RADAR DEVICE

Abstract

Radar device (200) with: an antenna device (210) comprising two or more antennas (311, 312, ...) and an antenna mounting device (320) which is designed with a plurality of surfaces such that the two or more antennas (311, 312, ...) are attached to the antenna mounting device (320); a signal transmit / receive module (220) configured to transmit signals through the two or more antennas (311, 312, ...) and to receive signals reflected from a nearby object; and a signal processing module (230) configured to perform signal processing to detect the adjacent object, wherein the plurality of surfaces has two or more antenna mounting surfaces and normal vectors for the two or more antenna mounting surfaces point in different directions, and wherein at least one of the signal transmitting / receiving module (220) and the signal processing module (230) is configured as a circuit on at least one of the plurality of surfaces formed on the antenna mounting device (320); wherein an angle formed by the normal vectors for each of the two or more antenna mounting surfaces is determined according to a detection angle of each of the two or more antennas (311, 312, ...) attached to the two or more antenna mounting surfaces; wherein the radar device (200) is mounted on a vehicle with an installation angle which is determined according to a detection angle of each of the two or more antennas (311, 312, ...) which are attached to the two or more antenna mounting surfaces; wherein each of the two or more antennas (311, 312, ...) has one or more array antenna(s).

Description

[0001] Pursuant to 35 USC §119(a), the present patent application claims the priority and benefits of Korean patent application No. 10-2011-0131679, filed on December 9, 2011, which is hereby incorporated by reference in its entirety into the present application for all purposes as if it were fully set forth herein. BACKGROUND OF THE INVENTION 1. Field of the invention

[0002] The present invention relates to a radar technology. 2. Description of the state of the art

[0003] Recently, vehicles have been equipped with various control and regulation systems, such as an adaptive cruise control system (ACC), a stop-and-go system, a blind spot detection system (BSD), a rear cross traffic alert system (RCTA), a lane change assist system (LCA), and a rear pre-crash system (RPC).

[0004] The control systems mentioned above detect a neighboring object using detector technology, such as radar, in order to carry out appropriate control based on a detected result.

[0005] For example, the ACC system and the Stop-and-Go system detect an object, such as a neighboring vehicle, located in the front of the vehicle in order to implement appropriate control measures, such as vehicle driving or operational control. The BSD, RCTA, LCA, and RPC detect an object, such as a neighboring vehicle located laterally and behind the vehicle, in order to implement appropriate control functions for accident avoidance or similar purposes.

[0006] As described above, various control and regulation systems use a detector, such as a radar device, to perceive the environment. For example, a radar device is installed in the vehicle to detect the front side area of ​​a vehicle, for example, for the ACC system and the stop-and-go system, and a radar device is installed to detect the lateral rear side area of ​​the vehicle, for example, for the BSD, the RCTA, the LCA, or the RPC.

[0007] Even if a radar device mounted on the front of the vehicle detects a front side area and a radar device mounted on a lateral rear side of the vehicle detects a lateral rear side, there may still be an undetected area around the vehicle that cannot be detected.

[0008] This means that when a conventional radar device is mounted on a vehicle, there is an area around the vehicle that is not detected. This area is also known as a "dead zone".

[0009] Due to the existence of such an undetected area, there is a risk of a fatal or vehicle accident occurring because a pedestrian or a neighboring vehicle on the side of the vehicle is not detected. Specifically, an undetected area exists on the side or rear of the vehicle that cannot be detected by a radar device mounted on the rear of the vehicle. Since such an undetected area may be an area that the driver cannot see through a rearview mirror, the risk of an accident is further increased.

[0010] US 2005 / 0110673 A1 describes a vehicle-mounted radar with a transmitting antenna for radiating a radio wave and three receiving antennas for receiving the radio wave reflected by an object, wherein the horizontal width of the second receiving antenna is smaller than the horizontal width of the first and third receiving antennas.

[0011] WO 2010 / 000253 A2 describes a radar sensor for detecting the environment of a motor vehicle with multiple transmitting antennas for emitting signals, multiple receiving antennas for receiving signals reflected from objects, and signal processing means for processing the received signals.

[0012] DE 10 2004 019 651 A1 describes a blindspot sensor system for the detection and / or classification of objects in a defined monitoring area of ​​a motor vehicle using radar technology.

