RADAR DEVICE

Abstract

Radar device (100) comprising a transmitter module (40) for generating a radar signal and a receiver module (50) for receiving a reflected wave of the radar signal, wherein the transmitter module and the receiver module are mounted separately on an automobile (80), wherein the transmitter module comprises: a transmitter circuit unit (16) comprising a first voltage-controlled oscillator (4) for generating the radar signal based on a reference signal; and a transmitting antenna (15) for emitting the radar signal into a room, the receiving module includes the following: a reference oscillator (13) for generating the reference signal; a receiving antenna (17) for receiving the reflected wave of the radar signal from a target object; and a receiving unit (18) comprising the following: a receiving circuit unit (19) comprising a second voltage-controlled oscillator (8) for generating a local signal based on the reference signal, wherein the receiving circuit receives an output from the receiving antenna based on the local signal; and a signal processing unit (20) for calculating target data based on an output from the receiving circuit unit, wherein the transmitter module includes a first substrate (16f) and a first circuit board (16c), the transmitter circuit unit is mounted on a first surface of the first circuit board, the first substrate is provided on one side of a second surface of the first printed circuit board the transmitting antenna is mounted on a second surface of the first substrate and is not provided in a corresponding area on a rear surface of the first substrate, wherein the corresponding area on the rear surface of the first substrate corresponds to an area (A) in which the first printed circuit board is arranged on the first substrate, the receiver module includes a second substrate (19f) and a second circuit board (19c), the receiving circuit unit is mounted on a third surface of the second circuit board, the second substrate is provided on one side of a fourth surface of the second printed circuit board the receiving antenna is mounted on a fourth surface of the second substrate and is not provided in a corresponding area on a rear surface of the second substrate, wherein the corresponding area on the rear surface of the second substrate corresponds to an area (C) in which the second circuit board is arranged on the second substrate, and the second area is an area opposite the first area, and the fourth area is an area opposite the third area.

Description

Technical field

[0001] The present invention relates to a radar device for detecting a target object. General state of the art

[0002] In recent years, the development of radar devices mounted on automobiles to detect target objects has progressed. One example of a target object is a car traveling in front of a moving car equipped with a radar device. Another example of a target object is an obstacle located in front of a moving car equipped with a radar device.

[0003] A radar device comprises a transmitting antenna and a receiving antenna. The transmitting antenna emits radio waves. The receiving antenna receives waves reflected by a target object from the radio waves emitted by the transmitting antenna. The radar device determines the distance from the vehicle to the target object based on the time from the emission of radio waves from the transmitting antenna to the reception of reflected waves at the receiving antenna. The following patent reference 1 discloses a radio frequency module in which a radio frequency package, a transmitting antenna, and a receiving antenna are formed as a single structure. List of quotations Patent literature

[0004] Patent literature 1: Japanese patent no. JP 4 394 147 B2. Furthermore, patent application JP 2002 198 852 A discloses antenna-integrated millimeter-wave circuits for wireless communication devices in the millimeter-wave band and the like. DE 10 2007 046 480 A1 also discloses a radar system with two different operating modes for different ranges. US 2005 / 0 225 481 A1 and DE 10 2015 217 012 A1 also deal with similar radar systems for use, in particular, on vehicles. Brief description of the technical task

[0005] For the conventional high-frequency module, the radio frequency package, transmitting antenna, and receiving antenna are designed as a single structure, as described above. For this reason, it is difficult to reduce the size of the high-frequency module. Therefore, the conventional radar device is problematic because it can only be mounted in a limited location on the front of a vehicle. An example of such a limited location is the front grille or bumper.

[0006] The present invention was made in light of the foregoing and one object of it is to obtain a radar device that can be mounted at any point on an automobile. Technical solution

[0007] To solve the aforementioned problem and fulfill the objective, a radar device according to the present invention comprises a transmitter module for generating a radar signal and a receiver module for receiving a reflected wave of the radar signal. The transmitter module and the receiver module are mounted separately on an automobile. The transmitter module comprises: a transmitting circuit unit for generating the radar signal; and a transmitting antenna for emitting the radar signal into a room. The receiver module comprises: a receiving antenna for receiving the reflected wave of the radar signal from a target object; and a receiving unit, which includes a receiving circuit unit for receiving an output from the receiving antenna and a signal processing unit for calculating target data based on an output from the receiving circuit unit. The transmitter module comprises a first substrate and a first printed circuit board.The transmitting circuitry is mounted on a first face of the first printed circuit board. The first substrate is provided on one side of a second face of the first printed circuit board. The transmitting antenna is mounted on a second face of the first substrate and is not provided in a corresponding area on a rear face of the first substrate, where the corresponding area on the rear face of the first substrate corresponds to an area where the first printed circuit board is located on the first substrate. The receiving module includes a second substrate and a second printed circuit board. The receiving circuitry is mounted on a third face of the second printed circuit board. The second substrate is provided on one side of a fourth face of the second printed circuit board.The receiving antenna is mounted on a fourth face of the second substrate and is not provided in a corresponding area on a rear face of the second substrate, where the corresponding area on the rear face of the second substrate corresponds to an area in which the second printed circuit board is arranged on the second substrate. The first and third faces are front faces. The second and fourth faces are rear faces. Advantageous effects of the invention

[0008] The radar device according to the present invention provides the effect that the radar device can be mounted at any point on the automobile. Brief description of the drawings Fig. Figure 1 is a representation illustrating an example of a situation in which a radar device according to a first embodiment is arranged in an automobile. Fig. Figure 2 is a block diagram illustrating a configuration of the radar device according to the first embodiment. Fig. Figure 3 is a front view and a cross-sectional view illustrating a transmitter module in the first embodiment. Fig. Figure 4 is a rear view and a cross-sectional view illustrating the transmitter module in the first embodiment. Fig. Figure 5 is a front view and a cross-sectional view illustrating a receiver module in the first embodiment. Fig. Figure 6 is a rear view and a cross-sectional view illustrating the receiving module in the first embodiment. Fig. Figure 7 is a representation to explain the concept of transmission channels in the first embodiment. Fig. Figure 8 is a representation to explain the concept of receiving channels in the first embodiment. Fig. Figure 9 is a representation to explain the concept of a virtual two-dimensional planar antenna in the first embodiment. Fig. Figure 10 is a representation illustrating an example of a situation in which a radar device according to a second embodiment is arranged in an automobile. Fig. Figure 11 is a representation to explain the concept of a virtual two-dimensional planar antenna in the second embodiment. Description of the embodiments

[0009] A radar device according to embodiments of the present invention is described below with reference to the accompanying drawings. The present invention is not limited to the following embodiments. In the following description, physical connection and electrical connection are not distinguished from one another and are simply referred to as "connection". In the accompanying drawings, the scale of each element may differ from the actual scale for ease of understanding. Likewise, the scale of each element may differ in some drawings from that in other drawings. First embodiment

[0010] Fig. Figure 1 is a representation illustrating an example of a situation in which a radar device 100 according to the first embodiment is arranged in an automobile 80. Fig. Figure 1 of the radar device 100 includes a transmitter module 40, a receiver module 50, and a connecting cable 52. The transmitter module 40 generates a high-frequency radio-detecting-and-ranging (RADAR) signal. The receiver module 50 receives waves of the radar signal emitted into space that are reflected by a target object.

