorption, effectively suppress the mutual coupling between the fourth antenna 51 and the seventh antenna 54, preventing mutual interference between the radiation modes of the two antennas. The sixth choke assembly 66 is arranged adjacent to the eighth antenna 55 and is specifically used to control the radiation boundary conditions of the eighth antenna 55. The arrangement of the sixth choke assembly 66 ensures an appropriate distance from the eighth antenna 55, allowing for precise control of its radiation pattern without affecting the normal radiation function of the eighth antenna 55, suppressing unnecessary sidelobes and backradiation. The seventh choke assembly 67 is located between the second antenna 42 and the fifth antenna 52, forming a dedicated control mechanism for the coupling between the first antenna element 40 and the second antenna element 50. Through its electromagnetic shielding, the seventh choke assembly 67 effectively isolates the electromagnetic interaction between the second antenna 42 and the fifth antenna 52, ensuring good electromagnetic independence between the two different antenna elements. The eighth choke assembly 68, the ninth choke assembly 69, and the tenth choke assembly 70 are positioned between the sixth antenna 53 and the third antenna 43, forming another important coupling control region. These three choke assemblies are also equally spaced, and through coordinated electromagnetic suppression, they control the mutual influence between the sixth antenna 53 and the third antenna 43, ensuring that the two antennas can independently complete their respective radiation functions without generating adverse electromagnetic interference.

[0041] When the first antenna 41, the second antenna 42, and the third antenna 43 of the first antenna element 40 operate simultaneously, the electromagnetic waves generated by each antenna will form complex interactions in space. The choke structure 60, through its distributed suppression mechanism, selectively controls the electromagnetic coupling strength between different antennas, ensuring that the radiation modes of each antenna can be coordinated and superimposed without producing harmful interference effects.

[0042] For the fourth antenna 51, fifth antenna 52, sixth antenna 53, seventh antenna 54, and eighth antenna 55 of the second antenna element 50, the choke structure 60 provides more complex coupling control functions. Through the precise distribution configuration of the first choke components 61 to the tenth choke components 70, the choke structure 60 can provide differentiated control strategies for the electromagnetic interactions between the five antennas, ensuring that the entire second antenna element 50 can achieve coordinated wide-beam radiation performance. The systematic distribution configuration of the first choke components 61 to the tenth choke components 70 establishes electromagnetic isolation barriers in critical antenna spacing regions, reducing the array mutual coupling coefficient to an acceptable level.

[0043] In this embodiment, the choke structure 60 can improve the mutual coupling suppression ratio between the first antenna element 40 and the second antenna element 50 to over 20dB, effectively avoiding false alarms caused by multipath interference and improving radar detection accuracy and environmental adaptability. The interference suppression mechanism of the choke structure 60 enables the antenna array 100 to maintain stable detection performance in complex electromagnetic environments, meeting the stringent reliability requirements of autonomous driving systems. In this embodiment, the choke structure 60 enables comprehensive control over the beamform of the first antenna element 40 and the second antenna element 50. The choke structure 60 not only optimizes the radiation characteristics of a single antenna, but more importantly, it regulates the coordinated operating mode of the entire antenna array 100, ensuring effective performance complementarity between the first antenna element 40 and the second antenna element 50.

[0044] This application provides an antenna array 100, including a circuit board 10, a first metal plate 20, a second metal plate 30, a first antenna element 40, a second antenna element 50, and a choke structure 60. The second metal plate 30 is stacked with the first metal plate 30 and the circuit board 10. The first antenna element 40 is disposed on the first metal plate 20 and includes a first antenna 41, a second antenna 42, and a third antenna 43. The first antenna 41 and the second antenna 42 are symmetrically arranged, and the second antenna 42 and the third antenna 43 are symmetrically arranged. The first antenna 41 is configured to include a first radiating component 401, a first cavity 402, and a first waveguide channel 403. The first radiating component 401 is disposed in the first cavity 402, and the first waveguide channel 403 is disposed in the second metal plate 30 and communicates with the first radiating component 401. The second antenna unit 50 is disposed in the first metal plate 20 and includes a fourth antenna 51, a fifth antenna 52, a sixth antenna 53, a seventh antenna 54, and an eighth antenna 55. The fourth antenna 51 and... The first antenna 41 is spaced apart, the fifth antenna 52 and the sixth antenna 53 are arranged adjacent to each other, and the seventh antenna 54 and the eighth antenna 55 are staggered. The fourth antenna 51 includes a second cavity 501, a second radiating component 502, and a second waveguide channel 503. The second waveguide channel 503 is disposed on the second metal plate 30 and communicates with the second radiating component 502. The choke structure 60 is disposed on the first metal plate 20 and is used to control the waveguides of the first antenna element 40 and the second antenna element 50. The beam shape, by setting the first antenna element 40, the second antenna element 50 and the choke structure 60, can optimize the phase distribution characteristics of the electromagnetic wave radiation of the antenna array 100, avoid the problem of excessive phase concentration, and thus improve the beam broadening capability of the antenna array 100 in the horizontal plane. The choke structure 60 provides active control capability for the beam shape, making up for the lack of a dedicated beam adjustment mechanism in the existing technology, enabling the antenna array 100 to dynamically optimize the beam shape according to specific application requirements, and meet the strict technical requirements of omnidirectional environmental perception in high-precision application scenarios such as autonomous driving.

