Antenna system, radar, terminal device, and vehicle end

Abstract

The present application relates to the technical field of radars, and discloses an antenna system, a radar, a terminal device, and a vehicle end. The antenna system comprises M transmitting antennas and N receiving antennas, wherein M and N are integers greater than 2; in a first direction, the M transmitting antennas and the N receiving antennas are both non-uniformly arranged. The M transmitting antennas comprise at least one first minimum value point, the N receiving antennas comprise at least one second minimum value point, and in a first angle range of a main lobe center point, the directions corresponding to the first minimum value point and the second minimum value point are different. By enabling the directions corresponding to the first minimum value point and the second minimum value point within the first angle range of the main lobe beam to be different, the maximum value points in a first gain pattern and a second gain pattern can be staggered, to avoid multiplication of the maximum value points, so that a directional gain pattern of a virtual array corresponding to the M transmitting antennas and the N receiving antennas has a good sidelobe suppression effect within the first angle range.

Description

Antenna system, radar, terminal equipment and vehicle terminal Technical Field

[0001] The present application relates to the field of radar technology, and in particular to an antenna system, a radar, a terminal device and a vehicle terminal. Background Art

[0002] A radar's detection capability, particularly its ability to detect within a certain angular range in the array's mainlobe beam direction, is a key metric for measuring its performance. This capability includes factors such as angular resolution and interference rejection. Angular resolution is inversely proportional to the mainlobe beamwidth, while sidelobe suppression directly reflects the radar's interference rejection.

[0003] The main lobe beamwidth can be reduced and radar resolution improved by increasing the spacing between adjacent antennas in the antenna array. However, this approach sacrifices the radar's field of view, shortening its effective detection range and reducing the effectiveness of sidelobe suppression, which can easily introduce more interference.

[0004] Therefore, how to improve the radar's detection capability within a certain angle range in the main lobe beam direction of the array is an urgent problem that needs to be solved.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide an antenna system, radar, terminal equipment and vehicle end, which can improve the detection capability of the radar within a certain angle range in the main lobe beam direction of the array.

[0007] In a first aspect, an embodiment of the present application provides an antenna system, the antenna system comprising:

[0008] M transmitting antennas and N receiving antennas, where M and N are integers greater than 2;

[0009] In a first direction, the distances between two adjacent groups of antennas in the M transmitting antennas are different, the distances between two adjacent groups of antennas in the N receiving antennas are different, and the distances between adjacent antennas in the M transmitting antennas or the N receiving antennas are integer multiples of a first value, where the first value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system;

[0010] The directional gain patterns corresponding to the M transmitting antennas include at least one first minimum point, the directional gain patterns corresponding to the N receiving antennas include at least one second minimum point, and the directional gain patterns are for the first direction;

[0011] The directions corresponding to the first minimum point and the second minimum point are different, and the directions corresponding to the first minimum point and the second minimum point are within a first angular range of a main lobe center point.

[0012] In an embodiment of the present application, an antenna system is provided. In a first direction, the distances between two adjacent antennas in the M transmitting antennas and the distances between two adjacent antennas in the N receiving antennas are different. This arrangement can be understood as a non-uniform arrangement of the M transmitting antennas and the N receiving antennas in the first direction. The non-uniform arrangement includes antennas with closely spaced adjacent antennas and antennas with widely spaced adjacent antennas. The antennas with closely spaced adjacent antennas achieve better sidelobe suppression and a wider field of view (FOV), thus providing better anti-interference capabilities. The antennas with widely spaced adjacent antennas achieve a narrower mainlobe beamwidth and higher detection resolution. Therefore, the non-uniform arrangement achieves a combination of a wide FOV, high resolution, and anti-interference capabilities in the first direction. The distances between adjacent antennas in the M transmitting antennas or the N receiving antennas are integer multiples of a first value, which is related to the wavelength of the electromagnetic waves corresponding to the operating frequency of the antenna system. This ensures that the antennas do not exhibit grating lobes within the FOV in the first direction, thereby preventing grating lobes from causing non-unique measurement results from the antenna system. For ease of description, the directional gain pattern corresponding to M transmitting antennas can be referred to as the first directional gain pattern, and the directional gain pattern corresponding to N receiving antennas can be referred to as the second directional gain pattern. The first directional gain pattern includes at least one first minimum point, and the second directional gain pattern includes at least one second minimum point. It can be understood that any minimum point in the first directional gain pattern can be referred to as the first minimum point, and any minimum point in the second directional gain pattern can be referred to as the second minimum point. The directions corresponding to the first minimum point and the second minimum point are different, which can be understood as any minimum point in the first directional gain pattern is different from any minimum point in the second directional gain pattern. The directions corresponding to the first minimum point and the second minimum point are within a first angular range of the main lobe center point. The main lobe center point can be understood as the maximum radiation direction of the main lobe beam, and the first angular range of the main lobe center point can be understood as the angular range corresponding to the middle value of the angular range with the main lobe center point as the middle value (0° is the middle value between -20° and 20°). Therefore, the directions corresponding to the first minimum point and the second minimum point are within the first angular range of the main lobe center point. It can be understood that the maximum radiation direction of the main lobe beam in the first directional gain diagram and the second directional gain diagram is the same (for example, both are 0°), and the value range of the direction corresponding to the first minimum point and the second minimum point is the same, for example, the value range is both -20° to 20°.Since the directional gain pattern of the virtual array is obtained by multiplying the gains of the first gain pattern and the second gain pattern in the same direction, by making the first minimum point and the second minimum point correspond to different directions within the first angular range of the main lobe beam, the maximum points in the first gain pattern and the second gain pattern can be staggered, thereby avoiding the multiplication of the maximum points. As a result, the directional gain pattern of the virtual array corresponding to M transmitting antennas and N receiving antennas has a good sidelobe suppression effect within the first angular range of the main lobe beam, thereby improving the detection capability of the radar within a certain angular range in the main lobe beam direction of the array.

[0013] In a possible implementation, the directional gain patterns corresponding to the M transmitting antennas include at least one first maximum point, the directional gain patterns corresponding to the N receiving antennas include at least one second maximum point, and the directional gain patterns are for the first direction;

[0014] The directions corresponding to the first maximum point and the second maximum point are different, and the directions corresponding to the first maximum point and the second maximum point are within a first angular range of a main lobe center point.

[0015] In the embodiment of the present application, within the first angular range of the main lobe beam direction, the directions corresponding to the first maximum point and the second maximum point are different, which can avoid the multiplication of the first maximum point and the second maximum point, so that a high-gain sidelobe beam appears in the corresponding virtual array directional gain diagram, thereby achieving a better sidelobe suppression effect, and thus improving the radar's detection capability within a certain angular range in the main lobe beam direction of the array.

[0016] In a possible implementation, the first value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system. Specifically, the first value a satisfies the following condition: a≥λ / 2, where λ represents the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system.

[0017] In the embodiment of the present application, the first value a satisfies the following condition: a ≥ λ / 2, where λ represents the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system. Since the spacing (in the first direction) between adjacent antennas in the M transmitting antennas and the N receiving antennas is a multiple of the first value a, the field of view angle range corresponding to the M transmitting antennas or the N receiving antennas satisfies the following relationship:

[0018] Among them, δ m Used to represent the two boundary values ​​of the field of view angle, λ is the wavelength of the electromagnetic wave, and a is the first value. Taking a equal to λ / 2 as an example, δ is calculated m Equal to 90° or -90°, used to indicate that the field of view range is -90° to 90°. Similarly, taking a equal to 0.7λ as an example, δ can be calculated.m Equal to 45.8° or -45.8°, it is used to indicate that the field of view angle range is -45.8° to 45.8°. It can be seen that the field of view angle range is related to the value of a. When a = 90°, the corresponding field of view angle range is 90°. As the value of a increases, the corresponding field of view angle range decreases. It can be seen that when the first value a satisfies the condition: a ≥ λ / 2, the corresponding field of view angle range is less than or equal to -90° to 90°. Therefore, the above antenna system can meet the field of view angle range requirements of most application scenarios.

[0019] Optionally, the first value a may also be smaller than λ / 2. In this case, the corresponding viewing angle range is greater than -90° to 90°.

[0020] In a possible implementation manner, the directional gain patterns corresponding to the M transmitting antennas include two first minimum points adjacent to the main lobe, and the directions corresponding to the two first minimum points are different;

[0021] The directional gain patterns corresponding to the N receiving antennas include two second minimum points adjacent to the main lobe, and the directions corresponding to the two second minimum points are different.

[0022] In the embodiments of the present application, the directions corresponding to the two first minimum points included in the directional gain patterns corresponding to the M transmit antennas are different, and the directions corresponding to the two second minimum points included in the directional gain patterns corresponding to the N receive antennas are different. This can be understood as meaning that any two first minimum points or any two second minimum points correspond to different directions.

[0023] In a possible implementation, the first minimum point or the second minimum point satisfies the following relationship:

[0024] in, or Respectively represent the directions corresponding to the k+1th and kth target minimum points, the target minimum point is the first minimum point or the second minimum point, γ m represents the direction corresponding to the center point of the main lobe beam; k∈[1,P-1], P is the number of the target minimum points; when the target minimum point is the first minimum point, γ m The direction corresponding to the center point of the main lobe beam in the directional gain diagram corresponding to the M transmitting antennas; when the target minimum point is the second minimum point, γ m The direction corresponding to the center point of the main lobe beam in the directional gain diagram corresponding to the N receiving antennas.

[0025] In the embodiment of the present application, the first minimum point or the second minimum point satisfies the above conditions, and the target minimum point is the first minimum point or the second minimum point. Taking the target minimum point as the first minimum point as an example, or Respectively represent the directions corresponding to the k+1th and kth first minimum points. m Indicates the direction corresponding to the center point of the main lobe beam, which can be understood as, γ m represents the maximum radiation direction of the main lobe beam in the directional gain pattern of the M transmitting antennas, or, γ m Indicates the maximum radiation direction of the main lobe beam in the directional gain diagram of N receiving antennas. When the target minimum point is the first minimum point, γ m Indicates the maximum radiation direction of the main lobe beam in the directional gain diagram of the M transmitting antennas. When the target minimum point is the second minimum point, γ m Indicates the maximum radiation direction of the mainlobe beam in the directional gain pattern of N receiving antennas. P is the number of target minimum points. If the target minimum point is the first minimum point, P is the number of first minimum points. If the target minimum point is the second minimum point, P is the number of second minimum points.

[0026] above It is used to indicate that the difference in the sine values ​​of the directions corresponding to two adjacent target minimum points belongs to (0, 0.1]. The difference in the sine values ​​belongs to (0, 0.1]. This can prevent the directions corresponding to the two target minimum points from overlapping or being too far apart, resulting in high-gain sidelobe beams in the directional gain diagram of the virtual array, thereby reducing the detection resolution. Therefore, by limiting the difference in the sine values ​​of the directions corresponding to the target minimum points to (0, 0.1], the radar's detection capability within a certain angle range in the main lobe beam direction of the array can be improved.