[0013] US 2004 / 0085249 A1 describes a sector antenna device mounted on a vehicle, comprising a housing containing six horn antennas whose openings extend over an angular range of 180 degrees and are radially oriented. SUMMARY OF THE INVENTION

[0014] Accordingly, the present invention has been created to solve the aforementioned problems that arise in the prior art, and one object of the present invention is to provide a radar device that is capable of eliminating any undetected area that may exist around a vehicle.

[0015] This problem is solved according to the invention by a radar device having the features of claim 1 and a radar device having the features of claim 2.

[0016] In accordance with the present invention as described above, it is possible for a radar device comprising an antenna arrangement to be able to eliminate any undetected area that may exist around a vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above-mentioned and further tasks, features and advantages of the present invention will become more apparent from the following detailed description, which is given in conjunction with the accompanying drawings, in which: Fig. 1 Uncovered areas to be eliminated are illustrated in an exemplary embodiment of the present invention; Fig. 2 is a block diagram illustrating a radar device in accordance with an exemplary embodiment of the present invention; Fig. 3 a block diagram of an antenna device in accordance with an exemplary embodiment of the present invention; Fig. 4 a view for determining the possibility of the existence of an uncaptured area according to an angle formed by antenna mounting surfaces in a radar device in accordance with an exemplary embodiment of the present invention; Fig. 5 is an illustrative view to show by way of example an antenna mounting device to which two antennas contained in a radar device in accordance with an exemplary embodiment are attached; Fig. 6 an illustrative view to describe a state of non-presence of an uncaptured area according to an angle formed by the antenna mounting surfaces in the radar device in accordance with an exemplary embodiment of the present invention; Fig. 7 an illustrative view to describe a state of non-presence of an undetected area according to an installation angle α of the radar device in accordance with an exemplary embodiment of the present invention; and Fig. Figure 8 illustrates that the unrecorded areas, which are in Fig. 1 exist, are eliminated when the radar devices 200 according to the invention are attached to the lateral rear sides of the vehicle. DETAILED DESCRIPTION OF PREFERRED EXECUTION FORMS

[0018] Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings. In the following description, the same elements will be designated by the same reference numerals, even though they are shown in different drawings. Furthermore, a detailed description of known functions and configurations incorporated herein will be omitted in the following description of the present invention if this would obscure the subject matter of the present invention.

[0019] Furthermore, terms such as a first, a second, A, B, (a), (b), or the like may be used here when describing components of the present invention. None of these terms are used to define an essence, order, or sequence of a corresponding component, but are used merely to distinguish the corresponding component from one or more other components. It should be noted that when the description states that a component is "connected," "coupled," or "joined" to another component, a third component may be "connected," "connected," "coupled," and thus "joined" between the first and second components, even though the first component may be directly connected, coupled, or joined to the second component.

[0020] Fig. Figure 1 illustrates areas not covered that are to be eliminated by an exemplary embodiment of the present invention.

[0021] Now, reference is made to Fig. 1. Recently, vehicles have been equipped with various control and regulation systems, such as an adaptive cruise control system (ACC), a stop-and-go system, a blind spot detection system (BSD), a rear cross traffic alert system (RCTA), a lane change assist system (LCA), and a rear pre-crash system (RPC).

[0022] The control systems mentioned above detect a neighboring object using detector technology, such as radar, in order to carry out appropriate control based on a detected result.

[0023] For example, the ACC system and the Stop-and-Go system detect an object, such as a neighboring vehicle, in the front lateral area of ​​a vehicle in order to implement appropriate control measures, such as vehicle driving or operational control. The BSD, the RCTA, the LCA, and the RPC detect an object, such as a neighboring vehicle, in the lateral rear lateral area of ​​a vehicle in order to implement appropriate control functions for accident avoidance or similar purposes.

[0024] As described above, various control and regulation systems use a detector, such as a radar device, to sense the environment.

[0025] With reference to Fig. 1 A radar device 110 for detecting a front side area of ​​a corresponding vehicle is attached to the vehicle, for example for use in an ACC system or a stop-and-go system, and radar devices 120 for detecting a lateral rear side area of ​​the vehicle are attached, for example for use in a BSD, an RCTA, an LCA and an RPC.