[0011] The transmitter module 40 includes a transmitting antenna 15 and a transmitting circuit unit 16. The receiver module 50 includes a receiving antenna 17 and a receiving unit 18. As in Fig. As illustrated in Figure 1, the transmitter module 40 and the receiver module 50, which provide different structures, are mounted separately on the automobile 80. Since the transmitter module 40 and the receiver module 50 are provided separately as the different structures, both the transmitter module 40 and the receiver module 50 can be miniaturized and thinned.

[0012] The connecting cable 52 is a signal connection interface for transmitting signals between the transmitting module 40 and the receiving module 50. An example of the connecting cable 52 is an electrical signal cable, which includes a twisted pair or a coaxial cable. It should be noted that an optical signal cable can be used instead of the electrical signal cable. Instead of the physical connecting cable 52, a signal transmission technique using Bluetooth (registered trademark) or a millimeter-wave wireless LAN can be used.

[0013] The automobile 80 includes a windshield 81, a roof 82, and an A-pillar 83. The roof 82 and the A-pillar 83 are structures that support the automobile 80.

[0014] A typical car contains a number of pillars separated by windows along its sides. The pillars are structures that connect the car's body and roof, secure the interior, and support the body. Typically, the pillars are designated alphabetically from the front as the A-, B-, C-, and D-pillars, though their names may vary depending on the car model. Of these, the illustrated A-pillar (83) is located on each side of the windshield (81). In this sense, the A-pillar is also called the "front pillar."

[0015] The windshield 81 comprises four sides. Of these four sides, two that are not parallel to the ground, that is, to a surface in contact with the tires (not illustrated) of the automobile 80, are defined as the first sides. Furthermore, of the four sides, two that are parallel to the ground are defined as the second sides. The illustrated second side 81b is the upper of the two second sides. The illustrated first side 81a is the right of the two first sides when the automobile 80 is viewed from the front. The second side 81b intersects the first side 81a. The term "intersects" means that the second side 81b and the first side 81a are not parallel to each other.

[0016] The transmitting antenna 15 is arranged on the windshield 81 of the automobile 80 along the first side 81a of the windshield 81 in the upper part of the first side 81a. The receiving antenna 17 is arranged along the second side 81b of the windshield 81 in the middle of the second side 81b.

[0017] The transmitter control unit 16 is located adjacent to the transmitting antenna 15. The transmitting antenna 15 is located on the windshield 81, but the transmitter control unit 16 is housed in the A-pillar 83. Arranging the transmitter control unit 16 and the transmitting antenna 15 adjacent to each other effectively reduces signal transmission loss between the transmitter control unit 16 and the transmitting antenna 15.

[0018] The receiving unit 18 is arranged adjacent to the receiving antenna 17. The receiving antenna 17 is located on the windshield 81, while the receiving unit 18 is housed in the roof 82. Arranging the receiving unit 18 and the receiving antenna 17 adjacent to each other effectively reduces signal transmission loss between the receiving unit 18 and the receiving antenna 17.

[0019] In the Fig. In the exemplary configuration illustrated in Figure 1, the transmitting antenna 15 is arranged along the right side of the first two sides 81a of the windshield 81, and the transmitting circuitry 16 is arranged in the A-pillar 83, which is located on the right side. However, the present invention is not limited to this configuration. The transmitting antenna 15 can be arranged along the left side of the first two sides 81a of the windshield 81, and the transmitting circuitry 16 can be arranged in the A-pillar 83, which is located on the left side when the automobile 80 is viewed from the front.

[0020] In the Fig. In the illustrated example, the transmitting antenna 15 and the transmitting circuit unit 16 are arranged in the upper part of the first side 81a. However, the present invention is not limited to this arrangement. The transmitting antenna 15 and the transmitting circuit unit 16 can be arranged in the middle of the first side 81a or in the lower part of the first side 81a. If the transmitting antenna 15 and the transmitting circuit unit 16 are to be arranged in the lower part of the first side 81a, it should be noted that such an arrangement ensures that the line of sight between the transmitting antenna 15 and a target object is not blocked by a structure of the automobile 80.

[0021] In the Fig. In the illustrated example 1, the receiving antenna 17 and the receiving unit 18 are arranged in the center of the second side 81b. However, the present invention is not limited to this arrangement. The receiving antenna 17 and the receiving unit 18 can be arranged in the right or left part of the second side 81b when the automobile 80 is viewed from the front. In any case, it should be ensured that the arrangement does not obstruct the driver's view by the receiving antenna 17, which is exposed at the windshield 81.

[0022] Fig. Figure 2 is a block diagram illustrating a configuration of the radar device 100 according to the first embodiment. Fig. Figure 2 shows the configuration of a frequency-modulated continuous wave radar (hereinafter abbreviated as "FMCW") that uses FMCW. The FMCW radar has the following features: a simple configuration; and a relatively low basebandwidth, which facilitates signal processing.

[0023] As described above, the radar device 100 according to the first embodiment includes the transmitting module 40 and the receiving module 50. The transmitting module 40 includes the transmitting antenna 15 and the transmitting circuit unit 16. The receiving module 50 includes the receiving antenna 17, a receiving circuit unit 19, and a signal processing unit 20. The receiving unit 18 includes the receiving circuit unit 19 and the signal processing unit 20.

[0024] The transmitting circuit unit 16 generates a radar signal. The transmitting antenna 15 emits the radar signal as radio waves into space. The receiving antenna 17 receives waves of the radar signal emitted into space that are reflected by a target object. The receiving circuit unit 19 receives an output from the receiving antenna 17. More specifically, the receiving circuit unit 19 converts a signal in an output in the high-frequency band (hereinafter abbreviated as "HF band") from the receiving antenna 17 into a lower-frequency signal. A signal in the HF band is called an HF signal. A low-frequency signal is called a baseband signal. Based on the baseband signal, the signal processing unit 20 calculates target data, i.e., data about the target object. The target data includes information about the distance to the target object, the speed of the target object, and the orientation of the target object.

