Antenna device and radar device

Abstract

[Problem] To provide an antenna device and a radar capable of improving power supply efficiency. [Solution] An antenna device of the present disclosure includes: a waveguide that transmits a signal; a plurality of openings which are arranged in rows in a waveguide direction of the waveguide and are alternately offset along the waveguide direction; and a plurality of radiation elements that are disposed corresponding to the plurality of openings and that receive the signal from the waveguide via the plurality of openings.

Description

Antenna device and radar device

[0001] The present disclosure relates to an antenna device and a radar device.

[0002] The frequencies used by automotive radars are primarily the 76-77 GHz band for long-range detection and the 24 GHz band for short-range detection. While the short-range detection frequency band has a wide frequency bandwidth and high distance resolution, it is subject to power limitations, leading to plans to transition to the 77-81 GHz band. In this case, the 76-77 GHz band for long-range detection and the 77-81 GHz band for short-range detection after the transition are continuous frequencies, and integrated circuit (IC) chips covering the 5 GHz band from 76 to 81 GHz are also available. Patent Document 1 discloses a microstrip antenna that can be mounted on automobiles, etc., that does not require a power divider, thereby eliminating losses due to the power divider and achieving high radiation efficiency.

[0003] International Publication No. 2021 / 100307

[0004] However, the microstrip antenna of Patent Document 1 is powered via a microstrip line, which causes power supply loss due to the microstrip line, etc. Also, it is necessary to provide a mechanism for performing phase adjustment in the microstrip line, which makes the device configuration more complicated.

[0005] The present disclosure provides an antenna device and a radar device that can improve power supply efficiency.

[0006] The antenna device of the present disclosure includes a waveguide that transmits a signal, a plurality of openings arranged in a row in the wave-guiding direction of the waveguide, the plurality of openings being alternately offset along the wave-guiding direction, and a plurality of radiating elements that are arranged corresponding to the plurality of openings and receive the signal from the waveguide via the plurality of openings.

[0007] 1C is a cross-sectional view showing a configuration of an antenna device according to an embodiment of the present disclosure. FIG. 1C is a plan view of a second conductor layer in the antenna device viewed from the positive direction of the z-axis. FIG. 1D is a plan view of the antenna device viewed from the positive direction of the z-axis. FIG. 1C is a cross-sectional view taken along line L2-L2 in FIG. 1C. FIG. 1D is a transparent view of the antenna device viewed from the positive direction of the z-axis. FIG. 1C is a partially enlarged perspective view of the antenna device. FIG. 1D is a diagram showing the path of a signal transmitted through a waveguide. FIG. 1D is an explanatory diagram of angles Phi and Theta. FIG. 1D is a waveform diagram showing the angular characteristics (Theta) of the total gain in the XZ plane (Phi=0°) and the YZ plane (Phi=90°). FIG. 1E is a polar chart showing a radiation pattern. FIG. 1F is a diagram showing an example of the overall shape of the radiation pattern of an antenna device. FIG. 1F is a diagram showing an example of the configuration of an antenna device according to a first modification of the present disclosure. FIG. 1F is a diagram showing an example of the arrangement of radiating elements and slots in an antenna device according to a second modification of the present disclosure. FIG. 1F is a waveform diagram showing the angular characteristics (Theta) of the total gain in the XZ plane (Phi=0°) and the YZ plane (Phi=90°) in the second modification of the present disclosure. 21. A polar chart showing a radiation pattern in Modification 2 of the present disclosure. A diagram showing an example of the arrangement of radiating elements and slots in an antenna device according to Modification 3 of the present disclosure. A waveform diagram showing the angular characteristics (Theta) of the total gain in the XZ plane (Phi=0°) and the YZ plane (Phi=90°) in Modification 3 of the present disclosure. A polar chart showing a radiation pattern in Modification 3 of the present disclosure. A diagram showing an example of the arrangement of radiating elements and slots in an antenna device according to Modification 4 of the present disclosure. A waveform diagram showing the angular characteristics (Theta) of the total gain in the XZ plane (Phi=0°) and the YZ plane (Phi=90°) in Modification 4 of the present disclosure. A polar chart showing a radiation pattern in Modification 4 of the present disclosure. A block diagram of a radar device 2000 including an antenna device 1000 according to an embodiment of the present disclosure. A block diagram showing an example configuration of a vehicle control system. A diagram showing an example sensing area of ​​an external recognition sensor of the vehicle control system of FIG. 21.