[0026] Even if the radar device 110, mounted on the front of the vehicle, detects the front area and the radar devices 120, mounted on the lateral rear sides of the vehicle, detect the lateral rear side areas, an undetected area that cannot be detected by the radar devices 110 and 120 may exist around the vehicle, as shown in Fig. 1 is illustrated.

[0027] This means that if the conventional radar devices 110 and 120 are fitted to a vehicle, there is an undetected area around the vehicle that cannot be detected using the radar devices 110 and 120.

[0028] The existence of such an undetected area creates a risk of a fatal or vehicle-to-vehicle collision because a pedestrian or a neighboring vehicle located on a lateral side cannot be detected. In particular, an undetected area located on a lateral or lateral rear side of the vehicle cannot be detected by the radar devices 120 mounted on the lateral rear sections of the vehicle. Because such an undetected area may be an area that the driver cannot see through a rearview mirror, the risk of a collision is further increased.

[0029] Accordingly, an exemplary embodiment of the present invention proposes a radar device with an antenna arrangement for eliminating an unmonitored area, as described in Fig. 1 is illustrated before.

[0030] The following section describes in more detail a radar device that ensures there are no unmonitored areas, with reference to Fig. 2 to Fig. 7 described.

[0031] Fig. Figure 2 is a block diagram illustrating a radar device 200 in accordance with an exemplary embodiment of the present invention.

[0032] With reference to Fig. 2 The radar device 200, in accordance with an exemplary embodiment of the present invention, comprises an antenna device 210 having two or more antenna devices, a signal transmit / receive module 220 configured to transmit signals through the two or more antennas and to receive reflected signals when the transmitted signals are reflected by a neighboring object, and a signal processing module 230 configured to perform signal processing for the detection of the neighboring object.

[0033] The aforementioned antenna device 210 is described with reference to Fig. 3 will be described in more detail.

[0034] Fig. Figure 3 is a block diagram of the antenna device 210 in accordance with an exemplary embodiment of the present invention.

[0035] With reference to Fig. 3 The antenna device 210, in accordance with the present exemplary embodiment, can have an antenna module 310, which is provided with two or more antennas 311, 312, ... and an antenna mounting device 320, which is designed with a plurality of surfaces to which the two or more antennas 311, 312, ... are attached.

[0036] At least one of the signal transmit / receive module 220 and the signal processing module 230 can be configured as a circuit on at least one of the plurality of surfaces formed on the antenna mounting device 320. Thus, it is possible to considerably reduce the size of the radar device 200.

[0037] The antenna module 310, which is in Fig. As illustrated in Figure 3, an antenna 1 comprises 311, an antenna 2 comprises 312, ... and an antenna N comprises 313, where N cannot be an integer less than 2.

[0038] The plurality of surfaces formed on the antenna mounting device 320, which is contained in the antenna device 210, comprises two or more antenna mounting surfaces.

[0039] For example, in a case where the antenna mounting device 320 is manufactured as a structure with a rectangular cuboid shape consisting of six faces, and the antenna module 310 comprises two antennas 311 and 312, the two antennas 311 and 312 can be attached to two faces of the six faces of the antenna mounting device 320.

[0040] The normal vectors for each of the two or more antenna mounting surfaces can point in different directions. This means that the two or more antenna mounting surfaces can be angled relative to each other by a predetermined angle.

[0041] If the antenna mounting device 320, for example, is manufactured as a structure with a rectangular cuboid shape consisting of six faces, the two or more antenna mounts are angled 90 degrees to each other from the six faces. That is, the normal vectors for each of the two or more antenna mounting faces can each assume different angles. In other words, the angle formed by the normal vectors for the two or more individual antenna mounting faces is 90 degrees.

[0042] In other words, the plurality of surfaces formed on the antenna mounting device 320, which is contained in the antenna device 210, can comprise two or more antenna mounting surfaces, wherein one of the antenna mounting surfaces and another antenna mounting surface are angled to each other by a predetermined angle (≠0°).

[0043] Meanwhile, each of the two or more antennas 311, 312, ... contained in the antenna module 310 can have an intrinsic detection angle.