[0025] The transmitting antenna 15 comprises m transmitting element antennas 1-1 to 1-m. These transmitting element antennas 1-1 to 1-m are collectively referred to as "transmitting element antenna 1". The reference symbol "m" indicates the number of channels for a transmitting system. The transmitting system is a control system that includes the transmitting antenna 15 and the transmitting circuit unit 16. Note that m is an integer of two or more.

[0026] The receiving antenna 17 comprises n receiving element antennas 2-1 to 2-n. The receiving element antennas 2-1 to 2-n are collectively referred to as the "receiving element antenna 2". The reference symbol "n" is the number of channels for a receiving system. The receiving system is a control system that includes the receiving antenna 17 and the receiving circuit unit 19. Note that n is an integer of two or more.

[0027] Each of the transmitting and receiving systems performs signal processing on a channel-by-channel basis. Channels can be defined independently for each system. Hereinafter, channels for the transmitting system are referred to as "transmit channels" and channels for the receiving system as "receive channels." The number of transmit channels m and the number of receive channels n can be the same or different. The concept of transmit channels and receive channels is described later.

[0028] The transmit circuit unit 16 includes a power distributor 3, a voltage-controlled oscillator (hereinafter referred to as "VCO") 4, a modulation circuit 5 and a transmit control circuit 6. Each element of the transmit circuit unit 16 consists of a monolithically integrated microwave circuit (hereinafter referred to as "MMIC").

[0029] The transmit control circuit 6 applies a control voltage to operate the power distributor 3, the VCO 4, and the modulation circuit 5. The transmit control circuit 6 also receives a command signal from a microcontroller 14, which will be described later. The transmit control circuit 6 generates a control signal to control the operation of the power distributor 3 and the VCO 4 according to the command signal.

[0030] Modulation circuit 5 receives 14 modulation parameters from the microcontroller, including the frequency modulation width and the modulation period. Modulation circuit 5 generates a modulation signal according to these parameters. Modulation circuit 5 includes a phase-locked loop (PLL) for stabilizing the modulation signal by phase synchronization during generation.

[0031] A reference signal generated by a reference oscillator 13 (described later) and the modulation signal generated by the modulation circuit 5 are input to the VCO 4. The VCO 4 generates an FMCW signal based on the reference signal and the modulation signal and outputs the FMCW signal to the power distributor 3. The FMCW signal is a radar signal in the FMCW radar.

[0032] The FMCW signal includes a positive chirp signal, where the transmission frequency changes from low to high, and a negative chirp signal, where the transmission frequency changes from high to low. Power distributor 3 distributes power to the transmitting antennas 1-1 to 1-m. Power distribution is achieved by controlling the amplitude and phase to excite the transmitting antennas 1-1 to 1-m.

[0033] The receiver unit 18 comprises the receiver circuit unit 19 and the signal processing unit 20. The receiver circuit unit 19 includes mixers 7-1 to 7-n, a VCO 8, a modulation circuit 9, baseband amplifiers 10-1 to 10-n, analog-to-digital converters (hereinafter referred to as "ADCs") 11-1 to 11-n, and a receiver control circuit 12. Each element of the receiver circuit unit 19 consists of an MMIC. The signal processing unit 20 comprises the reference oscillator 13 and the microcontroller 14 described above.

[0034] The modulation parameters sent by the microcontroller 14 are also sent to the modulation circuit 9 and to the modulation circuit 5 of the transmitter unit 16. The modulation circuit 9 generates a modulation signal according to the modulation parameters. The modulation circuit 9 includes a PLL circuit for stabilizing the modulation signal by phase synchronization when the modulation signal is generated.

[0035] The reference signal generated by the reference oscillator 13 and the modulation signal generated by the modulation circuit 9 are fed into the VCO 8. Based on the reference signal and the modulation signal, the VCO 8 generates a local signal that is applied to each of the mixers 7-1 to 7-n.

[0036] Each of the received signals from the receiving element antennas 2-1 to 2-n is fed into a corresponding mixer 7-1 to 7-n. Mixers 7-1 to 7-n use the local signals generated by VCO 8 to down-convert the received signals into baseband signals.

[0037] Each of the baseband signals, into which the respective mixers 7-1 to 7-n have downconverted the local signals, is amplified by a corresponding baseband amplifier 10-1 to 10-n. Outputs from the baseband amplifiers 10-1 to 10-n are analog signals. Each of the ADCs 11-1 to 11-n converts the output from a corresponding baseband amplifier 10-1 to 10-n into a digital signal.

[0038] The receiver control circuit 12 applies a control voltage to operate the mixers 7-1 to 7-n, the VCO 8, the modulation circuit 9, the baseband amplifiers 10-1 to 10-n and the ADCs 11-1 to 11-n.

[0039] The signal processing unit 20 includes the reference oscillator 13 and the microcontroller 14. The microcontroller 14 is an example of a computing unit for performing various calculations. Instead of the microcontroller 14, a microprocessor, a microcomputer, a central processing unit (CPU), or a digital signal processor (DSP) can be used. Alternatively, instead of the microcontroller 14, a simple circuit, a compound circuit, a programmed processor, a parallel programmed processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a processing circuit, including a combination thereof, can be used.

[0040] The microcontroller 14 includes a non-volatile memory 22. The non-volatile memory 22 stores the modulation parameters described above. The microcontroller 14 performs computational processes to calculate target data. The MMICs in the transmit circuit unit 16 and the MMICs in the receive circuit unit 19 vary depending on the production batch. For this reason, it is preferred to store in the non-volatile memory 22 the correction amount or correction coefficient, which is individually set and determined for each product of the transmit module 40 and the receive module 50. The values ​​of the modulation parameters described above are corrected by the correction amount or correction coefficient. The transmit control circuit 6 and the receive control circuit 12 control the target control components using the corrected modulation parameters.

[0041] Next, the configuration of the transmitter module 40 in the first embodiment will be described with reference to Fig. 3 and Fig. 4 described. Fig. Figure 3 is a front view and a cross-sectional view illustrating the transmitter module 40 in the first embodiment. Fig. Figure 3 shows the front view of the transmitter module 40 on the top side and the cross-sectional view along line III-III of the top view and in the direction of the arrows is shown on the bottom side. Fig. Figure 4 is a rear view and a cross-sectional view illustrating the transmitter module 40 in the first embodiment. Fig. Figure 4 shows the rear view of the transmitter module 40 on the upper side, and the cross-sectional view along line IV-IV of the upper view and in the direction of the arrows is shown on the lower side. Right-handed orthogonal coordinate axes are used in the following description. This means that in a right-handed system, the first direction x1 and the second direction y1 are orthogonal to each other, and the third direction z1 is orthogonal to both the first direction x1 and the second direction y1.