[0008] Hereinafter, embodiments of an antenna device and a radar device will be described with reference to the drawings. The following description will focus on the main components of the antenna device and the radar device, but the antenna device and the radar device may include components and functions that are not shown or described. The following description does not exclude components and functions that are not shown or described.

[0009] FIG. 1A is a cross-sectional view showing a configuration of an antenna device 1000 according to an embodiment of the present disclosure.

[0010] 1B is a plan view, taken from the positive direction of the z-axis, of second conductive layer 310 having a slot array (plurality of slots 350) that functions as a feeder for radiating element 410 in antenna device 1000. The cross-sectional view of FIG. 1A is a cross-sectional view taken along line L1-L1 in FIG. 1B.

[0011] FIG. 1C is a plan view of the antenna device 1000 as viewed from the positive direction of the z axis.

[0012] FIG. 2 is a cross-sectional view taken along line L2-L2 in FIG. 1C.

[0013] The antenna device 1000 in FIG. 1A includes a dielectric substrate (substrate) 100, a radio section 200, a waveguide 300 (110, 330, 301), and a radiation section 400.

[0014] The left lateral direction of the antenna device 1000 corresponds to the x-axis direction (first direction), the front direction corresponds to the y-axis direction (second direction), and the top direction (thickness direction) of the antenna device 1000 corresponds to the z-axis direction (third direction).

[0015] The antenna device 1000 has an in-substrate waveguide feed structure. Specifically, a signal (or signal power) generated by the radio unit 200 is supplied to one end of the waveguide 300 via the second conductive layer 310 and the first conductive layer 110, and the signal is transmitted within the waveguide 300. The transmitted signal is coupled and fed to a plurality of radiating elements 410 facing each other via a plurality of slots 350, which are a plurality of openings formed in the second conductive layer 310. The plurality of radiating elements 410 correspond to the radiating unit 400 or antenna of the antenna device 1000, and the waveguide 300 (slot array waveguide) including the plurality of slots 350 corresponds to the power feed unit of the antenna device 1000. The radiating unit 400 radiates radio waves based on the signal fed from the power feed unit.

[0016] In the following, an example will be described in which the antenna device 1000 is used as a transmitting antenna device, but the antenna device 1000 can also be used as a receiving antenna device.

[0017] The dielectric substrate 100 includes dielectric layers 150A, 150B, 250A, and 250B, which are stacked in this order from the rear surface (the surface facing the negative z-axis direction) of the dielectric substrate 100. The dielectric layers 150A and 250B include, for example, a fluorine substrate or a glass polyimide substrate. The dielectric layers 150B and 250A include, for example, a high-frequency material such as a glass epoxy substrate. The pair of dielectric layers 150A and 150B corresponds to the first dielectric layer 150, and the pair of dielectric layers 250A and 250B corresponds to the second dielectric layer 250. While an example is shown in which the first dielectric layer 150 and the second dielectric layer 250 each include two layers, the present invention is not limited to this example and each may include one layer or three layers.

[0018] A first conductor layer 110 that forms part of the wall of the waveguide 300 is formed on the back surface of the dielectric substrate 100. A second conductor layer 310 that forms part of the wall of the waveguide 300 and functions as a ground is formed between the dielectric layers 150B and 250A. A plurality of radiating elements 410 that function as radiating sections 400 are formed on the surface of the dielectric layer 250B. The radiating elements 410 can be formed, for example, by patterning a conductor layer (third conductor layer) provided on the second dielectric layer 250. The plurality of radiating elements 410 are, for example, rectangular metal plates. However, the shape of the radiating elements 410 may be other shapes, such as a triangle or a circle.