[0044] Below is a description with reference to Fig. 4 with regard to the possibility of the existence of an uncaptured area according to an angle formed by the two antenna mounting surfaces, i.e., with regard to the possibility of the existence of an uncaptured area according to an angle formed by the normal vectors for each of the two antenna surfaces when the two antennas 311 and 312 are attached to the two antenna mounting surfaces of the antenna mounting device 320, and the detection angle of each of the two antennas 311 and 312 is predetermined as a design value according to the type of control or regulation system that uses the radar device 200.

[0045] Fig. Figure 4 is a view for determining the possibility of the existence of an unmonitored area according to the angle formed by the antenna mounting surfaces in the radar device 200 in accordance with the present exemplary embodiment. Fig. 4 It is assumed that the antenna mounting device 320 has a trapezoidal cross-section, the top and bottom surfaces of which are parallel to each other.

[0046] As in Fig. As illustrated in Figure 4, the angle formed by the two antenna mounting surfaces from the six surfaces of the antenna mounting device 320, to which the two antennas 311 and 321 are attached, is θ (degrees).

[0047] Accordingly, for the two antenna mounting surfaces, it is assumed that the normal vector of the antenna mounting surface to which the antenna 1 311 is attached is V1, and that the normal vector of the antenna mounting surface to which the antenna 2 312 is attached is V2.

[0048] The angle formed by the normal vector V1 of the mounting surface to which antenna 1 311 is attached and the normal vector V2 of the mounting surface to which antenna 2 312 is attached, i.e. the angle (φ, will be 180-θ (degrees).

[0049] The relationship between the angle θ formed by the two antenna mounting surfaces and the angle (φ formed by the two normal vectors V1 and 2 of the two antenna mounting surfaces can be expressed by equation 1 below. 90°+90°+φ+θ=360°⇒φ=180°−θ

[0050] Meanwhile, of the two antennas 311 and 312, because the detection angle of antenna 1 311 (maximum detection angle) is designed as θ1, antenna 1 311 has a first detection range 410. Furthermore, of the two antennas 311 and 312, because the detection angle of antenna 2 312 (maximum detection angle) is designed as θ2, antenna 2 312 has a second detection range 420.

[0051] Using the relationship between the angle θ formed by the two antenna mounting surfaces and the angle φ formed by the normal vectors V1 and V2 of the two antenna mounting surfaces in Equation 1, a state in which there is no uncaptured area between the first capture area 410 of antenna 1 311 and the second capture area 420 of antenna 2 312, i.e., a state in which there is no uncaptured area, can be expressed as Equation 2 below. θ12+θ22≥φ

[0052] Fig. Figure 4 is illustrated for the sake of simplicity by showing the existence of an uncaptured area. To satisfy the condition of the absence of an uncaptured area in Equation 2, if the detection angles θ1 and θ2 of the two antennas 311 and 312 are each predetermined as their design values, the angle φ formed by the normal vectors V1 and V2 of the two antenna mounting surfaces should be increased to such an extent that the first detection area 410 and the second detection area 420 should overlap or come into contact with each other.

[0053] In the meantime, Fig. 4 For the sake of simplicity, it is shown that an uncaptured area exists. To satisfy the condition of the absence of an uncaptured area according to Equation 2, if the angle φ formed by the normal vectors V1 and V2 of the two antenna mounting surfaces is predetermined as the design value, at least one of the detection angles θ1 and θ2 of the two antennas 311 and 312 should be increased to such an extent that the first detection area 410 and the second detection area 420 should overlap or come into contact with each other.

[0054] In Fig. 4 The antenna mounting device 320 has a trapezoidal cross-section, the upper and lower surfaces of which are parallel to each other. Below, assuming that the antenna mounting device 320 has a rectangular cross-section, which has a specific form of the trapezoidal shape as shown in Fig. Figure 5 shows the absence of an unrecorded area with reference to Fig. 6 and Fig. 7 described.

[0055] Fig. Figure 5 is an illustrative view of an exemplary representation of an antenna mounting device 320 to which the two antennas 311 and 312 are attached, which are included in the radar device 200 in accordance with the exemplary embodiment of the present invention.

[0056] In the antenna mounting device 320, which is in Fig. As illustrated in Figure 5, the angle θ formed by the two antenna mounting surfaces to which the two antennas 311 and 312 are attached is 90°.

[0057] Each of the two antennas 311 and 312, which are attached to the two antenna mounting surfaces in the antenna mounting device 320, which are in Fig. Figure 5, which is shown as an example, features a large number of array antennas or group antennas.