[0027] In the above relationship There are two situations: Indicates that the direction corresponding to the target minimum point is smaller than the direction corresponding to the center point of the main lobe beam. Case 2: Indicates that the direction corresponding to the target minimum point is greater than the direction corresponding to the center point of the main lobe beam. In any case, the target minimum point satisfies the relationship

[0028] In one possible implementation, and γ m The following relations are satisfied:

[0029] in, is the direction corresponding to the first minimum point among the target minimum points, is the direction corresponding to the Pth minimum point among the target minimum points.

[0030] In the embodiment of this application, is the direction corresponding to the first minimum point in the target minimum point, is the direction corresponding to the Pth minimum point in the target minimum point. In the case of is the target minimum point adjacent to the main lobe beam, In the case of is the target minimum point adjacent to the main lobe beam. or, It can be understood that the difference between the sine values ​​of the direction corresponding to the center point of the mainlobe beam and the direction corresponding to the target minimum point adjacent to the mainlobe beam is (0, 0.15). Since the mainlobe beamwidth affects the difference between the sine values ​​of the direction corresponding to the center point of the mainlobe beam and the direction corresponding to the target minimum point adjacent to the mainlobe beam, by limiting this difference to (0, 0.15), the mainlobe beamwidth can be kept within a certain range and prevented from being too wide, thereby ensuring the resolution of the antenna system and improving the radar's detection capability within a certain angular range in the mainlobe beam direction of the array.

[0031] In a possible implementation, A is determined based on the direction corresponding to at least one first minimum point and at least one second minimum point, and A satisfies the following relationship:

[0032] Wherein, P3 is the sum of the number of the first minimum points and the second minimum points.

[0033] In the embodiment of the present application, A is determined based on the direction corresponding to at least one first minimum point and at least one second minimum point, A = {α1, α2, α3, ..., α P3}, α x <α x+1 , it can be understood that the values ​​in A are arranged from small to large. P3 is the sum of the number of the first minimum point and the second minimum point. Combined with the above A is determined based on the direction corresponding to at least one first minimum point and at least one second minimum point, it can be understood that A={α1,α2,α3,…,α P3} is obtained by reordering the direction corresponding to at least one first minimum point and the direction corresponding to at least one second minimum point in ascending order. 0<||sin(α x+1 )|-|sin(α x)||≤0.09, which is used to indicate that the difference between the sine values ​​of two adjacent directions in A belongs to (0,0.09]. By limiting the value range of the difference between the sine values ​​of two adjacent directions in A, the value range of the difference between the directions corresponding to the first minimum point and the second minimum point can be limited to a certain range. As a result, within the first angle range of the main lobe beam center point, the directional gain diagram of the virtual array corresponding to the M transmitting antennas and the N receiving antennas has a better sidelobe suppression effect, thereby improving the detection capability of the radar within a certain angle range in the main lobe beam direction of the array.

[0034] In one possible implementation, M=N=4.

[0035] In the implementation manner of the present application, the numbers of M and N are both 4, that is, the antenna system includes 4 transmitting antennas and 4 receiving antennas, so that when the antenna system includes a limited number of antennas, the antenna system can have better sidelobe suppression effect, higher detection resolution and no grating lobe within the field of view angle, saving the cost and volume of the antenna system, so that the antenna system can be more widely used in various scenarios.

[0036] In a possible implementation, in the first direction, a distance ratio between each group of adjacent antennas in the M transmitting antennas is any one of the following: 6:4:5, 5:4:6; a distance ratio between each group of adjacent antennas in the N receiving antennas is any one of the following: 4:3:5, 5:3:4;

[0037] or,

[0038] The distance ratio between each group of adjacent antennas in the M transmitting antennas is any one of the following: 9:8:7, 7:8:9; the distance ratio between each group of adjacent antennas in the N receiving antennas is any one of the following: 7:5:6, 6:5:7;

[0039] or,

[0040] The distance ratio between each group of adjacent antennas in the M transmitting antennas is any one of the following: 4:3:5, 5:3:4; the distance ratio between each group of adjacent antennas in the N receiving antennas is any one of the following: 6:4:5, 5:4:6;

[0041] or,

[0042] The distance ratio between each group of adjacent antennas in the M transmitting antennas is any one of the following: 7:5:6, 6:5:7; the distance ratio between each group of adjacent antennas in the N receiving antennas is any one of the following: 9:8:7, 7:8:9.

[0043] In the embodiments of the present application, various arrangements of four transmitting antennas and four receiving antennas in a first direction of an antenna system are shown. In the first direction, the distance ratio between each group of adjacent antennas in the four transmitting antennas is any one of the following: 6:4:5 or 5:4:6; the distance ratio between each group of adjacent antennas in the four receiving antennas is any one of the following: 4:3:5 or 5:3:4. This means that the antenna system includes four transmitting antennas and four receiving antennas, and the arrangements of the four transmitting antennas and the four receiving antennas in the first direction include: a distance ratio between each group of adjacent antennas in the four transmitting antennas is 6:4:5, and a distance ratio between each group of adjacent antennas in the four receiving antennas is 4:3:5. Alternatively, the distance ratio between each group of adjacent antennas in the four transmitting antennas is 6:4:5, and the distance ratio between each group of adjacent antennas in the four receiving antennas is 5:3:4. Alternatively, the distance ratio between each group of adjacent antennas in the four transmitting antennas is 5:4:6, and the distance ratio between each group of adjacent antennas in the four receiving antennas is 4:3:5. Alternatively, the distance ratio between each group of adjacent antennas in the four transmitting antennas is 6:4:5, and the distance ratio between each group of adjacent antennas in the four receiving antennas is 4:3:5.

[0044] Optionally, the least common factor of the intervals between the above groups of adjacent antennas is the above first value a.

[0045] It should be noted that, in the first direction, any arrangement of the antenna system described above can ensure that the direction of any minimum point in the directional gain diagram corresponding to the four transmitting antennas is different from the direction of any minimum point in the directional gain diagram corresponding to the four receiving antennas. Furthermore, this enables the antenna system to achieve better sidelobe suppression, higher detection resolution, and no grating lobes within the field of view. Therefore, any of the above arrangements can enhance the radar's detection capability within a certain angular range in the direction of the array's main lobe beam.

[0046] In a possible implementation, in the second direction, two groups of adjacent antennas among the M transmitting antennas have different distances between them, and the distances between adjacent antennas among the M transmitting antennas are integer multiples of the second value;

[0047] The second value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system, and the second direction is perpendicular to the first direction.

[0048] In the embodiment of the present application, in the second direction, there are two groups of adjacent antennas with different distances among the M transmitting antennas. It can be understood that the M transmitting antennas are also non-uniformly arranged in the second direction. The non-uniform arrangement includes antennas that are closely spaced and antennas that are far apart. Among them, the antennas that are closely spaced can achieve better sidelobe suppression effect and a larger field of view angle range, and have better anti-interference ability. The antennas that are far apart can make the main lobe beam width angle narrower and have higher detection resolution. Therefore, the non-uniform arrangement can achieve the effects of large field of view, high resolution and high anti-interference ability in the second direction. The distance between adjacent antennas among the M transmitting antennas is an integer multiple of the second value. The second value is related to the wavelength of the electromagnetic wave, which can prevent the antenna from having grating lobes within the field of view angle range in the second direction, thereby avoiding the phenomenon that the measurement results of the antenna system are not unique due to the occurrence of grating lobes.

[0049] In a possible implementation, the second value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system. Specifically, the second value b satisfies the following condition: b≥λ / 2, where λ represents the wavelength of the electromagnetic wave.

[0050] In the embodiment of the present application, the second value b satisfies the following condition: b ≥ λ / 2, where λ represents the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system. Since the spacing between adjacent antennas in the M transmitting antennas (in the second direction) is a multiple of the second value b, the field of view angle range corresponding to the M transmitting antennas satisfies the following relationship:

[0051] Among them, δ m Used to represent the two boundary values ​​of the field of view angle, λ is the wavelength of the electromagnetic wave, and b is the second value. Taking b equal to λ / 2 as an example, δ is calculated m Equal to 90° or -90°, used to indicate that the field of view range is -90° to 90°. Similarly, taking b equal to 0.7λ as an example, δ can be calculated. m Equal to 45.8° or -45.8°, it is used to indicate that the field of view angle range is -45.8° to 45.8°. It can be seen that the field of view angle range is related to the value of b. When b = 90°, the corresponding field of view angle range is 90°. As the value of b increases, the corresponding field of view angle range decreases. It can be seen that when the second value b satisfies the condition: when b ≥ λ / 2, the corresponding field of view angle range is less than or equal to -90° to 90°. Therefore, the above antenna system can meet the field of view angle range requirements of most application scenarios.

[0052] Optionally, the second value b may also be smaller than λ / 2. In this case, the corresponding viewing angle range is greater than -90° to 90°.

[0053] In a possible implementation manner, b=0.7λ.

[0054] In the embodiment of the present application, b=0.7λ, which can make the field of view angle range from -45.8° to 45.8°, so that the field of view angle range in the second direction is relatively moderate, meeting the needs of most application scenarios, and can also concentrate more capabilities in the radiation direction of the main lobe beam, thereby improving the detection capability of the radar system in the second direction.

[0055] In a possible implementation, M=4; in the second direction, a distance ratio between adjacent antennas in each group of the M transmitting antennas is 1:0:3 or 3:0:1.

[0056] In the embodiment of the present application, an antenna system is shown with four transmitting antennas arranged in a first direction, wherein in a second direction, the distance ratio between adjacent antennas in each group of the four transmitting antennas is any one of the following: 1:0:3 or 3:0:1.

[0057] In a possible implementation, M=4; in the second direction, a distance ratio between adjacent antennas in each group of the N receiving antennas is 1:0:3 or 3:0:1.

[0058] Optionally, in the second direction, the distance ratio between each group of adjacent antennas in the four transmitting antennas may also be any of the following values: 9:8:7, 7:8:9, 6:4:5 or 5:4:6.

[0059] or,

[0060] In the second direction, the distance ratio between each group of adjacent antennas in the four transmitting antennas may also be any of the following values: 7:5:6, 6:5:7, 4:3:5, or 5:3:4.

[0061] Optionally, the least common factor of the intervals between the above groups of adjacent antennas is the above second value b.

[0062] In a possible implementation, M=N=4, and in the second direction, a distance ratio between each group of adjacent antennas in the M transmitting antennas is any one of the following: 6:4:5, 5:4:6; a distance ratio between each group of adjacent antennas in the N receiving antennas is any one of the following: 4:3:5, 5:3:4;

[0063] or,

[0064] The distance ratio between each group of adjacent antennas in the M transmitting antennas is any one of the following: 9:8:7, 7:8:9; the distance ratio between each group of adjacent antennas in the N receiving antennas is any one of the following: 7:5:6, 6:5:7;

[0065] or,

[0066] The distance ratio between each group of adjacent antennas in the M transmitting antennas is any one of the following: 4:3:5, 5:3:4; the distance ratio between each group of adjacent antennas in the N receiving antennas is any one of the following: 6:4:5, 5:4:6;

[0067] or,

[0068] The distance ratio between each group of adjacent antennas in the M transmitting antennas is any one of the following: 7:5:6, 6:5:7; the distance ratio between each group of adjacent antennas in the N receiving antennas is any one of the following: 9:8:7, 7:8:9.