[0019] Furthermore, at the end of the antenna device 1000 in the negative x-axis direction, a via 330 is formed that penetrates the first dielectric layer 150 and connects the second conductor layer 310 and the first conductor layer 110. A plurality of vias 330 are arranged at predetermined intervals to form sidewalls along the y-axis direction. A plurality of vias 330 are also arranged at predetermined intervals at the end of each of the second conductor layer 310 and the first conductor layer 110 in the positive y-axis direction and the negative y-axis direction to form sidewalls of the waveguide 300 along the x-axis direction (see FIG. 3 ). The predetermined interval is not limited to a specific value and is determined according to the operating wavelength. The vias 330 are formed with plated metal walls. The waveguide 300 transmits signals input from the radio unit 200 by reflection from the metal walls of these vias 330. In this embodiment, the waveguide 300 has a linear waveguide, but a configuration in which the waveguide is bent midway is also possible.

[0020] Fig. 3 is a transparent view of antenna device 1000 viewed from the positive z-axis direction. As viewed from the positive z-axis direction, the positional relationship between slot 350, radiating element 410 (third conductive layer), and via 330 is shown. Fig. 3 is a view that overlaps Fig. 1B and Fig. 1C, with via 330 also shown transparently.

[0021] FIG. 4 is a partially enlarged perspective view of the antenna device 1000, showing the positional relationship between the slot 350, the radiating element 410, and the via 330 in more detail.

[0022] 3, the via 330 located below the substrate of the radiating element 410 (negative direction of the z-axis) is not actually visible from the z-axis direction, but is shown transparently here to show the positional relationship of the via 330. Similarly, the slot 350 located below the substrate of the radiating element 410 (negative direction of the z-axis) is not actually visible from the z-axis direction, but is shown transparently here to show the positional relationship between the slot 350 and the radiating element 410.

[0023] The vias 330 are arranged at predetermined intervals along the x-axis direction at the ends in the negative y-axis direction and the positive y-axis direction, and are also arranged at predetermined intervals along the y-axis direction at the end in the negative x-axis direction, so as to form side walls of the waveguide 300. The waveguide 300 is formed by the side walls formed by these vias 330, the first conductive layer 110 (see FIG. 1), and the second conductive layer 310 with the slot array (plurality of slots 350).

[0024] The line LC is a straight line parallel to the x-axis and passes through the center of the second conductor layer 310 in the y-axis direction. The line LC is also a line parallel to the surface of the second conductor layer 310 or the surface of the second dielectric layer 250. The line LC may be offset from the center of the second conductor layer 310 in the y-axis direction. In this embodiment, the waveguide of the waveguide 300 is linear, but if the waveguide is configured to bend midway, the line LC will also bend accordingly.

[0025] The second conductive layer 310 has a plurality of slots 350 (openings) arranged in a row in the waveguide direction of the waveguide 300, and these slots 350 are alternately offset along the waveguide direction. More specifically, the slots 350 are arranged alternately on a first side (positive y-axis side) and a second side (negative y-axis side) of the line LC along the x-axis direction. A collection of these slots 350 may be referred to as a slot array. The slots 350 have a rectangular shape. The length of the slots 350 in the x-axis direction may be longer, shorter, or the same as that in the y-axis direction. The slots 350 are formed, for example, by patterning the second conductive layer 310 by etching or the like. Signals transmitted through the waveguide 300 are directly fed to the corresponding radiating elements 410 via these slots 350.

[0026] A plurality of radiating elements 410 are arranged on the surface of the dielectric layer 250B (see FIG. 1 ), corresponding to the plurality of slots 350, and receive signals from the waveguide 300 via these slots 350. The plurality of radiating elements 410 are alternately offset along the wave-guiding direction of the waveguide 300. Each of the plurality of radiating elements 410 is arranged so as to cover its corresponding slot 350. More specifically, the radiating elements 410 are alternately arranged on a first side (positive y-axis side) and a second side (negative y-axis side) of the line LC along the x-axis direction. Each corresponding slot 350 faces the negative z-axis side of the radiating element 410, and signals are directly fed from the waveguide 300 via the slot 350. The radiating elements 410 are arranged alternately along the x-axis direction at an interval P1. The interval P1 is approximately half the wavelength of the operating frequency. In other words, the operating wavelength is λ ｇ Then, the interval P1 is 0.5×λ ｇ ("x" is a multiplication symbol.) The spacing between the radiating elements 410 on the same side (first side or second side) of the line LC is an interval P2 that is approximately twice the half wavelength of the operating frequency.