[0042] The transmitter module 40 includes a printed circuit board 16c, a ground conductor 16e, and an antenna substrate 16f, in addition to the transmitting antenna 15 and the transmitting circuit unit 16 described above. The transmitting circuit unit 16 includes integrated circuits (ICs) 16a and peripheral electronic components 16b.

[0043] The power distributor 3, the VCO 4, the modulation circuit 5, and the transmit control circuit 6, described above, are mounted on the transmit circuit unit ICs 16a. The peripheral electronic components 16b are different from the components mounted on the transmit circuit unit ICs 16a. The transmit circuit unit ICs 16a are mounted on the printed circuit board 16c via solder balls 16d. The printed circuit board 16c is a resin board. It should be noted that the printed circuit board 16c can be referred to as the "first printed circuit board".

[0044] The printed circuit board 16c has a planar shape. The planar shape of the printed circuit board 16c is a rectangle where the length Lx1 in the first direction x1 is greater than the length Ly1 in the second direction y1. The length Lx1 ranges from several dozen millimeters to several hundred millimeters. The length Ly1 ranges from several millimeters to several dozen millimeters.

[0045] The transmitter circuit unit ICs 16a and the peripheral electronic components 16b are arranged on one of the two surfaces of the printed circuit board 16c. Fig. 3 and Fig. 4 One surface is located on the rear surface of the transmitter module 40. A normal to the rear surface faces the interior of the automobile 80, in other words, it is directed towards the inside of the automobile 80. The ground conductor 16e is provided on the other of the two surfaces of the circuit board 16c. In Fig. 3 and Fig. The other surface is located on the front surface of the transmitter module 40. A normal to the front surface is directed towards the outside of the automobile 80. Each of the circuit board 16c, the ground conductor 16e, and the antenna substrate 16f has a surface located on the rear surface of the transmitter module 40, hereinafter referred to as the "first surface." Each of the circuit board 16c, the ground conductor 16e, and the antenna substrate 16f has a surface located on the front surface of the transmitter module 40, hereinafter referred to as the "second surface." A normal to the first surfaces extends in the negative third direction z1. A normal to the second surfaces extends in the positive third direction z1. The first surface is to the second surface as the "front surface" is to the "rear surface."

[0046] The earth conductor 16e has a planar shape. The planar shape of the earth conductor 16e is a rectangle where the length Lx1 in the first direction x1 is greater than the length Ly1+Ly2 in the second direction y1. The length Ly2 is in the range of several millimeters to several dozen millimeters.

[0047] The antenna substrate 16f is provided on the side of the second surface of the grounding conductor 16e. In other words, the grounding conductor 16e is provided on the side of the first surface of the antenna substrate 16f. The antenna substrate 16f is a resin substrate. It should be noted that the antenna substrate 16f can be referred to as the "first substrate".

[0048] The antenna substrate 16f has a planar shape. The planar shape of the antenna substrate 16f is a rectangle where the length Lx1 in the first direction x1 is greater than the length Ly1+Ly2 in the second direction y1. Fig. 3 and Fig. 4 The antenna substrate 16f has the same shape as the earth conductor 16e, but it can be smaller or larger than the earth conductor 16e.

[0049] The transmitting antenna 15 is arranged on the side of the second surface of the antenna substrate 16f. The transmitting antenna 15 comprises sixty-four antenna elements 63. Each antenna element 63 is a patch antenna. The sixty-four antenna elements 63 are arranged in sixteen rows along the first direction x1 and in four rows along the second direction y1 on the second surface of the antenna substrate 16f. It should be noted that the number of antenna elements 63 and the number of arrays along the first direction x1 and the second direction y1 are merely examples. The number of elements and the number of arrays can be determined based on the following: the directional characteristic of the transmitting antenna 15 in a plane that includes the first direction x1 and the third direction z1; and the directional characteristic of the transmitting antenna 15 in a plane that includes the second direction y1 and the third direction z1.

[0050] In the configuration of the transmitter module 40, which is in Fig. 3 and Fig. As illustrated in Figure 4, the section designated by area “A” is located in the A-pillar 83, and the section designated by area “B” is exposed opposite the windshield 81. Areas “A” and “B” do not overlap. In other words, the sixty-four antenna elements 63 are not located in a corresponding area on the rear surface of the antenna substrate 16f, where this corresponding area is area “A” in which the circuit board 16c is located. This configuration provides the reduced section of the transmitter module 40 that is exposed opposite the windshield 81, thus preventing the transmitter module 40, mounted on the windshield 81, from obstructing the driver’s view. Additionally, the transmitter circuitry unit 16, which is thicker than the transmitting antenna 15 in the third direction z1, can be located in the A-pillar 83.This can improve the ease of mounting the radar device 100 on the automobile 80. This can also improve the ease of machining when mounting the radar device 100 on the automobile 80.

[0051] In the configuration of the transmitter module 40, which is in Fig. 3 and Fig. As illustrated in Figure 4, the ground conductor 16e is provided. The presence of the ground conductor 16e facilitates the design of the transmitting antenna 15. In the configuration of the transmitting module 40, which is shown in Figure 4, the ground conductor 16e is provided. Fig. 3 and Fig. As illustrated in Figure 4, the earth conductor 16e may not be provided. The absence of the earth conductor 16e simplifies the configuration of the transmitter module 40.

[0052] The antenna substrate 16f can be configured using a transparent substrate. In a case where the antenna substrate 16f is a transparent substrate and the ground conductor 16e is not provided, each of the plurality of antenna elements 63 can be arranged on the side of the first surface of the antenna substrate 16f. Since the transparent substrate has a high radio wave permeability, the antenna elements 63 can be arranged on the side of the first surface of the antenna substrate 16f.

[0053] In the configuration where the antenna elements 63 are arranged on the side of the first surface of the antenna substrate 16f, there is no protrusion on the side of the second surface of the antenna substrate 16f. Therefore, the second surface of the antenna substrate 16f can be shaped to match the curvature of the windshield 81. This can improve the ease of machining when mounting the transmitting antenna 15 on the automobile 80.

[0054] Next, the configuration of the receiver module 50 in the first embodiment will be described with reference to Fig. 5 and Fig. 6 described. Fig. Figure 5 is a front view and a cross-sectional view illustrating the receiving module 50 in the first embodiment. Fig. Figure 5 shows the front view of the receiver module 50 on the left and the cross-sectional view along line VV of the left view and in the direction of the arrows is shown on the right. Fig. Figure 6 is a rear view and a cross-sectional view illustrating the receiving module 50 in the first embodiment. Fig. Figure 6 shows the rear view of receiver module 50 on the left, and the cross-sectional view along line VI-VI of the left view, viewed in the direction of the arrows, is shown on the right. The following description uses right-handed orthogonal coordinate axes. This means that in a right-handed system, the fourth direction x2 and the fifth direction y2 are orthogonal to each other, and the sixth direction z2 is orthogonal to both the fourth direction x2 and the fifth direction y2.