[0058] With reference to Fig. 6 and Fig. 7. A description will be made with regard to a state of non-existence of an uncaptured area under the antenna mounting configuration as described above, i.e., under the state or condition in which the angle formed by the two antenna mounting surfaces to which the two antennas 311 and 312 are attached and the angle formed by the normal vectors of the antenna mounting surfaces are predetermined.

[0059] Fig. Figure 6 is an illustrative view to describe a state of non-existence of an uncaptured area according to the angle formed by the antenna mounting surfaces in the radar device 200 in accordance with an exemplary embodiment of the present invention.

[0060] The state of non-existence of an unrecorded area, which refers to Fig. 6 is to be described as a state of non-existence of an uncaptured area according to the angle formed by the antenna mounting surfaces, and is described as a state of non-existence of an uncaptured area according to the normal vectors of the antenna mounting surfaces.

[0061] As described above, an angle formed by the normal vectors for each of the two or more mounting surfaces in the radar device 200 in accordance with an exemplary embodiment of the present invention can be determined according to the detection angles of the two or more antennas attached to the two or more mounting surfaces in order to ensure that there is no undetected area by the two or more antennas attached to the two or more antenna mounting surfaces.

[0062] For example, with reference to Fig. 6 In a case where the two or more antenna mounting surfaces comprise a first antenna mounting surface to which the first antenna 311 is attached and a second antenna mounting surface to which the second antenna 312 is attached, the angle φ formed by the normal vector V1 for the first antenna mounting surface and by the normal vector V2 for the second antenna mounting surface shall not be more than a value obtained by dividing the sum of the detection angle θ1 of the first antenna 311 and the detection angle θ2 of the second antenna 312, i.e., θ1 + θ2, by two, such that there is no undetected area between the first detection area 410 of the first antenna 311 and the second detection area 420 of the second antenna 312. This is expressed as Equation 3. θ12+θ22≥φ

[0063] Here, because the angle φ formed by the normal vector V1 for the first antenna mounting surface and by the normal vector V2 for the second antenna mounting surface, and the angle θ formed by the two antenna mounting surfaces, have a relationship of φ = 180° - 0, and θ is equal to 90°, it is also 90°. Using this, equation 3 can be expressed as equation 4. θ12+θ22≥90°

[0064] In other words, in a case where the antenna mounting device 200 is planned first, then, if the angle θ formed by the antenna mounting surfaces (=180° - the angle (φ) formed by the normal vectors of the antenna mounting surfaces) is first determined as a design value, the antenna design should be carried out in such a way that the detection angle θ1 of the first antenna 311 and the detection angle θ2 of the second antenna 312 should satisfy equation 4.

[0065] Here the antenna design can be carried out to determine at least one value of the number of array antennas, the length of the array antennas and the distance between the array antennas in each of the first antenna 311 and the second antenna 312.

[0066] Fig. Figure 7 is an illustrative view to describe a state of non-existence of an undetected area in the radar device 200 in accordance with an exemplary embodiment of the present invention according to the installation angle α of the radar device 200.

[0067] The state of non-existence of an unrecorded area, which refers to Fig. The condition described in section 7 is a state of non-existence of an uncaptured area according to the installation angle α of the radar device 200.

[0068] The radar device 200 in accordance with an exemplary embodiment of the present invention can be mounted on a vehicle with an installation angle which is determined according to the detection angle of each of the antennas 311, 312, ... which are attached to two or more antenna mounting surfaces to ensure that there is no undetected area.

[0069] With reference to Fig. 7 In a case where the two or more antenna mounting surfaces comprise the first antenna mounting surface to which the first antenna 311 is attached and a second antenna mounting surface to which the second antenna 312 is attached, the angle (φ formed by the normal vector V1 of the first antenna mounting surface and the normal vector V2 of the second antenna mounting surface, and the angle θ formed by the two antenna mounting surfaces, have a relationship of φ=180°-θ.