[0027] In the illustrated example, the width of the slot 350 in the x-axis direction is the same as or approximately the same as the width of the radiating element 410 in the x-axis direction. However, the width of the slot 350 in the x-axis direction may be shorter or longer than the width of the radiating element 410 in the x-axis direction. The width of the slot 350 in the y-axis direction is shorter than the width of the radiating element 410 in the y-axis direction.

[0028] The radio unit 200 supplies a signal to the waveguide 300 from the end of the waveguide 300 in the positive x-axis direction. The radio unit 200 may be configured to supply power directly to the first conductor layer 110 and the second conductor layer 310 without passing through a microstrip line (see the radio unit 200 in FIG. 6 , described later). The radio unit 200 includes a circuit such as a millimeter-wave IC chip that generates a transmission signal. The signal generated by the radio unit 200 is supplied to the ends of the first conductor layer 110 and the second conductor layer 310, whereby the signal is input to the waveguide 300.

[0029] A signal input to the waveguide 300 is transmitted within the waveguide 300 by reflection from the metal walls of the vias 330. More specifically, the vias 330, which are densely arranged metal pillars, function as side walls of the waveguide, and the signal is transmitted within the waveguide 300 by propagation of an electric field formed between the opposing side walls.

[0030] 5 shows the path of a signal transmitted within the waveguide 300. The signal transmitted within the waveguide 300 is fed to each of the opposing radiating elements 410 via a plurality of slots 350 formed in the second conductive layer 310. Radio waves are emitted from the radiating section 400 by combining the radio waves radiated from the radiating elements 410. The radio waves have directionality depending on the arrangement and shape of the radiating elements 410 and the slots 350. By feeding power directly to the radiating elements 410 via the slots 350, power loss is reduced and efficient power feeding is possible. Furthermore, the configuration of the radiating section 400 can be simplified or made smaller.

[0031] As a comparative example, when an antenna is constructed by arranging one or more patch arrays (H-shaped) in which two rectangular conductors (patches) are connected by a linear conductor (connecting conductor), power is fed to a portion (feed point) of the connecting conductor between the two patches in each patch array, requiring a phase adjustment circuit in the connecting conductor between the patches. Furthermore, losses occur in the connecting conductor. This results in a complex and large configuration, leading to problems with reduced power feeding efficiency (power loss). In contrast, in the present disclosure, there are as many feed points to the radiating section 400 as there are slots 350, and signals transmitted by the waveguide 300 are fed directly to each radiating element 410 via the slots 350. This eliminates the need for connecting conductors between individual radiating elements, thereby eliminating the need for phase adjustment circuits and reducing power loss, enabling efficient power feeding. Furthermore, if impedance adjustment is required, the length of the radiating element 410 in the x-axis direction can be adjusted, eliminating the need for an impedance adjustment circuit for each radiating element 410.

[0032] Hereinafter, the characteristics of the antenna device 1000 according to the embodiment of the present disclosure will be described with reference to FIGS.

[0033] First, the definitions of the angles Phi and Theta are given.

[0034] FIG. 6 is an explanatory diagram of angle Phi (φ) and angle Theta (θ). Phi is the angle formed with the x-axis in the xy plane. Phi = 0 degrees (degrees are written as "deg" in the figure) corresponds to the positive direction of the x-axis, and Phi increases as the angle rotates toward the y-axis. Theta is the angle formed with the z-axis. Theta = 0 degrees corresponds to the positive direction of the z-axis, and Theta increases as the angle rotates clockwise. While Theta is shown in the figure for rotation toward the y-axis, it may also be rotated in other directions, such as the x-axis.