[0055] The receiver module 50 includes a circuit board 19c, a ground conductor 19e, and an antenna substrate 19f, in addition to the receiving antenna 17 and the receiver circuit unit 19 described above. The receiver circuit unit 19 includes receiver circuit unit ICs 19a and peripheral electronic components 19b.

[0056] The mixers 7-1 to 7-n, the VCO 8, the modulation circuit 9, the baseband amplifiers 10-1 to 10-n, and the ADCs 11-1 to 11-n, described above, are mounted on the receiver circuit unit ICs 19a. The peripheral electronic components 19b are different from the components mounted on the receiver circuit unit ICs 19a. The receiver circuit unit ICs 19a are mounted on the printed circuit board 19c via solder balls 19d. The printed circuit board 19c is a resin board. It should be noted that the printed circuit board 19c can be referred to as the "second printed circuit board".

[0057] The printed circuit board 19c has a planar shape. The planar shape of the printed circuit board 19c is a rectangle where the length Lx2 in the fourth direction x2 is greater than the length Ly3 in the fifth direction y2. The length Lx2 ranges from several dozen millimeters to several hundred millimeters. The length Ly3 ranges from several millimeters to several dozen millimeters.

[0058] The receiver circuit unit ICs 19a and the peripheral electronic components 19b are arranged on one of the two surfaces of the printed circuit board 19c. Fig. 5 and Fig. 6 One surface is located on the rear surface of the receiver module 50. A normal to the rear surface faces the interior of the automobile 80, in other words, the inside of the automobile 80. The ground conductor 19e is provided on the other of the two surfaces of the circuit board 19c. In Fig. 5 and Fig. The other surface is located on the front surface of the receiver module 50. A normal to the front surface is directed towards the outside of the automobile 80. Each of the circuit board 19c, the ground conductor 19e, and the antenna substrate 19f has a surface located on the rear surface of the receiver module 50, hereinafter referred to as the "third surface." Each of the circuit board 19c, the ground conductor 19e, and the antenna substrate 19f has a surface located on the front surface of the receiver module 50, hereinafter referred to as the "fourth surface." A normal to the third surfaces extends in the negative sixth direction z2. A normal to the fourth surfaces extends in the positive sixth direction z2. The third surface is to the fourth surface as the "front surface" is to the "rear surface."

[0059] The earth conductor 19e has a planar shape. The planar shape of the earth conductor 19e is a rectangle where the length Lx2 in the fourth direction x2 is greater than the length Ly3+Ly4 in the fifth direction y2. The length Ly4 is in the range of several millimeters to several dozen millimeters.

[0060] The antenna substrate 19f is provided on the side of the fourth face of the ground conductor 19e. In other words, the ground conductor 19e is provided on the side of the third face of the antenna substrate 19f. The antenna substrate 19f is a resin substrate. It should be noted that the antenna substrate 19f can be referred to as the "second substrate".

[0061] The antenna substrate 19f has a planar shape. The planar shape of the antenna substrate 19f is a rectangle where the length Lx2 in the fourth direction x2 is greater than the length Ly3+Ly4 in the fifth direction y2. Fig. 5 and Fig. 6 The antenna substrate 19f has the same shape as the earth conductor 19e, but it can be smaller or larger than the earth conductor 19e.

[0062] The receiving antenna 17 is arranged on the side of the fourth face of the antenna substrate 19f. The receiving antenna 17 comprises ninety-six antenna elements 73. An example of each antenna element 73 is a patch antenna. The ninety-six antenna elements 73 are arranged in sixteen rows along the fourth direction x2 and in six rows along the fifth direction y2 on the fourth face of the antenna substrate 19f. The number of antenna elements 73 and the number of arrays along the fourth direction x2 and the fifth direction y2 are merely examples. The number of elements and the number of arrays can be determined based on the following: the directional characteristic of the receiving antenna 17 in a plane that includes the fourth direction x2 and the sixth direction z2; and the directional characteristic of the receiving antenna 17 in a plane that includes the fifth direction y2 and the sixth direction z2.

[0063] In the configuration of the receiver module, which is in Fig. 5 and Fig. As illustrated in Figure 6, the section designated by area “C” is housed in the roof 82, and the section designated by area “D” is exposed opposite the windshield 81. Areas “C” and “D” do not overlap. In other words, the ninety-six antenna elements 73 are not arranged in a corresponding area on the rear surface of the antenna substrate 19f, with that corresponding area being area “C” where the circuit board 19c is located. This configuration provides the reduced section of the receiver module 50 that is exposed opposite the windshield 81, thus preventing the receiver module 50, mounted on the windshield 81, from obstructing the driver’s view. Additionally, the receiver circuitry unit 19, which is thicker than the receiver antenna 17 in the sixth direction z2, can be housed in the roof 82.This can improve the ease of mounting the radar device 100 on the automobile 80. This can also improve the ease of machining when mounting the radar device 100 on the automobile 80.

[0064] In the configuration of the receiver module, which is in Fig. 5 and Fig. As illustrated in Figure 6, the ground conductor 19e is provided. The presence of the ground conductor 19e facilitates the design of the receiving antenna 17. In the configuration of the receiving module shown in Fig. 5 and Fig. As illustrated in Figure 6, the earth conductor 19e may not be provided. The absence of the earth conductor 19e simplifies the configuration of the receiver module 50.

[0065] The antenna substrate 19f can be configured using a transparent substrate. In a case where the antenna substrate 19f is a transparent substrate and the ground conductor 19e is not provided, each of the plurality of antenna elements 73 can be arranged on the side of the third face of the antenna substrate 19f. Since the transparent substrate has a high radio wave permeability, the antenna elements 73 can be arranged on the side of the third face of the antenna substrate 19f.

[0066] In the configuration where the antenna elements 73 are arranged on the side of the third surface of the antenna substrate 19f, there is no protrusion on the side of the fourth surface of the antenna substrate 19f. Therefore, the fourth surface of the antenna substrate 19f can be shaped to match the curvature of the windshield 81. This can improve the ease of machining when mounting the receiving antenna 17 on the automobile 80.

[0067] Next, the concept of transmitting channels and receiving channels in the first embodiment will be explained with reference to Fig. 7 and Fig. 8 described. Fig. Figure 7 is a representation to explain the concept of transmission channels in the first embodiment. Fig. Figure 7 represents the transmitting antenna 15, which is located in Fig. 3 illustrated transmitter module 40 is extracted. Fig. Figure 8 is a representation to explain the concept of receiving channels in the first embodiment. Fig. Figure 8 represents the receiving antenna 17, which is located in Fig. 5 illustrated receiver module 50 is extracted.