[0069] It should be noted that, in the second direction, any arrangement of the antenna system can ensure that the direction of any minimum point in the directional gain diagram corresponding to the four transmitting antennas is different from the direction of any minimum point in the directional gain diagram corresponding to the four receiving antennas. Furthermore, this enables the antenna system to achieve better sidelobe suppression, higher detection resolution, and no grating lobes within the field of view, thereby enhancing the radar's detection capability within a certain angular range in the direction of the array's main lobe beam.

[0070] In a possible implementation, the first angle range [x, y] and the beamwidth c of the main lobe satisfy the following condition: 2c≤|yx|≤12c.

[0071] In the embodiment of the present application, the first angular range [x, y] and the beamwidth c of the main lobe are limited to satisfy the relationship 2c≤|yx|≤12c. This means that the width of the first angular range is greater than or equal to twice the beamwidth of the main lobe and less than or equal to 10 times the beamwidth of the main lobe.

[0072] In a second aspect, an embodiment of the present application provides a chip, which includes the antenna system described in the first aspect or any possible implementation of the first aspect.

[0073] In a third aspect, embodiments of the present application provide a radar or radar system, comprising the transmission system described in the first aspect or any possible implementation of the first aspect, or comprising the chip described in the second aspect. It should be noted that there may be smart sensors that integrate multiple sensors. If the smart sensor includes millimeter wave detection capabilities, the smart sensor may also be referred to as a millimeter wave radar or millimeter wave radar system.

[0074] In a fourth aspect, an embodiment of the present application provides a terminal device, which includes the transmission system described in the first aspect or any possible implementation of the first aspect, or includes the chip described in the second aspect, or includes the radar or radar system described in the third aspect.

[0075] In the fifth aspect, an embodiment of the present application provides a vehicle side, which includes the transmission system described in the first aspect or any possible implementation of the first aspect, or includes the chip described in the second aspect, or includes the radar or radar system described in the third aspect, or includes the terminal device described in the fourth aspect.

[0076] In an embodiment of the present application, in a first direction, the M transmitting antennas and the N receiving antennas are arranged non-uniformly. The non-uniform arrangement includes antennas that are closely spaced and antennas that are far apart. The antennas that are closely spaced can achieve better sidelobe suppression and a larger field of view angle range, and have better anti-interference capability. The antennas that are far apart can make the main lobe beamwidth angle narrower and have higher detection resolution. Therefore, the non-uniform arrangement can achieve the effects of a large field of view, high resolution, and high anti-interference capability in the first direction. The distance between adjacent antennas in the M transmitting antennas or the N receiving antennas is an integer multiple of a first value. The first value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system, which can prevent the antenna from having grating lobes within the field of view angle range in the first direction, thereby avoiding the phenomenon that the antenna system measurement results are not unique due to the occurrence of grating lobes. For ease of description, the directional gain pattern corresponding to the M transmitting antennas can be referred to as the first directional gain pattern, and the directional gain pattern corresponding to the N receiving antennas can be referred to as the second directional gain pattern. Since the directional gain pattern of the virtual array is obtained by multiplying the gains of the first gain pattern and the second gain pattern in the same direction, by making the first minimum point and the second minimum point correspond to different directions within the first angular range of the main lobe beam, the maximum points in the first gain pattern and the second gain pattern can be staggered, thereby avoiding the multiplication of the maximum points. As a result, the directional gain pattern of the virtual array corresponding to M transmitting antennas and N receiving antennas has a good sidelobe suppression effect within the first angular range of the main lobe beam, thereby improving the detection capability of the radar within a certain angular range in the main lobe beam direction of the array. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0078] FIG1 is a schematic diagram of a radar distribution according to an embodiment of the present application;

[0079] FIG2 is a schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0080] FIG3 is a schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0081] FIG4 is a schematic structural diagram of a first antenna system provided in an embodiment of the present application;

[0082] FIG5A is a schematic diagram of a first gain graph provided in an embodiment of the present application;

[0083] FIG5B is a schematic diagram of a second gain graph provided in an embodiment of the present application;

[0084] 6A to 6D are schematic diagrams of several antenna systems provided in embodiments of the present application;

[0085] 7A to 7D are schematic diagrams of several antenna systems provided in embodiments of the present application;

[0086] 8A to 8D are schematic diagrams of several antenna systems provided in embodiments of the present application;

[0087] 9A to 9D are schematic diagrams of several antenna systems provided in embodiments of the present application;

[0088] FIG10A is a schematic diagram of a first directional gain diagram provided in an embodiment of the present application;

[0089] FIG10B is a schematic diagram of a second directional gain diagram provided in an embodiment of the present application;

[0090] FIG10C is a schematic diagram of a third directional gain diagram provided in an embodiment of the present application;

[0091] FIG10D is a schematic diagram of a fourth directional gain diagram provided in an embodiment of the present application;

[0092] FIG10E is a schematic diagram of a fifth directional gain diagram provided in an embodiment of the present application;

[0093] FIG11 is a schematic structural diagram of a second antenna system provided in an embodiment of the present application;

[0094] FIG12 is a schematic structural diagram of a third antenna system provided in an embodiment of the present application;

[0095] 13A and 13B are schematic diagrams of several antenna systems provided in embodiments of the present application;

[0096] 14A and 14B are schematic diagrams of several antenna systems provided in embodiments of the present application;

[0097] FIG15 is a schematic diagram of an antenna system provided in an embodiment of the present application;

[0098] FIG16 is a schematic diagram of an antenna system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0099] In order to make the purpose, technical solutions and advantages of this application clearer, the embodiments of this application will be described below in conjunction with the drawings in the embodiments of this application.

[0100] The terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to the process, method, product, or device.

[0101] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It will be understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0102] It should be understood that in the present application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0103] As described in the background technology section, improving the radar's detection capability within a certain angular range in the array's main lobe beam direction is an urgent problem to be solved. This application provides an antenna system, radar, terminal equipment, and vehicle-side terminal, relating to the field of millimeter-wave radar technology, which can improve the radar's detection capability within a certain angular range in the array's main lobe beam direction.

[0104] In order to more clearly describe the solution of this application, the following first introduces some knowledge related to radar and antenna patterns. Among them, the antenna pattern is an important graph for measuring the performance of antennas (including radar antennas).

[0105] 1) Radar

[0106] Radar is the transliteration of the English word Radar, which comes from the abbreviation of "radio detection and ranging", meaning "radio detection and ranging". It uses radio methods to detect targets and determine the spatial position of targets.

[0107] Radar uses electromagnetic waves as its detection medium, and it uses the transmission and reception of electromagnetic waves to detect targets, for example, to measure distance, speed, or azimuth. Radar can measure distance to a target based on the time of flight of electromagnetic waves, which is the time difference between the transmission and reception of electromagnetic waves. Radar transmits an electromagnetic wave signal and receives an echo signal. The distance to the target is determined based on the time difference between the received echo signal and the transmitted electromagnetic wave signal and the propagation speed of the electromagnetic wave. The distance between the radar and the target can be determined using the following formula: s = c * t / 2, where s is the distance to the target, t is the time of flight (the time from the radar transmitting the electromagnetic wave signal to the receipt of the echo signal), and c is the speed of light.

[0108] Radar uses the Doppler effect to measure target velocity. The Doppler effect works as follows: when a vibration source, such as sound, light, or radio waves, moves relative to an observer at a relative speed, the frequency of the vibration received by the observer differs from the frequency emitted by the source. When the electromagnetic waves emitted by the radar and the target are in relative motion, the frequency of the echo signal will differ from the frequency of the transmitted electromagnetic wave. When the target approaches the radar antenna, the frequency of the echo signal will be higher than the frequency of the transmitted electromagnetic wave; conversely, when the target moves away from the radar antenna, the frequency of the echo signal will be lower than the frequency of the transmitted electromagnetic wave. The frequency change caused by the Doppler effect is called the Doppler shift, which is proportional to the relative velocity and inversely proportional to the vibration frequency. Therefore, by detecting the frequency difference between the transmitted electromagnetic wave signal and the echo signal, the target's speed relative to the radar—that is, the relative speed between the target and the radar—can be measured.

[0109] Radar can use amplitude method, phase method and other methods to measure azimuth angle. The amplitude method uses the amplitude value of the echo signal received by the antenna to measure the angle. The change pattern of the amplitude value depends on the antenna radiation pattern and the antenna scanning method; the phase method uses the phase difference between the echo signals received by multiple antenna units to measure the angle. For example, the radar receives the echo signal reflected by the same target through the antenna array, and calculates the azimuth angle of the target based on the phase difference of the echo signal.

[0110] Millimeter-wave radar uses electromagnetic waves within a certain wavelength range, such as microwaves. Currently, millimeter waves and adjacent centimeter waves (e.g., centimeter waves in the 24 GHz band) are more commonly used. Millimeter waves have wavelengths of 1 to 10 millimeters (mm), with those in the 24 GHz band having wavelengths slightly larger than 10 mm. Because the wavelength of millimeter-wave radar's detection medium lies in the overlapping wavelength range of microwaves and far-infrared waves, it combines the characteristics of both spectrums. According to wave propagation theory, higher frequencies and shorter wavelengths yield higher resolution and greater penetration, but also greater propagation losses and shorter transmission distances. Conversely, lower frequencies and longer wavelengths yield greater diffraction resistance and longer transmission distances. Therefore, compared to microwaves, millimeter-wave radar's detection medium offers higher resolution, better directivity, stronger anti-interference capabilities, and superior detection performance. Compared to infrared, millimeter-wave radar experiences less atmospheric attenuation, has better penetration of smoke and dust, and is less affected by weather. Therefore, millimeter-wave radar has been increasingly widely used in many fields such as smart vehicles, drones, smart transportation, and industrial automation.

[0111] Radars can be categorized by their detection range into long-range radar (LRR), mid-range radar (MRR), and short-range radar (SRR). LRR has higher detection range requirements but lower angular detection width requirements. SRR has lower detection range requirements but higher angular detection width requirements. MRR's detection range and angular detection width requirements can be understood as falling between those of LRR and SRR. For example, LRR's detection range can exceed 200 meters and its angular detection width can be ±15°; MRR's detection range is within 100 meters and its angular detection width can be ±45°; and SRR's detection range is within 60 meters and its angular detection width can be ±80°. Different types of radars can be installed in different locations on the vehicle body, depending on the autonomous driving functional requirements and the use of other sensors. The number and type of radars can be selected as needed.

[0112] 2) Antenna pattern

[0113] The antenna pattern, also known as the directional gain pattern, radiation pattern, or far-field pattern, is a graph showing how the relative field strength (normalized modulus) of the antenna's radiation field varies with direction at a given distance from the antenna. It is typically represented by two perpendicular plane patterns passing through the antenna's direction of maximum radiation.

[0114] The antenna pattern includes multiple radiation beams, which can be roughly divided into main lobe, side lobe (secondary lobe) and grating lobe.