[0035] Figure 7 is a waveform diagram showing the angle (Theta) characteristics of the radiation pattern corresponding to Phi = 0 degrees and Phi = 90 degrees. The horizontal axis represents Theta. The center of the horizontal axis is Theta = 0 degrees, and the range from -90 to 90 degrees is shown. The vertical axis represents antenna gain. Graph G11 for Phi = 0 degrees shows the angle (Theta) characteristics of the radiation pattern in the xz plane, and graph G12 for Phi = 90 degrees shows the angle (Theta) characteristics of the radiation pattern in the yz plane.

[0036] Figure 8(A) is a polar chart showing the radiation pattern for Phi = 0 degrees in the range of Theta from 0 to 360 degrees, and Figure 8(B) is a polar chart showing the radiation pattern for Phi = 90 degrees in the range of Theta from 0 to 360 degrees.

[0037] FIG. 9 shows an example of the overall shape of the radiation pattern of the antenna device 1000 in three dimensions.

[0038] 7 to 9, the radiation pattern is not biased in either the xz plane or the yz plane, and is generally symmetrical with Theta = 0 degrees as the center. In other words, at least one of the tilt of the radiation pattern and the loss of directivity is suppressed. The gain and directivity in the direction of Theta = 0 degrees are high. When the antenna device is used as a radar device, the direction of Theta = 0 degrees may be directed toward the target to be irradiated.

[0039] (Variation 1) FIG. 10 shows a configuration example of an antenna device 1000A according to Variation 1 of the present disclosure. In the antenna device 1000 of FIG. 1 according to the embodiment described above, the first dielectric layer 150 and the second dielectric layer 250 each consist of two layers. However, in the example of FIG. 10, each consists of a single layer. In this manner, the first dielectric layer 150 and the second dielectric layer 250 can be configured with any number of layers depending on the desired characteristics. When each consists of a single layer, the first dielectric layer 150 and the second dielectric layer 250 may be made of any material, such as a fluorine substrate or a glass polyimide substrate, as in the case of FIG. 1. Reducing the number of layers of each of the first dielectric layer and the second dielectric layer 250 can also reduce the thickness of the dielectric substrate 100A.

[0040] (Variation 2) In the above-described embodiment, there were four pairs of radiating elements 410 (or pairs of slots 350) arranged along the x-axis direction at an interval P1 (approximately half the wavelength of the operating frequency), but the number of pairs may be one to three, or five or more.

[0041] Fig. 11 shows an example of the arrangement of radiating elements and slots in an antenna device in Modification 2. Pairs of radiating elements 410 are arranged along the x-axis direction at a lower frequency than in the above-described embodiment. The spacing P3 between radiating elements 410 located on the same side of line LC is twice the spacing P2 in Fig. 3. In other words, spacing P3 is four times approximately half the wavelength of the operating frequency. Spacing P3 may be any other value as long as it is an even multiple of approximately half the wavelength of the operating frequency.

[0042] By adjusting the number and arrangement of the radiating elements 410, the radiation characteristics of the antenna can be changed.

[0043] Figure 12 is a waveform diagram showing the angle (Theta) characteristics of the radiation pattern corresponding to Phi = 0 degrees and Phi = 90 degrees. The horizontal axis represents Theta. The center of the horizontal axis is where Theta is 0 degrees, and the range from -90 to 90 degrees is shown. The vertical axis represents antenna gain. Graph G21 for Phi = 0 degrees shows the frequency characteristics of the radiation pattern in the xz plane, and graph G22 for Phi = 90 degrees shows the frequency characteristics of the radiation pattern in the yz plane.

[0044] Figure 13(A) is a polar chart showing the radiation pattern for Phi = 0 degrees in the range of Theta from 0 to 360 degrees, and Figure 13(B) is a polar chart showing the radiation pattern for Phi = 90 degrees in the range of Theta from 0 to 360 degrees.