[0068] In Fig. Figure 7 represents a first transmitting antenna element group 63a, consisting of four antenna elements 63 aligned in the second direction y1, and a second transmitting antenna element group 63b, also consisting of four antenna elements 63 aligned in the second direction y1, connected to each other by a line 64. An example of the line 64 is a microstrip line. The transmitting antenna element group comprising the eight antenna elements 63 enclosed by a dashed line 65 defines a transmitting channel. Fig. Figure 7 illustrates a configuration that includes eight transmission channels. This means that the number of transmission channels m is eight in this example.

[0069] In the example from Fig. 7. The first transmitting antenna element group 63a and the second transmitting antenna element group 63b are adjacent to each other. However, it is not necessary for the first transmitting antenna element group 63a and the second transmitting antenna element group 63b to be adjacent to each other. Fig. Figure 7 further illustrates a third transmitting antenna element group 63c and a fourth transmitting antenna element group 63d. The first transmitting antenna element group 63a and the third transmitting antenna element group 63c can define the first transmitting channel, and the second transmitting antenna element group 63b and the fourth transmitting antenna element group 63d can define the second transmitting channel. Alternatively, the first transmitting antenna element group 63b, the second transmitting antenna element group 63b, and the third transmitting antenna element group 63c can define the first transmitting channel, and the second transmitting antenna element group 63b, the third transmitting antenna element group 63c, and the fourth transmitting antenna element group 63d can define the second transmitting channel.

[0070] In Fig. Figure 8 represents a first receiving antenna element group 73a, consisting of six antenna elements 73 aligned in the fifth direction y2, and a second receiving antenna element group 73b, also consisting of six antenna elements 73 aligned in the fifth direction y2, connected by a line 74. An example of the line 74 is a microstrip line. The receiving antenna element group comprising the 12 antenna elements 73 enclosed by a dashed line 75 defines a receiving channel. Fig. Configuration 8 includes 12 receive channels. This means the number of receive channels n is 12 in this example.

[0071] In the example from Fig. 8. The first receiving antenna element group 73a and the second receiving antenna element group 73b are adjacent to each other. However, it is not necessary for the first receiving antenna element group 73a and the second receiving antenna element group 73b to be adjacent to each other. Fig. Figure 8 further illustrates a third receiving antenna element group 73c and a fourth receiving antenna element group 73d. The first receiving antenna element group 73a and the third receiving antenna element group 73c can define the first receiving channel, and the second receiving antenna element group 73b and the fourth receiving antenna element group 73d can define the second receiving channel. Alternatively, the first receiving antenna element group 73b, the second receiving antenna element group 73b, and the third receiving antenna element group 73c can define the first receiving channel, and the second receiving antenna element group 73b, the third receiving antenna element group 73c, and the fourth receiving antenna element group 73d can define the second receiving channel.

[0072] Fig. Figure 9 is a representation to explain the concept of a virtual two-dimensional planar antenna 90 in the first embodiment. The virtual two-dimensional planar antenna can be implemented by using the concept of transmit channels and receive channels.

[0073] Assume that a plane parallel to the ground, i.e., a surface touching the tires (not illustrated) of the automobile 80, is designated as the horizontal plane. Of the planes orthogonal to the horizontal plane, the plane containing the direction of travel of the automobile 80, which is traveling in a straight line, is designated as the vertical plane. As mentioned above, the transmitting antenna 15 includes a plurality of transmitting channels. Power is supplied to each of the plurality of transmitting channels in the transmitting antenna 15. If power is supplied to the plurality of transmitting channels using different excitation phases, beam scanning in the vertical plane can be performed at the transmitting antenna 15.

[0074] As mentioned above, the receiving antenna 17 includes a plurality of receiving channels. If reception is performed on each of the plurality of receiving channels, beam scanning in the horizontal plane can be carried out at the receiving antenna 17.

[0075] Therefore, according to the first embodiment, the radar device 100 can control the directional characteristic in both the vertical and horizontal planes by performing beam scanning in the vertical plane using the transmitting antenna 15 and by performing beam scanning in the horizontal plane using the receiving antenna 17.

[0076] The directional characteristic of the transmitting antenna 15 can be controlled by causing the multiple transmission channels of the transmitting antenna 15 to emit radio waves with different phases. The emission of radio waves from the multiple transmission channels of the transmitting antenna 15 can be carried out using time division, in which case, after radio waves have been received by the receiving antenna 17, a multiple of digital signals corresponding to the received radio waves can be reconstructed. Each of the multiple transmission channels of the transmitting antenna 15 can emit radio waves having different codes, in which case, after radio waves have been received by the receiving antenna 17, signals corresponding to the respective channels can be separated based on the codes.

[0077] Since the positions of the multiple transmission channels of the transmitting antenna 15 differ from one another, the transmitting antenna 15 emits radio waves with different phases in different directions. Therefore, the phase of the signal corresponding to each of the radio waves received by the receiving antenna 17 varies depending on the transmission channel of the transmitting antenna 15. This means that signals are obtained from the radio waves received by the receiving antenna 17 that are equivalent to signals produced by the Fig. 9 illustrated virtual two-dimensional planar antenna 90 can be received.

[0078] In Fig. In Figure 9, each area enclosed by a dashed line represents a virtual transmit / receive channel. Each transmit / receive channel is assigned a label “Rp, q” using a natural number p and a natural number q. The natural number p in the label “Rp, q” indicates the identifier of the transmit channel, and the natural number q in the label “Rp, q” indicates the identifier of the receive channel.

[0079] In Fig. Figure 9 represents the virtual receiving antenna in the first row and first column, representing the antenna in a case where a signal from the first transmit channel of transmitting antenna 15 is received at the first receive channel of receiving antenna 17. The virtual receiving antenna in the second row and second column represents the antenna in a case where a signal from the second transmit channel of transmitting antenna 15 is received at the second receive channel of receiving antenna 17. The same applies to the others. The angle of a reflected wave is estimated by the signal received by the virtual two-dimensional planar antenna. Fig. 9 corresponds to the phase being multiplied to form a beam in an arbitrary direction. Since the transmitting antenna element groups that define the transmitting channels and the receiving antenna element groups that define the receiving channels are arranged virtually and two-dimensionally, beams can be formed not only in the horizontal and vertical planes, but also in oblique directions.