[0115] Among them, the radiation beam with the highest radiation intensity is called the main lobe. On both sides of the maximum radiation direction of the main lobe (the main lobe maximum radiation direction can be taken as 0°), the angle between the two points where the radiation intensity decreases by 3dB (the power density is reduced by half) is defined as the beam width (also known as the lobe width or main lobe beam width or half-power angle). The main lobe beam width is related to the measurement resolution. For example, the wider the main lobe beam width, the lower the measurement resolution. On the contrary, the narrower the main lobe beam width, the higher the measurement resolution. In addition, the main lobe beam width is also related to the directivity of the antenna. The narrower the main lobe beam, the better the directivity, the longer the effective range, and the stronger the anti-interference ability. Therefore, the detection capability of the antenna can be improved by reducing the main lobe beam width.

[0116] The small beams next to the main lobe are called sidelobes (or sidelobes). The radiation intensity of the sidelobes is related to their susceptibility to interference. For example, the greater the radiation intensity of the sidelobes, the more susceptible the angle corresponding to the sidelobes is to interference, resulting in deviations in the measurement results. Conversely, the smaller the radiation intensity of the sidelobes, the less susceptible the angle corresponding to the sidelobes is to interference, and the more accurate the measurement results. Therefore, the antenna's anti-interference capability can be improved by suppressing the radiation intensity of the sidelobes, which is referred to as sidelobe suppression. The better the sidelobe suppression effect, the lower the sidelobe radiation intensity and the stronger the antenna's anti-interference capability. Conversely, the worse the sidelobe suppression effect, the higher the sidelobe radiation intensity and the weaker the antenna's anti-interference capability.

[0117] In addition to the main lobe, radiated beams in other directions can overlap in phase due to field strength, forming radiation lobes with similar intensities to the main lobe. These lobes are called grating lobes. The presence of grating lobes can lead to non-unique measurement results and affect antenna operation. Therefore, grating lobes should be avoided within the field of view.

[0118] The above description of technical terms may be optionally used in the following embodiments.

[0119] Please refer to FIG1 , which is a schematic diagram of a radar distribution provided in an embodiment of the present application.

[0120] FIG1 shows possible installation locations of several types of radars. This is only an example. In actual use, a greater or lesser number of radars may be selected, and the types may also be adjusted.

[0121] As shown in Figure 1, the LRR can be installed in front of the vehicle as a forward-facing radar; the MRR can be installed in front of or behind the vehicle as a forward-facing radar or a rear-facing radar; and the SRR can be installed on the side or at the four corners of the vehicle as a side-facing radar or a corner radar. Furthermore, the MRR can also be installed on the side or at the four corners of the vehicle, and the SRR can also be installed in the front or rear of the vehicle.

[0122] Radars can be classified based on the modulation method (or radiation method) of their electromagnetic waves. Radar electromagnetic wave modulation methods include pulse and continuous wave, so radars can be divided into pulse radars and continuous wave radars. Continuous wave methods can be further divided into frequency shift keying (FSK), phase shift keying (PSK), constant frequency / single frequency continuous wave (CW), frequency modulated continuous wave (FMCW), multiple frequency shift keying (MFSK), and phase modulated continuous wave (PMCW). FMCW has become the mainstream radar modulation method due to its ability to detect multiple targets, high resolution, and low cost.

[0123] Please refer to FIG2 , which is a schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0124] As shown in Figure 2, the radar includes a control circuit 110, a signal generator 120, a power amplifier (PA) 130, a low-noise amplifier (LNA) 140, a mixer 150, a filter 160, an analog-to-digital converter (ADC) 170, and a signal processor 180. The signal processor is typically used to process digital signals, such as a digital signal processor (DSP). Under the control of the control circuit 110, the signal generator 120 generates an electromagnetic wave signal (also known as a radar signal) waveform. For example, in a radar using FMCW modulation, the signal generator 120 generates a sawtooth or triangular wave under the control of the control circuit 110. The signal generator 120 is, for example, a voltage-controlled oscillator, and the control circuit 110 is used to generate a control voltage. The generated electromagnetic wave signal waveform undergoes frequency conversion modulation to the desired frequency band, such as between 76 GHz and 77 GHz. After being amplified by the PA 130, it is radiated into space through the transmit antenna (TX).

[0125] The electromagnetic wave signal radiated by the transmitting antenna hits the target, reflects into space, and is received by the radar's receiving antenna (RX). After being amplified by LNA 140, it is mixed with a reference signal by mixer 150. The reference signal can typically be the electromagnetic wave signal generated above. After filtering by filter 160, mixer 150 generates an analog baseband signal, which is sampled by ADC 170 to generate a digital baseband signal. The digital baseband signal is processed by signal processor 180 to obtain target range, velocity, and angle information. Furthermore, this information can be used for clustering and / or tracking to further determine the target's trajectory, size, type, and other information.

[0126] The various components of the radar described above can be integrated as needed to achieve miniaturization of the radar. For example, components such as the control circuit 110, signal generator 120, power amplifier (PA) 130, low noise amplifier (LNA) 140, mixer 150, filter 160, and analog-to-digital converter (ADC) 170 can be integrated on at least one chip, such as a monolithic microwave integrated circuit (MMIC).

[0127] For details, please refer to Figure 3, which is a schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0128] As shown in Figure 3, the radar includes an MMIC, a microcontroller unit (MCU), and a power management integrated circuit (PMIC). The MMIC can integrate the functions of the RF part, and the MCU can integrate the functions of the above baseband part, such as the functions of the above signal processor. In addition, it can also provide a communication interface with other on-board devices. The PMIC is the chip that powers the radar hardware system.

[0129] This application provides an antenna system, radar, terminal device, and vehicle terminal, which relate to the field of radar technology and can improve the detection capability of radar within a certain angular range in the main lobe beam direction of the array.

[0130] The antenna system provided in the embodiment of the present application is described below with reference to the drawings in the embodiment of the present application.

[0131] Please refer to Figure 4, which is a structural diagram of the first antenna system provided in an embodiment of the present application.

[0132] As shown in FIG4 , the antenna system 100 includes:

[0133] There are M transmit antennas (e.g., Tx-1, Tx-2, ..., Tx-M) and N receive antennas (e.g., Rx-1, Rx-2, ..., Rx-N), where M and N are integers greater than 2.

[0134] In the first direction, two groups of adjacent antennas among the M transmitting antennas have different distances between them, and two groups of adjacent antennas among the N receiving antennas have different distances between them.

[0135] The first direction and the second direction are perpendicular to each other. For example, the first direction is horizontal and the second direction is vertical. Alternatively, the first direction is vertical and the second direction is horizontal. The embodiments of the present application do not limit the first direction and the second direction. It is sufficient that the first direction and the second direction are two directions perpendicular to each other.

[0136] Adjacent antennas are those located adjacent to each other in the first direction. For example, in Figure 4, Tx-1 and Tx-2, Tx-2 and Tx-3, Rx-1 and Rx-2, and Rx-2 and Rx-3 are each considered a group of adjacent antennas. The distances between these four groups of adjacent antennas are d1, d2, d3, and d4, respectively, where d1 is different from d2, and d3 is different from d4.

[0137] Optionally, the distance between any one group of adjacent antennas is an integer multiple of the first value a.

[0138] The "any group of adjacent antennas" can be any group of adjacent antennas among the M transmitting antennas or any group of adjacent antennas among the N receiving antennas. For example, d1 is 6 times the first value (6a), d2 is 4 times the first value (4a), d3 is 4 times the first value (4a), and d4 is 3 times the first value (3a).

[0139] The first value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system.

[0140] The operating frequency of the antenna system can refer to the frequency of electromagnetic waves used by the antenna system during operation, or the frequency of electromagnetic waves transmitted or received by the antenna system. Taking Figure 4 as an example, the operating frequency of the antenna system can be the frequency of electromagnetic waves transmitted by the M transmitting antennas during normal operation of the antenna system, or the frequency of electromagnetic waves received by the N receiving antennas.

[0141] The frequency and wavelength of electromagnetic waves satisfy the following relationship: c = f·λ, where c represents the propagation speed of electromagnetic waves in a vacuum, f represents the frequency of the electromagnetic wave, and λ represents the wavelength of the electromagnetic wave. The wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system can be obtained using the equation c = f·λ.

[0142] Optionally, the first value is related to the wavelength λ, which may mean that the first value is determined based on the wavelength λ, and the magnitude of the first value varies with λ, or the magnitude of the first value varies proportionally with λ. For example, the first value a is equal to λ / 2, or the first value a is greater than or equal to λ / 2, etc.

[0143] Taking the antenna system operating frequency of 24 GHz as an example, the wavelength corresponding to the operating frequency is 0.125 m. In combination with the above example, the first value can be 0.0625 m, or any value greater than or equal to 0.0625 m (for example, 0.07 m or 0.1 m).

[0144] Taking the antenna system operating frequency of 77 GHz as an example, the wavelength corresponding to the operating frequency is 0.039 m. In combination with the above example, the first value can be 0.02 m, or any value greater than or equal to 0.02 m (for example, 0.03 m or 0.1 m).

[0145] Optionally, the field of view angle of the antenna system in the first direction satisfies the following relationship 1:

[0146] Among them, δ m Used to represent two boundary values ​​of the viewing angle, λ is the wavelength of the electromagnetic wave, and a is the first value.

[0147] Taking a equal to λ / 2 as an example, we can calculate δ m Equal to 90° or -90°, used to indicate that the field of view range is -90° to 90°. Similarly, taking a equal to 0.7λ as an example, δ can be calculated. m =45.8° or -45.8°, indicating that the field of view angle ranges from -45.8° to 45.8°. It can be seen that the value of a is related to the field of view angle, and the field of view angle of the antenna system can be calculated based on the above relationship 1.

[0148] Optionally, a may also be less than λ / 2, which is not limited in this embodiment of the present application. In combination with the above relationship 1, when a is less than λ / 2, the calculated field of view angle range will be greater than -90° to 90°.

[0149] In one possible implementation, the directional gain patterns corresponding to the M transmit antennas include at least one first minimum point, and the directional gain patterns corresponding to the N receive antennas include at least one second minimum point. For ease of distinction, the directional gain patterns corresponding to the M transmit antennas may be referred to as first gain patterns, and the directional gain patterns corresponding to the N receive antennas may be referred to as second gain patterns. Furthermore, both the first gain pattern and the second gain pattern are gain patterns in the first direction.

[0150] It can be understood that when the antenna array satisfies the above relationship 1, there are no grating lobes within the field of view angle of the antenna array. For example, taking a = λ / 2 as an example, there are no grating lobes within the range of -90° to 90° in the first gain pattern. For another example, taking a = 0.7λ as an example, there are no grating lobes within the range of -45.8° to 45.8° in the first gain pattern.

[0151] Please refer to Figures 5A and 5B. Figure 5A is a schematic diagram of a first gain diagram provided in an embodiment of the present application, which is used to illustrate the directional gain diagram corresponding to M transmit antennas. Figure 5B is a schematic diagram of a second gain diagram provided in an embodiment of the present application, which is used to illustrate the directional gain diagram corresponding to N receive antennas. In Figures 5A and 5B, the horizontal axis represents direction (°), and the vertical axis represents normalized gain (dB).