[0070] Furthermore, assuming that the radar device's installation angle is 200°, the detection angle of the first antenna is 311θ1, the detection angle of the second antenna is 312θ2, and the angle of a space between the first detection area 410 of the first antenna 311 and the second detection area 420 of the second antenna X is X, the sum of all four angular components is 180°. This relationship can be expressed by Equation 5 below. α+θ1+X+θ2=180°

[0071] With reference to Fig. 7 should be satisfied to ensure that there is no undetected area between the first detection area 410 of the first antenna 311 and the second detection area 420 of the second antenna 312, X≤0°. Accordingly, the state of no undetected area can be expressed according to the installation angle α of the radar device 200 as in Equation 6 below: X=180°−(α+θ1+θ2)≤0° α≥180°−(θ1+θ2):(A): (θ1+θ2)≥180°−α

[0072] If the detection angle θ1 of the first antenna 311 and the detection angle θ2 of the second antenna 312 are values ​​predetermined as design values, then, with reference to equation 6(A), the installation angle α should be greater than that specified in Fig. 7, so that the angle X of the space between the first detection area 410 of the first antenna 311 and the second detection area 420 of the second antenna 312 should not be more than 0°, and the radar device 200 should be mounted with the installation angle α. That is to say, in the case where the two or more antenna mounting surfaces comprise the first antenna mounting surface to which the first antenna 311 is attached and the second antenna mounting surface to which the second antenna 312 is attached, the installation angle α should not be less than an angle obtained by subtracting 180 degrees from the sum of the detection angle θ1 of the first antenna 311 and the detection angle θ2 of the second antenna 312, in order to ensure that there is no uncaptured area between the detection range of the first antenna 311 and the detection range of the second antenna 312.

[0073] The detection angle of each of the two or more antennas mentioned above can be an antenna design value determined according to information about the span of an uncaptured area.

[0074] If the installation angle α is a value predetermined as a design value, then, with reference to equation 6(B), the sum of the detection angle θ1 of the first antenna 311 and the detection angle θ2 of the second antenna 312 should be an angle greater than that specified in Fig. Equation 7 is intended to ensure that the angle x of the space between the first detection area 410 of the first antenna 311 and the second detection area 420 of the second antenna 312 should not exceed 0°. Accordingly, the antenna design should be such that the detection angle θ1 of the first antenna 311 and the detection angle θ2 of the second antenna 312 satisfy equation 6(B).

[0075] Here the antenna design can be carried out to determine a value for at least one of the number of array antennas, the length of the array antennas and the spacing of the array antennas in each of the first antenna 311 and the second antenna 312.

[0076] Each of the two or more antennas 311, 312, ... described here can have one or more array antenna(s).

[0077] Fig. Figure 8 illustrates that the unrecorded areas, which are in Fig. 1 existing, can be eliminated if the radar devices 200 according to the invention are mounted on the lateral rear sides of the vehicle.

[0078] If the conventional radar device 110, mounted at the front of the vehicle, detects the front area and the conventional radar devices 120, mounted on the lateral rear sides of the vehicle, detect the lateral rear areas, there are undetected areas in the lateral directions of the vehicle, as shown in Fig. Figure 1 illustrates this. However, it will be clear that, in accordance with the exemplary embodiments of the present invention described above, a plurality of antennas are each attached to the various surfaces of the antenna mounting devices, thereby generating additional detection areas 420 to eliminate the undetected areas that exist in the lateral directions of the vehicle, as shown in Figure 1. Fig. Figure 8 illustrates this.

[0079] As described above, the antenna device according to the invention has two or more antennas and an antenna mounting device which is designed with a plurality of surfaces such that the plurality of antennas are attached to the antenna mounting device, wherein the plurality of surfaces comprises two or more antenna mounting surfaces and one antenna mounting surface and another antenna mounting surface form a predetermined angle.

[0080] Although several exemplary embodiments have been described above, in which, for the sake of simplicity, it is assumed that the radar device 200 according to the invention is a radar device mounted on a lateral rear side of a vehicle, the radar device 200 according to the invention can be a radar device mounted on a front side of the vehicle.

[0081] As described above, in accordance with the present invention, a radar device and an antenna device can be provided which have an antenna arrangement capable of eliminating any undetected area that may exist around a vehicle.

[0082] According to the prior art, it is necessary to install an additional radar device to eliminate an undetected area. In accordance with the present invention, such an undetected area can be eliminated with a single radar device 200.