[0080] As described above, the radar device 100 according to the first embodiment includes the transmitting antenna and the transmitting circuitry, which are arranged along the first side of the car's windshield, and the receiving antenna and the receiving unit, which are arranged along the second side of the car's windshield. The first side is one of the two sides of the four sides of the windshield that are not parallel to the ground. The second side is the upper of the two sides of the four sides of the windshield that are parallel to the ground. The transmitting antenna and the receiving antenna are exposed on the windshield. The transmitting circuitry and the receiving unit are housed in the structures that support the car. The windshield has a larger surface area than the front grille and the bumper, thus allowing for flexible arrangements.Therefore, the radar device 100 according to the first embodiment can be mounted at any point on the automobile, which is effective. Second embodiment

[0081] Fig. Figure 10 is a representation illustrating an example of a situation in which a radar device 100A according to the second embodiment is arranged in the automobile 80. As in Fig. As illustrated in Figure 10, the radar device 100A comprises transmitter modules 40a, 40b, and 40c, the receiver module 50, and the connecting cable 52. Each of the transmitter modules 40a, 40b, and 40c is the same component as the transmitter module 40 described in the first embodiment. This means that the radar device 100A according to the second embodiment uses three separate transmitter modules, each of which is the transmitter module 40 described in the first embodiment. As in the first embodiment, each of the transmitter modules 40a, 40b, and 40c includes the transmitter circuitry unit 16, which is housed in the A-pillar 83, and the transmitting antenna 15, which is exposed at the windshield 81. Thus, the radar device 100A according to the second embodiment forms a virtual two-dimensional planar antenna using the three transmitter modules 40 and the one receiver module 50.

[0082] Fig. Figure 11 is a representation to explain the concept of a virtual two-dimensional planar antenna 90A in the second embodiment.

[0083] In Fig. Figure 11 represents the virtual transmit / receive channel in the first row and first column, which corresponds to the transmit / receive channel in a case where a signal from the first transmit channel of transmit antenna 15 of transmit module 40a is received at the first receive channel of receive antenna 17. The virtual transmit / receive channel in the eighth row and eighth column represents the transmit / receive channel in a case where a signal from the eighth transmit channel of transmit antenna 15 of transmit module 40a is received at the eighth receive channel of receive antenna 17.

[0084] Furthermore, in Fig. 11 The virtual transmit / receive channel in the ninth row and first column represents the transmit / receive channel in a case where a signal from the first transmit channel of transmit antenna 15 of transmit module 40b is received at the first receive channel of receive antenna 17. By considering the transmit antenna 15 of transmit module 40a and the transmit antenna 15 of transmit module 40b as a single virtual transmit antenna 15, the first transmit channel of transmit antenna 15 of transmit module 40b can be handled virtually as the ninth transmit channel. Therefore, this virtual transmit / receive channel can be handled with the assigned label "R9, 1". The same applies to the others.

[0085] Furthermore, in Fig. 11 The virtual transmit / receive channel in the seventeenth row and first column represents the transmit / receive channel in a case where a signal from the first transmit channel of transmit antenna 15 of transmit module 40c is received at the first receive channel of receive antenna 17. By considering the transmit antenna 15 of transmit module 40a, the transmit antenna 15 of transmit module 40b, and the transmit antenna 15 of transmit module 40c as a single virtual transmit antenna 15, the first transmit channel of transmit antenna 15 of transmit module 40c can be handled virtually as the seventeenth transmit channel. Therefore, this virtual transmit / receive channel can be handled with the assigned label "R17, 1". The same applies to the others.

[0086] With reference to Fig. The transmitting modules 40a, 40b, and 40c are arranged along the A-pillar 83, which extends the length of the transmitting antenna 15 in the first direction x1, namely the longitudinal length of the transmitting antenna 15. In general, the area of ​​an antenna is essentially proportional to its gain, and the observable distance increases as the area increases. Therefore, extending the longitudinal length of the transmitting antenna 15 can improve the detection performance.

[0087] Additionally, extending the longitudinal length of the transmitting antenna 15 can reduce the beamwidth in the vertical plane, thus improving the resolution in the vertical plane.

[0088] Although Fig.Figure 10 illustrates an example in which the three transmitting modules 40 and the one receiving module 50 define the virtual two-dimensional planar antenna 90A. The present invention is not limited to this configuration. The number of transmitting modules 40 can be other than three, and the number of receiving modules 50 can be multiple. Multiple receiving modules 50 can improve the detection performance and resolution in the horizontal plane more than a single receiving module 50.

[0089] As described above, the radar device 100A according to the second embodiment can form the virtual two-dimensional area antenna 90A using the plurality of transmitting antenna element groups that define the transmitting channels and the plurality of receiving antenna element groups that define the receiving channels. Consequently, improvements in detection performance, resolution in the vertical plane, and resolution in the horizontal plane can be achieved.

[0090] It should be noted that the configurations described in the aforementioned embodiments are examples of the content of the present invention. These configurations can be combined with other well-known techniques, and some of the configurations can be omitted or modified to an extent that does not deviate from the core of the present invention. List of reference symbols

[0091] 1, 1-1 to 1-m transmitting element antenna; 2, 2-1 to 2-n receiving element antenna; 3 power distributor; 4, 8 VCO; 5, 9 modulation circuit; 6 transmit control circuit; 7-1 to 7-n mixer; 10-1 to 10-n baseband amplifier; 11-1 to 11-n ADC; 12 receive control circuit; 13 reference oscillator; 14 microcontroller; 15 transmitting antenna; 16 transmitting circuit unit; 16a transmitting circuit unit IC; 16b, 19b peripheral electronic component; 16c, 19c printed circuit board; 16d, 19d solder ball; 16e, 19e ground wire; 16f, 19f antenna substrate; 17 receiving antenna; 18 receiving unit; 19 Receiver circuit unit; 19a Receiver circuit unit IC; 20 Signal processing unit; 22 Non-volatile memory; 40, 40a, 40b, 40c Transmit module; 50 Receiver module; 52 Connecting cable; 63, 73 Antenna element; 63a First transmit antenna element group; 63b Second Transmitting antenna element group; 63c third Transmitting antenna element group; 63d fourth Transmitting antenna element group; 64, 74 Line; 73a First receiving antenna element group; 73b Second Receiving antenna element group; 73c third Receiving antenna element group; 73d fourth Receiving antenna element group; 80 Automobile; 81 Windscreen; 81a First side; 81b Second side; 82 Roof; 83 A-pillar; 90, 90A Two-dimensional planar antenna; 100, 100A Radar device.