[0152] As shown in FIG5A , FIG5A includes at least one minimum point (e.g., point 1, point 2, point 3, ...), and the minimum point in FIG5A can be referred to as the first minimum point. As shown in FIG5B , FIG5B also includes at least one minimum point (e.g., point A, point B, point C, ...), and the minimum point in FIG5B can be referred to as the second minimum point.

[0153] Optionally, the directions corresponding to the first minimum point and the second minimum point are different.

[0154] It should be noted that the prerequisite here is that the directions corresponding to the main lobe center points in the first gain map and the second gain map are the same. For example, the directions corresponding to the main lobe beam center points in the first gain map and the second gain map are both 0°.

[0155] The first and second minimum points correspond to different directions, which can be understood as any first and second minimum points corresponding to different directions. Taking the first and second minimum points shown in Figures 5A and 5B as an example, the directions corresponding to points 1, 2, 3, A, B, and C are -3.5°, -4.9°, -7.2°, -8.9°, -11.1°, and -15.1°, respectively.

[0156] By making the directions corresponding to the first minimum point and the second minimum point different, the directions corresponding to the maximum points in the first gain map and the second gain map can also be different. For example, points 4 and 5 in the first gain map, and points D and E in the second gain map, are all maximum points, and the directions corresponding to points 4, 5, D, and E are different, namely -5.5°, -6.8°, -9.1°, and -12.3°, respectively. This allows the directional pattern of the virtual array generated based on the first gain map and the second gain map to generate no or fewer high-gain sidelobe beams, thereby achieving better sidelobe suppression and enhancing the anti-interference capability of the radar system. It should be noted that making the directions corresponding to the maximum points in the first gain map and the second gain map different can mean that the directions corresponding to any two maximum points in the first gain map and the second gain map are different.

[0157] Furthermore, within a first angle range of the main lobe center point, the directions corresponding to the first minimum point and the second minimum point are different.

[0158] The first angle range of the main lobe center point can be understood as the angle range corresponding to the direction corresponding to the main lobe center point as the middle value of the angle range. For example, the first angle range of the main lobe center point satisfies the relationship 2: XY≤first angle range≤X+Y

[0159] Where X is the direction corresponding to the center of the main lobe, and Y is the difference between the boundary value of the first angle range and the direction corresponding to the center of the main lobe. For example, if the direction corresponding to the center of the main lobe is 0°, and the difference between the direction corresponding to the center of the main lobe and the upper / lower boundary of the first angle range is 90°, then the first angle range is -90° to 90°.

[0160] Continuing with Figures 5A and 5B above, taking the first angle range of the main lobe center point as -10° to 10° as an example, the minimum points within the range of -10° to 10° in the two figures include point 1, point 2, point A and point B, and the directions corresponding to the four minimum points are different.

[0161] Optionally, the first angle range [XY, X+Y] and the main lobe beamwidth c satisfy the following relationship 3: 2c≤|(X+Y)-(XY)|≤12c 2c≤|2Y|≤12c

[0162] For example, if the main lobe beamwidth c = 4.2°, |2Y| is greater than or equal to 8.4°, and |2Y| is less than or equal to 50.4°. That is, the first angle range is [-4.2°, 4.2°] to [-25.2°, 25.2°]. For example, the first angle range is [-20°, 20°].

[0163] As mentioned above, within the first angle range of the main lobe center point, the directions corresponding to the first minimum point and the second minimum point are different. It can also be understood that when the difference between the directions corresponding to the minimum points (including the first minimum point and the second minimum point) and the main lobe center point is less than the first angle, the directions corresponding to the first minimum point and the second minimum point are different. The first angle is greater than 0°, for example, the first angle is 20°. The difference between the directions corresponding to the minimum point and the main lobe center point can be understood as the absolute value of the difference between the directions corresponding to the minimum point and the main lobe center point. For example, the minimum point is -20°, the direction corresponding to the main lobe center point is 0°, and the difference between the two is 20°. For another example, the minimum point is 20°, the direction corresponding to the main lobe center point is 0°, and the difference between the two is still 20°.

[0164] For example, taking the first angle of 10° as an example, the differences between the directions corresponding to points 1, 2, A and B in Figures 5A and 5B and the directions corresponding to the center points of their main lobes are all less than or equal to the first angle, and the directions corresponding to the four minimum points are different.

[0165] In an embodiment of the present application, the distance between adjacent antennas is set to an integer multiple of a first value, and the field of view angle of the radar system is adjusted by adjusting the ratio between the first value and the wavelength of the electromagnetic wave. This can eliminate grating lobes within the field of view angle, thereby avoiding non-unique detection results due to grating lobes, and thereby reducing the possibility of errors in radar system detection. Furthermore, within a first angular range of the main lobe center point, the directions corresponding to the first minimum point and the second minimum point are different, thereby achieving a better sidelobe suppression effect within this angular range, and reducing the interference introduced by the side lobes within the first angular range of the main lobe center point, thereby improving the radar's detection capability within a certain angular range in the main lobe beam direction of the array.

[0166] Optionally, the directions corresponding to the first minimum points within the first angular range of the main lobe center point in the first gain map are different. As shown in Figure 5A, points 1 and 2 are the first minimum points within the first angular range of the main lobe center point in the first gain map, and points 1 and 2 correspond to different directions. It can also be understood that any two first minimum points within the first angular range of the main lobe center point in the first gain map correspond to different directions.

[0167] Optionally, the directions corresponding to the second minimum points in the second gain graph within the first angular range of the main lobe center point are different. As shown in Figure 5B, point A and point B are the second minimum points in the second gain graph within the first angular range of the main lobe center point, and point A and point B correspond to different directions. It can also be understood that any two second minimum points in the second gain graph within the first angular range of the main lobe center point correspond to different directions.

[0168] In a possible implementation, the first minimum point or the second minimum point is obtained based on the following relationship, and the specific implementation process is as follows:

[0169] For ease of description, the target minimum point is used to represent the first minimum point or the second minimum point, and the direction corresponding to the target minimum point is in, P is a positive integer, for example, P is equal to 3, 4 or 5. and The corresponding minimum point is the adjacent minimum point in the gain graph. and The following relationship4 is satisfied:

[0170] Among them, γ m Indicates the direction corresponding to the center point of the main lobe beam. It can be understood that The difference between the sine values ​​of the directions corresponding to two adjacent target minimum points belongs to (0, 0.1].

[0171] Based on the above relationship 4, multiple sets of Φ values ​​can be calculated, for example: Φ = {3.5°, 7.2°, 11.1°}, or Φ = {-11.1°, -7.2°, -3.5°}, etc.

[0172] Optionally, based on the above relationship 4, Φ and γ m The following relationship 5 can also be satisfied:

[0173] exist In the case of In this case, is the direction corresponding to the extreme point adjacent to the main lobe beam. with γm The difference between the sine values ​​of is between (0, 0.15], which can make the width of the main lobe beam narrower and improve the detection capability of the radar system.

[0174] exist In the case of In this case, is the direction corresponding to the extreme point adjacent to the main lobe beam. Similarly, by controlling with γ m The difference between the sine values ​​of is between (0, 0.15], which can make the width of the main lobe beam narrower and improve the detection capability of the radar system.

[0175] Based on the above expression of Φ and target gain graph (hereinafter referred to as f), the arrangement of M transmitting antennas or N receiving antennas in the first direction can be calculated. The specific implementation process is as follows:

[0176] The target gain graph f can be expressed by the following relation 6:

[0177] Wherein, θ is used to represent the angle in the target gain map in the second direction. m It is used to represent the angle corresponding to the center point of the main lobe beam in the target gain pattern in the second direction. In the above relationship 6, θ = θ m =0°, the gain graph represented by the target gain graph f can be equivalently referred to as the first gain graph or the second gain graph. m It is set to any angle within the second direction viewing angle range, for example, 10° or 15° (the second direction viewing angle is 45.8°).

[0178] Used to represent the angle in the target gain map in the first direction. γ m It is used to represent the angle corresponding to the center point of the main lobe beam in the target gain pattern in the first direction. m The value of can be set by the user, for example, m ∈[0°, 10°, -10°], which is not limited in the embodiments of the present application. The value of can be any value within the field of view angle range. For example, if the field of view angle range is [-90°, 90°], then Optional, The value may also be outside the field of view angle range, which is not limited in the embodiment of the present application.

[0179] The above d is used to represent the minimum interval unit. For example, d can be the above first value a, and d can also be the subsequent second value b.

[0180] The above-mentioned field of view angle range can be calculated based on the first value a and the above-mentioned relationship 1. The specific calculation process can refer to the above-mentioned corresponding content and will not be repeated here.

[0181] The above n i ∈ξ,ξ={n1,n2,n3,…,n L-1}, used to indicate that when the Lth antenna is used as a reference, the distance between the i-th antenna and the Lth antenna in the first direction is a multiple of the above first value, n i The Lth antenna can be any one of the M transmitting antennas or any one of the N receiving antennas, for example, Tx-M or Rx-N as shown in FIG4 , and the value of L can be M or N. E0 represents the amplitude excitation of the Lth antenna, and E i represents the amplitude excitation of the ith antenna, E0 and E i The values ​​of are not limited in this embodiment of the application. For example, E0 and E i Both are 1.

[0182] Furthermore, ξ can be calculated using the following relationship 7. The specific implementation process is as follows:

[0183] Among them, relation 7 is as follows:

[0184] ξ can be calculated by combining Relationships 6 and 7 with the Φ determined in Relationship 4. Taking L = 4 as an example, the values ​​of ξ can be as follows: ξ = {6, 10, 15}, ξ = {5, 9, 15}, ξ = {4, 7, 12}, ξ = {5, 8, 12}, ξ = {9, 17, 24}, ξ = {7, 15, 24}, ξ = {7, 12, 18}, or ξ = {6, 11, 18}.

[0185] It should be noted that, when Φ is used to represent the direction corresponding to the first minimum point, L=M, and ξ obtained based on the above process is used to represent the distance between the i-th antenna and the L-th antenna in the M transmitting antennas as the first value n i In the case where Φ is used to represent the direction corresponding to the second minimum point, L=N, and ξ obtained based on the above process is used to represent the distance between the i-th antenna and the L-th antenna in the N receiving antennas as the first value n i times.

[0186] The above Φ is used to indicate the direction corresponding to the first minimum point or the second minimum point. In order to facilitate the distinction, you can use Indicates the direction corresponding to the first minimum point, using Indicates the direction corresponding to the second minimum point. P1 is used to indicate the number of the first minimum points, and P2 is used to indicate the number of the second minimum points. or, In the case of and The above relationship 4 is also satisfied.

[0187] The embodiment of the present application does not limit the values ​​of P1 and P2, for example, P1=4, P2=3, or P1=3, P2=4, etc. The minimum points corresponding to adjacent values ​​in Φ1 and Φ2 are adjacent minimum points in the gain graph, for example, The corresponding minimum points are the adjacent minimum points in the gain graph.