[0083] Although it has been described above that all components of an embodiment of the present invention are connected or coupled as a single unit so that they can be operated as a single unit, the present invention is not necessarily limited to such an embodiment. That is to say, one or more of the components can be selectively coupled in order to be operated as one or more units. Furthermore, although each of the components can be implemented as independent hardware, some or all of the components can be selectively combined with one another so that they can be implemented as a computer program with one or more program modules for performing some or all of the functions combined in one or more hardware devices.The codes and code segments that constitute the computer program can be easily designed by a person skilled in the technical field of the present invention. Such a computer program can implement the embodiments of the present invention by being stored in a computer-readable storage medium and being read and executed by a computer. A magnetic recording medium, an optical recording medium, a carrier wave medium, or the like can be used as the storage medium.

[0084] Furthermore, since terms such as "comprise," "include," and "consist of" mean that one or more corresponding components or parts may exist, unless specifically described otherwise, this should be interpreted to mean that one or more other components or parts may be included. All terminologies that include one or more technical or scientific terminologies have the same meanings, which are generally understood by those skilled in the art in that field, unless otherwise defined.A term used in the conventional manner, such as a term defined by a dictionary, shall be interpreted as having a meaning equal to that in the context of a related description, and shall not be interpreted in an ideal or overly formal sense, unless this is clearly defined in the present patent specification.

[0085] Although a preferred embodiment of the present invention has been described for illustrative purposes, it will be clear to those skilled in the art that various modifications, additions, and substitutions are possible without derogating from the scope of protection and the spirit of the invention as disclosed in the appended claims. Therefore, the embodiments disclosed in the present invention are intended to illustrate the scope of protection of the technical idea of ​​the present invention, and the scope of protection of the present invention is not limited by the embodiment. The scope of protection of the present invention is to be interpreted on the basis of the appended claims, and it is to be interpreted such that all the technical ideas contained within the scope of protection and equivalent to the claims belong to the present invention.

Claims

[1] Radar device (200) with: an antenna device (210) comprising two or more antennas (311, 312, ...) and an antenna mounting device (320) which is designed with a plurality of surfaces such that the two or more antennas (311, 312, ...) are attached to the antenna mounting device (320); a signal transmit / receive module (220) configured to transmit signals through the two or more antennas (311, 312, ...) and to receive signals reflected from a nearby object; and a signal processing module (230) configured to perform signal processing to detect the adjacent object, wherein the plurality of surfaces has two or more antenna mounting surfaces and normal vectors for the two or more antenna mounting surfaces point in different directions, and wherein at least one of the signal transmitting / receiving module (220) and the signal processing module (230) is configured as a circuit on at least one of the plurality of surfaces formed on the antenna mounting device (320); wherein an angle formed by the normal vectors for each of the two or more antenna mounting surfaces is determined according to a detection angle of each of the two or more antennas (311, 312, ...) attached to the two or more antenna mounting surfaces; wherein the radar device (200) is mounted on a vehicle with an installation angle which is determined according to a detection angle of each of the two or more antennas (311, 312, ...) which are attached to the two or more antenna mounting surfaces; wherein each of the two or more antennas (311, 312, ...) has one or more array antenna(s). [2] Radar device (200) with: an antenna device (210) comprising two or more antennas (311, 312, ...) and an antenna mounting device (320) which is designed with a plurality of surfaces such that the two or more antennas (311, 312, ...) are attached to the antenna mounting device (320); a signal transmit / receive module (220) configured to transmit signals through the two or more antennas (311, 312, ...) and to receive signals reflected from a nearby object; and a signal processing module (230) configured to perform signal processing to detect the adjacent object, wherein the plurality of surfaces has two or more antenna mounting surfaces and normal vectors for the two or more antenna mounting surfaces point in different directions, and wherein at least one of the signal transmitting / receiving module (220) and the signal processing module (230) is configured as a circuit on at least one of the plurality of surfaces formed on the antenna mounting device (320); wherein the radar device (200) is mounted on a vehicle with an installation angle which is determined according to a detection angle of each of the two or more antennas (311, 312, ...) which are attached to the two or more antenna mounting surfaces; wherein the detection angle of each of the two or more antennas (311, 312, ....) is a design value which is determined according to information for a span of the undetected area; wherein each of the two or more antennas (311, 312, ...) has one or more array antenna(s).

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