Claims

[1] Radar device (100) comprising a transmitter module (40) for generating a radar signal and a receiver module (50) for receiving a reflected wave of the radar signal, wherein the transmitter module and the receiver module are mounted separately on an automobile (80), the transmitter module comprising: a transmitter circuit unit (16) comprising a first voltage-controlled oscillator (4) for generating the radar signal based on a reference signal; and a transmitting antenna (15) for emitting the radar signal into a room, the receiving module includes the following: a reference oscillator (13) for generating the reference signal; a receiving antenna (17) for receiving the reflected wave of the radar signal from a target object; and a receiving unit (18) comprising the following: a receiving circuit unit (19) comprising a second voltage-controlled oscillator (8) for generating a local signal based on the reference signal, wherein the receiving circuit receives an output from the receiving antenna based on the local signal; and a signal processing unit (20) for calculating target data based on an output from the receiving circuit unit, wherein the transmitter module includes a first substrate (16f) and a first circuit board (16c), the transmitter circuit unit is mounted on a first surface of the first circuit board, the first substrate is provided on one side of a second surface of the first printed circuit board the transmitting antenna is mounted on a second surface of the first substrate and is not provided in a corresponding area on a rear surface of the first substrate, wherein the corresponding area on the rear surface of the first substrate corresponds to an area (A) in which the first printed circuit board is arranged on the first substrate, the receiver module includes a second substrate (19f) and a second circuit board (19c), the receiving circuit unit is mounted on a third surface of the second circuit board, the second substrate is provided on one side of a fourth surface of the second printed circuit board the receiving antenna is mounted on a fourth surface of the second substrate and is not provided in a corresponding area on a rear surface of the second substrate, wherein the corresponding area on the rear surface of the second substrate corresponds to an area (C) in which the second circuit board is arranged on the second substrate, and the second area is an area opposite the first area, and the fourth area is an area opposite the third area. [2] Radar device according to claim 1, wherein an earth conductor (16e) is provided between the first substrate and the first circuit board. [3] Radar device (100) comprising a transmitter module (40) for generating a radar signal and a receiver module (50) for receiving a reflected wave of the radar signal, wherein the transmitter module and the receiver module are mounted separately on an automobile, the transmitter module includes the following: a transmitter circuit unit (16) for generating the radar signal; and a transmitting antenna (15) for emitting the radar signal into a room, the receiving module includes the following: a receiving antenna (17) for receiving the reflected wave of the radar signal from a target object; and a receiving unit (18) comprising a receiving circuit unit (19) for receiving output from the receiving antenna and a signal processing unit (20) for calculating target data based on output from the receiving circuit unit, wherein the transmitter module includes a first substrate (16f) and a first circuit board (16c), the transmitter circuit unit is mounted on a first surface of the first circuit board, the first substrate is provided on one side of a second surface of the first printed circuit board the transmitting antenna is mounted on a first surface of the first substrate, the first circuit board (16c) is provided on the first surface of the first substrate (16f), the first substrate (16f) comprises a second surface opposite the first surface of the first substrate (16f), the second surface of the first substrate (16f) having no projection, the receiver module includes a second substrate (19f) and a second circuit board (19c), the receiving circuit unit is mounted on a third surface of the second circuit board, the second substrate is provided on one side of a fourth surface of the second printed circuit board the receiving antenna is mounted on a third surface of the second substrate, the second circuit board (19c) is provided on the third surface of the second substrate (19f), the second substrate (19f) comprises a fourth surface opposite the third surface of the second substrate (19f), the fourth surface of the second substrate (19f) having no projection, and The first substrate and the second substrate are transparent substrates. [4] Radar device according to any one of claims 1 to 3, wherein the transmitting antenna and the transmitting circuit unit are arranged along a first side (81a) of a windshield (81) of the automobile, the receiving antenna and the receiving unit are arranged along a second side (81b) of the windshield of the automobile, the first side is one of two of the four sides of the windshield, where the two sides are not parallel to the ground, the four sides of the windshield include two sides parallel to the ground, and the second side is one of the upper sides of the two parallel to the ground, the transmitting antenna and the receiving antenna are exposed on the windshield and The transmitting circuit unit and the receiving unit are housed in a structure that supports the automobile. [5] Radar device according to claim 4, wherein the transmitting circuit unit is arranged in a front column (83) and the receiving unit is arranged in a roof (82). [6] Radar device according to any one of claims 1 to 5, wherein The transmitter circuit unit includes a multitude of transmission channels, supplies power to each of the multitude of transmission channels, and generates the radar signal. the transmitting antenna includes a multitude of transmitting antenna element groups (63a to 63d) which define the transmitting channels, The receiving circuit unit includes a multitude of receiving channels and receives an output from the receiving antenna on each of the multitude of receiving channels. The receiving antenna includes a multitude of receiving antenna element groups (73a to 73d) that define the receiving channels, and The multitude of transmitting antenna element groups and the multitude of receiving antenna element groups form a virtual two-dimensional planar antenna. [7] Radar device according to claim 6, wherein at least one of the transmitting module (40) and the receiving module (50) is present in a plurality. [8] Radar device (100) comprising a transmitter module (40) for generating a radar signal and a receiver module (50) for receiving a reflected wave of the radar signal, wherein the transmitter module and the receiver module are mounted separately on an automobile, wherein the transmitter module comprises: a transmitter circuit unit (16) comprising a first voltage-controlled oscillator (4) for generating the radar signal based on a reference signal; and a transmitting antenna (15) for emitting the radar signal into a room, the receiving module includes the following: a reference oscillator (13) for generating the reference signal; a receiving antenna (17) for receiving the reflected wave of the radar signal from a target object; and a receiving unit (18) comprising the following: a receiving circuit unit (19) comprising a second voltage-controlled oscillator (8) for generating a local signal based on the reference signal, wherein the receiving circuit receives an output from the receiving antenna based on the local signal; and a signal processing unit (20) for calculating target data based on an output from the receiving circuit unit. [9] Radar device according to claim 8, wherein the transmitting antenna and the transmitting circuit unit are arranged along a first side (81a) of a windshield (81) of the automobile, the receiving antenna and the receiving unit are arranged along a second side (81b) of the windshield of the automobile, the first side is one of two of the four sides of the windshield, where the two sides are not parallel to the ground, the four sides of the windshield include two sides parallel to the ground, and the second side is one of the upper sides of the two parallel to the ground, the transmitting antenna and the receiving antenna are exposed on the windshield and The transmitting circuit unit and the receiving unit are housed in a structure that supports the automobile. [10] Radar device according to claim 8, wherein The transmitter circuit unit includes a multitude of transmission channels, supplies power to each of the multitude of transmission channels, and generates the radar signal. the transmitting antenna includes a multitude of transmitting antenna element groups (63a to 63d) which define the transmitting channels, The receiving circuit unit includes a multitude of receiving channels and receives an output from the receiving antenna on each of the multitude of receiving channels. The receiving antenna includes a multitude of receiving antenna element groups (73a to 73d) that define the receiving channels, and The multitude of transmitting antenna element groups and the multitude of receiving antenna element groups form a virtual two-dimensional planar antenna.

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