[0188] Arrange the values ​​of Φ1 and Φ2 in ascending order, and we get A={α1,α1,α1,…,α P3 It should be noted that in the process of obtaining A based on Φ1 and Φ2, relation 8 needs to be satisfied:

[0189] Among them, P3=P1+P2, α x ,α x+1 ∈A, 1≤x≤P3-1. α x ,α x+1 Satisfying relation 9: 0<||sin(α x+1 )|-|sin(α x )||≤0.09

[0190] Optionally, you can use Indicates the first minimum point in the first angle range of the main lobe beam, which can be used Indicates the second minimum point within the first angle range of the main lobe beam. Similarly, the embodiment of the present application does not limit the values ​​of P3 and P4, for example, P4=2, P5=2, or P4=3, P5=3, etc.

[0191] Arrange the values ​​of Φ3 and Φ4 in ascending order, and we get B = {β1,β1,β1,…,β P6 It should be noted that in the process of obtaining B based on Φ3 and Φ4, the relationship 10 needs to be satisfied:

[0192] Among them, P6=P4+P5, β y ,β y+1 ∈B, 1≤y≤P6-1. β y ,β y+1 Satisfying relation 11: 0<||sin(β y+1)|-|sin(β y )||≤0.15

[0193] In an embodiment of the present application, by limiting the difference in the sine values ​​of the directions corresponding to two adjacent minimum points in B within the first angular range of the main lobe beam to within the range of (0, 0.15], it is possible to ensure that the directions corresponding to the minimum points do not overlap and the distance between them is not too large. As a result, the gain map of the virtual array obtained based on the first gain map and the second gain map has a good sidelobe suppression effect within the first angular range, thereby reducing the interference introduced by the sidelobe, and further improving the detection capability of the radar within a certain angular range in the main lobe beam direction of the array.

[0194] In one possible implementation, M=N=4, meaning the antenna system shown in FIG4 includes four transmitting antennas and four receiving antennas, with each of the four transmitting antennas and the four receiving antennas having two groups of adjacent antennas with different distances between them. The field of view angles of the four transmitting antennas and the four receiving antennas satisfy Relationship 1, and the minimum points in the gain graphs corresponding to the four transmitting antennas and the four receiving antennas satisfy Relationship 4, Relationship 10, or Relationship 11.

[0195] Next, the present application provides four specific design solutions in conjunction with the antenna system shown in Figure 4. It should be noted that these four design solutions only address the first direction, where M = N = 4, and the antenna system has four transmit antennas and four receive antennas. The four design solutions for the second direction are not described in detail.

[0196] In solution 1, the distance ratio between each group of adjacent antennas in the four transmitting antennas is any of the following: 6:4:5, 5:4:6; the distance ratio between each group of adjacent antennas in the four receiving antennas is any of the following: 4:3:5, 5:3:4. This results in four different scenarios, as shown in Figures 6A-6D, which are schematic diagrams of several antenna systems provided in embodiments of the present application.

[0197] Please refer to FIG. 6A . In the antenna system 1000 shown in FIG. 6A , the intervals between adjacent antennas among the four transmitting antennas are 6:4:5, and the intervals between adjacent antennas among the four receiving antennas are 4:3:5.

[0198] Please refer to FIG. 6B . In the antenna system 1100 shown in FIG. 6B , the intervals between adjacent antennas among the four transmitting antennas are 5:4:6, and the intervals between adjacent antennas among the four receiving antennas are 4:3:5.

[0199] Please refer to FIG. 6C . In the antenna system 1200 shown in FIG. 6C , the intervals between adjacent antennas among the four transmitting antennas are 6:4:5, and the intervals between adjacent antennas among the four receiving antennas are 5:3:4.

[0200] Please refer to FIG. 6D . In the antenna system 1300 shown in FIG. 6D , the intervals between adjacent antennas among the four transmitting antennas are 5:4:6, and the intervals between adjacent antennas among the four receiving antennas are 5:3:4.

[0201] In the second solution, the distance ratio between each group of adjacent antennas in the four transmitting antennas is any of the following: 4:3:5, 5:3:4; the distance ratio between each group of adjacent antennas in the four receiving antennas is any of the following: 6:4:5, 5:4:6. This results in four different scenarios, as shown in Figures 7A-7D, which are schematic diagrams of several antenna systems provided in embodiments of the present application.

[0202] Please refer to FIG. 7A . In the antenna system 1400 shown in FIG. 7A , the intervals between adjacent antennas among the four transmitting antennas are 4:3:5, and the intervals between adjacent antennas among the four receiving antennas are 6:4:5.

[0203] Please refer to FIG. 7B . In the antenna system 1500 shown in FIG. 7B , the intervals between adjacent antennas among the four transmitting antennas are 4:3:5, and the intervals between adjacent antennas among the four receiving antennas are 5:4:6.

[0204] Please refer to FIG. 7C . In the antenna system 1600 shown in FIG. 7C , the intervals between adjacent antennas among the four transmitting antennas are 5:3:4, and the intervals between adjacent antennas among the four receiving antennas are 6:4:5.

[0205] Please refer to FIG. 7D . In the antenna system 1700 shown in FIG. 7D , the intervals between adjacent antennas among the four transmitting antennas are 5:3:4, and the intervals between adjacent antennas among the four receiving antennas are 5:4:6.

[0206] In solution three, the distance ratio between each group of adjacent antennas in the four transmitting antennas is any of the following: 9:8:7, 7:8:9; the distance ratio between each group of adjacent antennas in the four receiving antennas is any of the following: 7:5:6, 6:5:7. This results in four different scenarios, as shown in Figures 8A-8D, which are schematic diagrams of several antenna systems provided in embodiments of the present application.

[0207] Please refer to FIG8A . In the antenna system 1800 shown in FIG8A , the intervals between adjacent antennas among the four transmitting antennas are 9:8:7, and the intervals between adjacent antennas among the four receiving antennas are 7:5:6.

[0208] Please refer to FIG8B . In the antenna system 1900 shown in FIG8B , the intervals between adjacent antennas among the four transmitting antennas are 7:8:9, and the intervals between adjacent antennas among the four receiving antennas are 7:5:6.

[0209] Please refer to FIG8C . In the antenna system 2000 shown in FIG8C , the intervals between adjacent antennas among the four transmitting antennas are 9:8:7, and the intervals between adjacent antennas among the four receiving antennas are 6:5:7.

[0210] Please refer to FIG8D . In the antenna system 2100 shown in FIG8D , the intervals between adjacent antennas among the four transmitting antennas are 7:8:9, and the intervals between adjacent antennas among the four receiving antennas are 6:5:7.

[0211] In Solution 4, the distance ratio between each group of adjacent antennas in the four transmitting antennas is any of the following: 7:5:6, 6:5:7; the distance ratio between each group of adjacent antennas in the four receiving antennas is any of the following: 9:8:7, 7:8:9. This results in four different scenarios, as shown in Figures 9A-9D, which are schematic diagrams of several antenna systems provided in embodiments of the present application.

[0212] Please refer to Figure 9A. In the antenna system 2200 shown in Figure 9A, the intervals between adjacent antennas in the four transmitting antennas are 7:5:6, and the intervals between adjacent antennas in the four receiving antennas are 9:8:7.

[0213] Please refer to Figure 9B. In the antenna system 2300 shown in Figure 9B, the intervals between adjacent antennas in the four transmitting antennas are 7:5:6, and the intervals between adjacent antennas in the four receiving antennas are 7:8:9.

[0214] Please refer to Figure 9C. In the antenna system 2400 shown in Figure 9C, the intervals between adjacent antennas in the four transmitting antennas are 6:5:7, and the intervals between adjacent antennas in the four receiving antennas are 9:8:7.

[0215] Please refer to Figure 9D. In the antenna system 2500 shown in Figure 9D, the intervals between adjacent antennas in the four transmitting antennas are 6:5:7, and the intervals between adjacent antennas in the four receiving antennas are 7:8:9.

[0216] It should be understood that the antenna systems shown in Figures 6A to 6D, 7A to 7D, 8A to 8D, and 9A to 9D are provided for illustration only as exemplary antenna systems and should not be construed as limiting this application. Any combination of antenna systems resulting from reasonable variations of the structures shown in any of Figures 6A to 6D, 7A to 7D, 8A to 8D, and 9A to 9D falls within the scope of protection of this application.

[0217] In addition, this application will also provide several specific examples based on the antenna system shown in Figure 4, the antenna systems in Figures 6A to 6D, 7A to 7D, 8A to 8D, and 9A to 9D.

[0218] The following description will be made with reference to Figures 10A, 10B, 10C, 10D, and 10E. The horizontal axis of Figures 10A, 10B, 10C, and 10D represents direction (degrees), and the vertical axis represents normalized gain (dB). The horizontal axis of Figure 10E represents the sine value of the direction, and the vertical axis represents normalized gain (dB).

[0219] Please refer to FIG. 10A , which is a schematic diagram of a first directional gain diagram provided in an embodiment of the present application.

[0220] As shown in FIG10A , the directional gain diagram corresponding to the four transmitting antennas in the first direction is shown, where the intervals between adjacent antennas in the four transmitting antennas are 6:4:5, and the first value a=λ / 2 (corresponding to a field of view angle of [-90°, 90°]).

[0221] As can be seen from FIG10A , the direction corresponding to the center point of the main lobe beam is 0°, and there is no grating lobe within the field of view angle range, which can avoid the grating lobe from making the detection result non-unique.

[0222] Points 1, 2, and 3 shown in Figure 10A are all minimum points. The directions corresponding to points 1, 2, and 3 are -6.1°, -10.5°, and -18.6°, respectively. Point 1 is the minimum point adjacent to the main lobe. Clearly, the directions corresponding to points 1, 2, and 3 satisfy Relationship 4 above. The direction corresponding to point 1 and the direction corresponding to the main lobe beam center satisfy Relationship 5 above.

[0223] In FIG10A , the main lobe beam width c is 5.4°. Combined with the above relationship 2c≤|2Y|≤12c, the first angle range of the main lobe beam center point can be set to [-20°, 20°].

[0224] Please refer to FIG. 10B , which is a schematic diagram of a second directional gain diagram provided in an embodiment of the present application.

[0225] As shown in FIG10B , the directional gain diagram corresponding to the four receiving antennas in the first direction is shown. The intervals between adjacent antennas in the four receiving antennas are 4:3:5, and the first value a=λ / 2 (the corresponding field of view angle is [-90°, 90°]).

[0226] As can be seen from FIG10B , the direction corresponding to the center point of the main lobe beam is 0°, and there is no grating lobe within the field of view angle range, which can avoid the grating lobe from making the detection result non-unique.

[0227] Points A, B, and C shown in Figure 10B are all minimum points. The directions corresponding to points A, B, and C are -7.6°, -13°, and -23.7°, respectively. Point A is the minimum point adjacent to the main lobe. It can be seen that the directions corresponding to points A, B, and C satisfy Relationship 4 above. The direction corresponding to point A and the direction corresponding to the main lobe beam center satisfy Relationship 5 above.

[0228] In FIG10B , the main lobe beam width c is 5.6°. Combined with the above relationship 2c≤|2Y|≤12c, the first angle range of the main lobe beam center point can be set to [-20°, 20°].