[0045] This application also provides an autonomous driving system, which includes the aforementioned antenna array 100 as a core environmental perception component. The autonomous driving system uses this antenna array 100 to achieve high-precision detection of the vehicle's surrounding environment, providing reliable environmental information support for the autonomous driving decision-making system. The integrated scheme of the autonomous driving system fully utilizes the wide beam coverage and high-precision detection performance of the antenna array 100. Through the coordinated operation of the first antenna element 40 and the second antenna element 50, the autonomous driving system can simultaneously detect the road ahead, vehicles to the side, and targets behind, providing comprehensive environmental perception assurance for the safe driving of the vehicle.

[0046] The ultra-wideband transmission characteristics of the antenna array 100 enable the autonomous driving system to acquire high-resolution target information, including the target's precise distance, relative speed, angular position, and size characteristics. This detailed target information provides rich data support for the autonomous driving system's behavior prediction and path planning algorithms, improving the decision-making accuracy and safety performance of the autonomous driving system.

[0047] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An antenna array, characterized in that, include: Circuit board; First metal plate; The second metal plate is stacked with the first metal plate and the circuit board; A first antenna element is disposed on the first metal plate. The first antenna element includes a first antenna, a second antenna, and a third antenna. The first antenna and the second antenna are symmetrically arranged. The second antenna and the third antenna are symmetrically arranged. The first antenna includes a first radiating component, a first cavity, and a first waveguide channel. The first radiating component is disposed in the first cavity. The first waveguide channel is disposed in the second metal plate and is connected to the first radiating component. A second antenna unit is disposed on the first metal plate. The second antenna unit includes a fourth antenna, a fifth antenna, a sixth antenna, a seventh antenna, and an eighth antenna. The fourth antenna and the first antenna are spaced apart. The fifth antenna and the sixth antenna are adjacent to each other. The seventh antenna and the eighth antenna are staggered. The fourth antenna includes a second cavity, a second radiating component, and a second waveguide channel. The second waveguide channel is disposed on the second metal plate and is connected to the second radiating component. A choke structure is disposed on the first metal plate, and the choke structure is used to control the beam shape of the first antenna element and the second antenna element.

2. The antenna array according to claim 1, characterized in that, The first radiation component includes a first radiation aperture, a second radiation aperture, a third radiation aperture, and a fourth radiation aperture. The first and second radiation apertures are offset from each other, and the third and fourth radiation apertures are also offset from each other.

3. The antenna array according to claim 1, characterized in that, The first antenna further includes a first protrusion, a second protrusion, a third protrusion, and a fourth protrusion. The first protrusion is bent and connected to one end of the second and third protrusions, and the fourth protrusion is bent and connected to the other end of the second and third protrusions. The first, second, third, and fourth protrusions together form a first cavity.

4. The antenna array according to claim 1, characterized in that, The first waveguide channel is provided with multiple first adjustment blocks, which are spaced apart.

5. The antenna array according to claim 3, characterized in that, The choke structure includes a first annular choke groove, a second annular choke groove, and a first longitudinal choke groove. The first annular choke groove is disposed on one side of the first cavity, the second annular choke groove is disposed on the other side of the first cavity, and the first longitudinal choke groove is disposed on the fourth protrusion.

6. The antenna array according to claim 1, characterized in that, The choke structure further includes a first choke component, a second choke component, a third choke component, a fourth choke component, a fifth choke component, a sixth choke component, a seventh choke component, an eighth choke component, a ninth choke component, and a tenth choke component. The first choke component, the second choke component, the third choke component, the fourth choke component, and the fifth choke component are disposed between the fourth antenna and the seventh antenna. The sixth choke component and the eighth antenna are disposed adjacent to each other. The seventh choke structure is disposed between the second antenna and the fifth antenna. The first, eighth, ninth, and tenth choke components are disposed between the sixth antenna and the third antenna.

7. The antenna array according to claim 1, characterized in that, The dual-radiation assembly includes a fifth radiation aperture, a sixth radiation aperture, a seventh radiation aperture, and an eighth radiation aperture. The fifth and sixth radiation apertures are staggered, and the seventh and eighth radiation apertures are staggered.

8. The antenna array according to claim 1, characterized in that, The second waveguide channel is provided with multiple second adjustment blocks, which are spaced apart.

9. The antenna array according to claim 1, characterized in that, The antenna array also includes a feed port, which is connected to the first waveguide channel and the second waveguide channel respectively.

10. An autonomous driving system, characterized in that, Including the antenna array as described in any one of claims 1-9.

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