[0229] Optionally, the directions corresponding to points 1, 2, 3, A, B, and C in Figures 10A and 10B are arranged in ascending order to obtain the following order: point 1, A, 2, B, 3, and C. In this order, the directions corresponding to the various minimum points satisfy Relationships 8 and 9. The minimum points within the first angle range include point 1, A, 2, B, and 3. In this order, the directions corresponding to the various minimum points satisfy Relationships 10 and 11.

[0230] Optionally, the directional gain graphs shown in FIG. 10A and FIG. 10B satisfy the above relationship 6, and the minimum point in the directional gain graph satisfies the above relationship 7.

[0231] Please refer to FIG. 10C , which is a schematic diagram of a third directional gain diagram provided in an embodiment of the present application.

[0232] As shown in FIG10C , the directional gain diagram of the virtual array corresponding to the antenna system 1000 shown in FIG6A in the first direction is shown, with a first value a=λ / 2 (corresponding to a field of view angle of [-90°, 90°]), and the spacing between adjacent antennas in the four transmitting antennas is 6:4:5, and the spacing between adjacent antennas in the four receiving antennas is 4:3:5.

[0233] As can be seen from FIG10C , the direction corresponding to the center point of the main lobe beam is 0°, and there is no grating lobe within the field of view angle range, which can avoid the grating lobe from making the detection result non-unique.

[0234] As shown in FIG10C , the first angular range of the main lobe beam is set to [-20°, 20°], and the maximum gain of the side lobe beam within the first angular range is -15.6 dB. The first angular range of the main lobe beam is set to [-15.6°, 15.6°], and the maximum gain of the side lobe beam within the first angular range is -20 dB.

[0235] It can be seen that the antenna system shown in FIG. 6A has a good sidelobe suppression effect within the first angle range of the center point of the array main lobe beam, which can improve the detection capability of the antenna system within the first angle range.

[0236] Please refer to FIG. 10D , which is a schematic diagram of a fourth directional gain diagram provided in an embodiment of the present application.

[0237] As shown in FIG10D , the directional gain diagram of the virtual array corresponding to the antenna system 2000 shown in FIG8C in the first direction is shown, the first value a=λ / 2 (the corresponding field of view angle is [-90°, 90°]), the spacing between adjacent antennas in the four transmitting antennas is 9:8:7, and the spacing between adjacent antennas in the four receiving antennas is 6:5:7.

[0238] As can be seen from FIG10D , the direction corresponding to the center point of the main lobe beam is 0°, and there is no grating lobe within the field of view angle range, which can avoid the grating lobe from making the detection result non-unique.

[0239] As shown in FIG10D , the first angle range of the main lobe beam is set to [-11.4°, 11.4°], and the maximum gain of the side lobe beam within the first angle range is -20 dB.

[0240] It can be seen that the antenna system shown in FIG8C has a good sidelobe suppression effect within the first angle range of the center point of the array main lobe beam, which can improve the detection capability of the antenna system within the first angle range.

[0241] For a more direct demonstration, the directions corresponding to the minimum points in Figures 10A and 10B above satisfy the above relationship 10 or relationship 11 after being sorted from small to large. Please refer to Figure 10E, which is a schematic diagram of the fifth directional gain diagram provided in an embodiment of the present application.

[0242] As shown in Figure 10E , the black dashed lines represent the directional gain patterns corresponding to the four transmit antennas (e.g., the first directional gain pattern shown in Figure 10A ), and the black solid lines represent the directional gain patterns corresponding to the four receive antennas (e.g., the second directional gain pattern shown in Figure 10B ). It should be noted that for clarity, Figure 10E only shows the pattern within the range of -17.46° to 17.46° (corresponding to -0.3° to 0.3° in Figure 10E ).

[0243] Point 1 and point 2 shown in FIG. 10E are, for example, point 1 and point 2 shown in FIG. 10A , respectively. Point A and point B shown in FIG. 10E are, for example, point A and point B shown in FIG. 10B , respectively.

[0244] As shown in Figure 10E , the corresponding sine values ​​of points 1, A, 2, and B are -0.11, -0.13, -0.18, and -0.22, respectively, satisfying the aforementioned relationship 10. Similarly, within the first angle range, the corresponding sine values ​​of points A, 2, B, 3, and C also satisfy the aforementioned relationship 11. For example, the first angle range is -20° to 20°.

[0245] Optionally, the directional gain diagrams shown in FIG. 10A and FIG. 10B satisfy the above-mentioned relations 6 and 7.

[0246] Figures 10A through 10E are merely examples and should not be construed as limiting the embodiments of this application. It is understood that the relevant parameters of the sixteen antenna systems provided by the four aforementioned schemes all satisfy one or more of Relationships 1 through 11. For details, please refer to the descriptions of Figures 10A through 10E above, and no further description will be given here.

[0247] Next, with reference to the accompanying drawings, an exemplary description is given of the arrangement of the transmitting antennas or the receiving antennas in the second direction of the antenna system.

[0248] Please refer to Figure 11, which is a structural diagram of the second antenna system provided in an embodiment of the present application.

[0249] As shown in FIG11 , the antenna system 200 includes:

[0250] There are M transmit antennas (eg, Tx-1, Tx-2, ..., Tx-M), where M is an integer greater than 2.

[0251] In the second direction, there are two groups of adjacent antennas in the M transmitting antennas with different distances between them.

[0252] The second direction is perpendicular to the first direction. For example, the first direction is horizontal and the second direction is vertical. Alternatively, the first direction is vertical and the second direction is horizontal. The embodiments of the present application do not limit the first direction and the second direction. It is sufficient to ensure that the first direction and the second direction are two directions perpendicular to each other.

[0253] The adjacent antennas are those located adjacent to each other in the second direction. For example, in Figure 11, Tx-1 and Tx-2, and Tx-2 and Tx-3, can each be considered a group of adjacent antennas. The distances between these groups of adjacent antennas are d5 and d6, respectively, where d5 and d6 are different.

[0254] Optionally, the distance between any group of adjacent antennas in the above-mentioned M transmitting antennas is an integer multiple of the second value b.

[0255] For example, d5 is 5 times the second value (5b), and d6 is 4 times the second value (4b).

[0256] Optionally, the second value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system. For a detailed description of the second value, please refer to the relevant introduction of the first value in Figure 4 above, which will not be repeated here.

[0257] The second value can be set as follows: the second value b is equal to λ / 2, the second value b is equal to 0.7λ, or the second value b is greater than or equal to λ / 2, etc.

[0258] Optionally, the field of view angle of the antenna system in the second direction also satisfies the above relationship 1. For example, taking b equal to 0.7λ as an example, the above relationship 1 can be combined to calculate δ m Equal to 45.8° or -45.8°, used to indicate that the field of view angle ranges from -45.8° to 45.8°.

[0259] Optionally, b may also be less than λ / 2, which is not limited in this embodiment of the present application. In combination with the above relationship 1, when b is less than λ / 2, the calculated field of view angle range will be greater than -90° to 90°.

[0260] Please refer to Figure 12, which is a structural diagram of the third antenna system provided in an embodiment of the present application.

[0261] As shown in FIG12 , the antenna system 300 includes:

[0262] There are N receiving antennas (eg, Rx-1, Rx-2, ..., Rx-N), where N is an integer greater than 2.

[0263] In the second direction, there are two groups of adjacent antennas in the N receiving antennas with different distances between them.

[0264] The second direction is perpendicular to the first direction. For example, the first direction is horizontal and the second direction is vertical. Alternatively, the first direction is vertical and the second direction is horizontal. The embodiments of the present application do not limit the first direction and the second direction. It is sufficient to ensure that the first direction and the second direction are two directions perpendicular to each other.

[0265] The adjacent antennas are those located adjacent to each other in the second direction. For example, in Figure 12, Rx-1 and Rx-2, and Rx-2 and Rx-3, can each be considered a group of adjacent antennas. The distances between the adjacent antennas in these groups are d7 and d8, respectively, where d7 and d8 are different.

[0266] Optionally, the distance between any group of adjacent antennas among the above-mentioned N receiving antennas is an integer multiple of the second value b.

[0267] For example, d7 is 6 times the second value (6b), and d8 is 3 times the second value (3b).

[0268] Optionally, the second value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system. For a detailed description of the second value, please refer to the relevant introduction of the first value in Figure 11 above, which will not be repeated here.

[0269] The second value can be set as follows: the second value b is equal to λ / 2, the second value b is equal to 0.7λ, or the second value b is greater than or equal to λ / 2, etc.

[0270] Optionally, the field of view angle of the antenna system in the second direction also satisfies the above relationship 1. For example, taking b equal to 0.7λ as an example, the above relationship 1 can be combined to calculate δ m Equal to 45.8° or -45.8°, used to indicate that the field of view angle ranges from -45.8° to 45.8°.

[0271] Optionally, b may also be less than λ / 2, which is not limited in this embodiment of the present application. In combination with the above relationship 1, when b is less than λ / 2, the calculated field of view angle range will be greater than -90° to 90°.

[0272] In one possible implementation, the minimum point in the gain diagram for the M transmit antennas in FIG. 11 or the N receive antennas in FIG. 12 in the second direction can be defined in conjunction with Relationships 1 through 11. For specific implementations, reference can be made to the corresponding descriptions above and will not be repeated here. It will be appreciated that the possible beneficial effects of combining Relationships 1 through 11 can also be referenced to the corresponding descriptions above.

[0273] In another possible implementation, the antenna systems provided in Figures 4, 11, and 12 above can be combined with each other. For the sake of understanding, it can be assumed that the antenna system 200 shown in Figure 11 also includes N receiving antennas, and the arrangement of the N receiving antennas in the first direction and the second direction is not limited. The antenna system 300 shown in Figure 12 also includes M transmitting antennas, and the arrangement of the M transmitting antennas in the first direction and the second direction is not limited. Taking the above M=N=4 as an example, the antenna systems shown in Figures 4, 11, and 12 include 4 transmitting antennas and 4 receiving antennas. The specific combination method is as follows:

[0274] Combination method 1: The antenna systems provided in FIG. 4 and FIG. 11 are combined.

[0275] Please refer to Figures 13A and 13B respectively. Figures 13A and 13B are schematic diagrams of several antenna systems provided in embodiments of the present application.

[0276] Referring to Figure 13A , in the antenna system 2600 shown in Figure 13A , in the first direction, the spacing between adjacent antennas among the four transmitting antennas is 6:4:5, and the spacing between adjacent antennas among the four receiving antennas is 4:3:5. In the second direction, the spacing between adjacent antennas among the four transmitting antennas is 1:0:3. Specifically, in the second direction, the spacing between Tx-3 and Tx-2 is b, the spacing between Tx-2 and Tx-1 is 0, and the spacing between Tx-2 and Tx-4 is 3b. In the second direction, the spacing between adjacent antennas among the four receiving antennas is not limited in this embodiment of the application. For example, in the second direction, the spacing between adjacent antennas among the four receiving antennas may also be 1:0:3, or, in the second direction, the spacing between adjacent antennas among the four receiving antennas may all be 0.

[0277] Referring to Figure 13B , in the antenna system 2700 shown in Figure 13B , in the first direction, the spacing between adjacent antennas among the four transmitting antennas is 9:8:7, and the spacing between adjacent antennas among the four receiving antennas is 7:5:6. In the second direction, the spacing between adjacent antennas among the four transmitting antennas is 1:0:3. Specifically, in the second direction, the spacing between Tx-3 and Tx-2 is b, the spacing between Tx-2 and Tx-1 is 0, and the spacing between Tx-2 and Tx-4 is 3b. The spacing between adjacent antennas among the four receiving antennas in the second direction is not limited in this embodiment of the application. For example, in the second direction, the spacing between adjacent antennas among the four receiving antennas may also be 1:0:3, or, in the second direction, the spacing between adjacent antennas among the four receiving antennas may all be 0.

[0278] It is understood that the antenna system shown in Figure 4 can be combined with the antenna system shown in Figure 11 to obtain antenna systems with other array arrangements. Figures 13A and 13B are merely exemplary.

[0279] Combination mode 2: combining the antenna systems provided in FIG. 4 and FIG. 12 .

[0280] Please refer to Figures 14A and 14B respectively. Figures 14A and 14B are schematic diagrams of several antenna systems provided in embodiments of the present application.

[0281] Referring to Figure 14A , in the antenna system 2800 shown in Figure 14A , in the first direction, the spacing between adjacent antennas among the four transmitting antennas is 6:4:5, and the spacing between adjacent antennas among the four receiving antennas is 4:3:5. In the second direction, the spacing between adjacent antennas among the four receiving antennas is 1:0:3. Specifically, in the second direction, the spacing between Rx-3 and Rx-2 is b, the spacing between Rx-2 and Rx-1 is 0, and the spacing between Rx-2 and Rx-4 is 3b. In the second direction, the spacing between adjacent antennas among the four transmitting antennas is not limited in this embodiment of the application. For example, in the second direction, the spacing between adjacent antennas among the four transmitting antennas may also be 1:0:3, or, in the second direction, the spacing between adjacent antennas among the four transmitting antennas may all be 0.

[0282] Referring to FIG. 14B , in antenna system 2900 shown in FIG. 14B , in the first direction, the spacing between adjacent antennas among the four transmitting antennas is 9:8:7, and the spacing between adjacent antennas among the four receiving antennas is 7:5:6. In the second direction, the spacing between adjacent antennas among the four receiving antennas is 1:0:3. Specifically, in the second direction, the spacing between Rx-3 and Rx-2 is b, the spacing between Rx-2 and Rx-1 is 0, and the spacing between Rx-2 and Rx-4 is 3b. The spacing between adjacent antennas among the four transmitting antennas in the second direction is not limited in this embodiment of the present application. For example, in the second direction, the spacing between adjacent antennas among the four transmitting antennas may also be 1:0:3, or the spacing between adjacent antennas among the four transmitting antennas in the second direction may all be 0.

[0283] It is understood that the antenna system shown in Figure 4 can be combined with the antenna system shown in Figure 12 to obtain antenna systems with other array arrangements. Figures 14A and 14B are merely exemplary.

[0284] Combination mode three: combining the antenna systems provided in FIG. 11 and FIG. 12 .

[0285] Please refer to Figure 15, which is a schematic diagram of an antenna system provided in an embodiment of the present application.

[0286] Referring to Figure 15 , in the antenna system 3000 shown in Figure 15 , in the second direction, the spacing between adjacent antennas among the four transmitting antennas is 5:4:6, respectively. The spacing between adjacent antennas among the four receiving antennas is 5:3:4, respectively. In the first direction, the arrangement of the four transmitting antennas and the four receiving antennas is not limited in this embodiment of the application. For example, in the first direction, the spacing between adjacent antennas among the four transmitting antennas is 9:8:7, respectively, and the spacing between adjacent antennas among the four receiving antennas is 7:5:6, respectively.

[0287] It is understood that the antenna system shown in Figure 11 can be combined with the antenna system shown in Figure 12 to obtain antenna systems with other array arrangements. Figure 15 is only for example.

[0288] Combination mode 4: The antenna systems provided in FIG. 4 , FIG. 11 and FIG. 12 are combined.

[0289] Please refer to Figure 16, which is a schematic diagram of an antenna system provided in an embodiment of the present application.

[0290] Referring to Figure 16 , in antenna system 3100 shown in Figure 16 , in the first direction, the spacing between adjacent antennas among the four transmitting antennas is 9:8:7, and the spacing between adjacent antennas among the four receiving antennas is 7:5:6. In the second direction, the spacing between adjacent antennas among the four transmitting antennas is 1:0:3, and the spacing between adjacent antennas among the four receiving antennas is 1:0:3.

[0291] It is understood that the antenna systems shown in Figures 4, 11 and 12 can be combined to obtain antenna systems with other array arrangements. Figure 16 is merely exemplary.

[0292] In the four combinations provided above, the minimum points in the corresponding directional gain diagrams of the M transmitting antennas and the N receiving antennas in the second direction satisfy one or more of the above relationships 1 to 11. In this case, the directions corresponding to the minimum points in the directional gain diagram of the antenna system in the second direction are different, or the directions corresponding to the minimum points in the directional gain diagram of the antenna system in the second direction are different within the first angular range of the beam center point, thereby making the directional gain diagram of the virtual array have a better sidelobe suppression effect within the first angular range of the beam center point, thereby improving the detection capability of the antenna system in the second direction within a certain angular range in the main lobe beam direction of the array.

[0293] The present application provides a chip, which includes the antenna system provided in the present application.

[0294] This application provides a radar or radar system, which includes the antenna system or the aforementioned chip provided in this application. It should be noted that there may be smart sensors that integrate multiple sensors. If the smart sensor includes millimeter wave detection capabilities, the smart sensor may also be referred to as a millimeter wave radar or millimeter wave radar system.

[0295] This application provides a terminal device that includes the antenna system provided herein. For example, the terminal device can be a transportation vehicle, such as a car, truck, aircraft, drone, slow-moving transport vehicle, spacecraft, or ship, used in any possible scenario. It can also be any device capable of carrying a millimeter-wave detection device, such as surveying and mapping equipment. One or more antenna systems provided herein are deployed on the terminal device.

[0296] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An antenna system, characterized in that, The antenna system includes M transmitting antennas and N receiving antennas, where M and N are integers greater than 2; In the first direction, the distances between two sets of adjacent antennas among the M transmitting antennas are different, and the distances between two sets of adjacent antennas among the N receiving antennas are different. The distances between adjacent antennas among the M transmitting antennas or the N receiving antennas are integer multiples of a first value, and the first value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system; The direction gain pattern corresponding to the M transmitting antennas includes at least one first minimum point, and the direction gain pattern corresponding to the N receiving antennas includes at least one second minimum point. The direction gain pattern is for the first direction; The directions corresponding to the first minimum point and the second minimum point are different, and the directions corresponding to the first minimum point and the second minimum point are within a first angular range centered at the main lobe center point.

2. The antenna system according to claim 1, characterized in that The first value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system, specifically: The first value a satisfies the following condition: a≥λ / 2, where λ represents the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system.

3. The antenna system according to claim 1 or 2, characterized in that, The direction gain pattern corresponding to the M transmitting antennas includes two first minimum points adjacent to the main lobe, and the directions corresponding to the two first minimum points are different; The direction gain pattern corresponding to the N receiving antennas includes two second minimum points adjacent to the main lobe, and the directions corresponding to the two second minimum points are different.

4. The antenna system according to any one of claims 1-3, characterized in that, The first minimum point or the second minimum point satisfies the following relationship: Among them, or respectively represent the directions corresponding to the (k + 1)-th and k-th target minimum points, where the target minimum points are the first minimum point or the second minimum point, and γ m represents the direction corresponding to the center point of the main lobe beam; k ∈ [1, P - 1], and P is the number of the target minimum points; when the target minimum point is the first minimum point, γ m is the direction corresponding to the center point of the main lobe beam in the direction gain pattern of the M transmitting antennas; when the target minimum point is the second minimum point, γ m is the direction corresponding to the center point of the main lobe beam in the direction gain pattern of the N receiving antennas.

5. The antenna system according to claim 4, characterized in that, and γ m satisfy the following relationship: Among them, is the direction corresponding to the first minimum point among the target minimum points, is the direction corresponding to the P-th minimum point among the target minimum points.

6. The antenna system according to claim 4 or 5, characterized in that A is determined based on the directions corresponding to at least one of the first minimum points and the at least one second minimum point, and A satisfies the following relationship: Among them, P3 is the sum of the number of the first minimum points and the second minimum points.

7. The antenna system according to any one of claims 1-6, characterized in that, M = N = 4.

8. The antenna system according to claim 7, characterized in that, In the first direction, the distance ratios between groups of adjacent antennas among the M transmitting antennas are any one of the following: 6:4:5, 5:4:6; the distance ratios between groups of adjacent antennas among the N receiving antennas are any one of the following: 4:3:5, 5:3:4; Or, The distance ratios between groups of adjacent antennas among the M transmitting antennas are any one of the following: 9:8:7, 7:8:9; the distance ratios between groups of adjacent antennas among the N receiving antennas are any one of the following: 7:5:6, 6:5:7; Or, The distance ratios between groups of adjacent antennas among the M transmitting antennas are any one of the following: 4:3:5, 5:3:4; the distance ratios between groups of adjacent antennas among the N receiving antennas are any one of the following: 6:4:5, 5:4:6; Or, The distance ratios between groups of adjacent antennas among the M transmitting antennas are any one of the following: 7:5:6, 6:5:7; the distance ratios between groups of adjacent antennas among the N receiving antennas are any one of the following: 9:8:7, 7:8:

9.

9. The antenna system according to any one of claims 1-8, characterized in that, In the second direction, the distances between two sets of adjacent antennas among the M transmitting antennas are different, and the distances between adjacent antennas among the M transmitting antennas are integer multiples of a second value; Among them, the second value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system, and the second direction is perpendicular to the first direction.

10. The antenna system according to claim 9, characterized in that, The second value is related to the wavelength of the electromagnetic wave corresponding to the operating frequency of the antenna system, specifically: The second value b satisfies the following condition: b≥λ / 2, where λ represents the wavelength of the electromagnetic wave.

11. The antenna system according to claim 10, characterized in that, The b = 0.7λ.

12. The antenna system according to any one of claims 9-11, characterized in that, M = 4; in the second direction, the distance ratio between each group of adjacent antennas among the M transmitting antennas is 1:0:3 or 3:0:

1.

13. The antenna system according to any one of claims 1-12, characterized in that, The first angle range [x, y] and the beam width c of the main lobe satisfy the following condition: 2c≤|y - x|≤12c.

14. A radar, characterized in that, The radar includes the antenna system according to any one of claims 1-13.

15. A terminal device, characterized in that, The terminal device includes the antenna system according to any one of claims 1-13, or the radar according to claim 14.

16. A car end, characterized in that, The vehicle end includes the antenna system according to any one of claims 1-13, or the radar according to claim 14, or the terminal device according to claim 15.

Images