[0045] The shape of each radiation pattern in Modification 2 is different from that of the above-described embodiment. For example, compared to Fig. 7, in graph G22 of Fig. 12, the degree of gain reduction increases as Theta moves away from 0 degrees, and in graph G21, the gain of the side lobes on both sides of the central main lobe is larger than in Fig. 7. In Modification 2, as in the above-described embodiment, each radiation pattern has a roughly symmetrical shape, and at least one of the tilt of the radiation pattern and the loss of directivity is suppressed.

[0046] In Modification 3, the length of the radiating element 410 in the y-axis direction is shorter than in the above-described embodiment. This allows the size of the dielectric substrate 100, the second conductive layer 310, etc. to be reduced, thereby enabling the antenna device to be miniaturized.

[0047] FIG. 14 shows an example of the arrangement of radiating elements and slots in an antenna device according to Modification 3 of the present disclosure. The length in the direction parallel to the surface of the second dielectric layer 250 and perpendicular to the line LC is shorter than the length in the direction corresponding to the line LC. That is, the length of the radiating element 410A in the y-axis direction is shorter than in the previously described embodiment. Specifically, the length of the radiating element 410A in the y-axis direction is approximately half that of the previously described embodiment. The respective x-axis sizes of the radiating element 410A and the slot 350 are the same as in the previously described embodiment. However, other sizes are also possible, such as one-third of the y-axis length of the previously described embodiment. The y-axis and x-axis sizes of the radiating element are subject to various variations. In accordance with the shortening of the y-axis length of the radiating element 410A, the y-axis sizes of the dielectric substrate 100, the second conductive layer 310, etc. are also made smaller than in the previously described embodiment.

[0048] Figure 15 is a waveform diagram showing the angle (Theta) characteristics of the radiation pattern corresponding to Phi = 0 degrees and Phi = 90 degrees. The horizontal axis represents Theta. The center of the horizontal axis is where Theta is 0 degrees, and the range from -90 to 90 degrees is shown. The vertical axis represents antenna gain. Graph G31 for Phi = 0 degrees shows the frequency characteristics of the radiation pattern in the xz plane, and graph G32 for Phi = 90 degrees shows the frequency characteristics of the radiation pattern in the yz plane.

[0049] Figure 16(A) is a polar chart showing the radiation pattern for Phi = 0 degrees in the range of Theta from 0 to 360 degrees, and Figure 16(B) is a polar chart showing the radiation pattern for Phi = 90 degrees in the range of Theta from 0 to 360 degrees.

[0050] The shape of each radiation pattern in Modification 3 has a lower gain overall than the previously described embodiment. However, the change in graph G32 is gradual, and the rate of decrease in gain from the gain at Theta = 0 degrees (the highest gain) is low even when the angle is far from 0 degrees. Therefore, Modification 3 is effective when transmission and reception over a fairly wide angular range is required. Furthermore, because the antenna device can be made smaller, this antenna device has the advantage of being able to be installed in equipment that requires compactness.

[0051] (Variation 4) In the above-described embodiment, the radiating elements 410 are arranged alternately on both sides of the line LC along the x-axis direction, but in Variation 3, the radiating elements 410 are arranged alternately so as to straddle the line LC along the x-axis direction (i.e., so that the radiating elements 410 are closer to the line LC). This makes it possible to reduce the sizes of the dielectric substrate 100, the second conductor layer 310, etc., and thereby make it possible to miniaturize the antenna device.

[0052] 17 shows an example of the arrangement of radiating elements and slots in an antenna apparatus according to Variation 4 of the present disclosure. The radiating elements 410 are arranged alternately along the x-axis direction so as to straddle the line LC. That is, a portion of the radiating elements 410 arranged on the positive y-axis side is included in the region on the negative y-axis side, and a portion of the radiating elements 410 arranged on the negative y-axis side is included in the region on the positive y-axis side. As a result, each of the multiple radiating elements 410 straddles one side of the positive y-axis side and the negative y-axis side to the other.

[0053] The slot 350 facing the radiating element 410 is also located beyond the line LC on the opposite side to that of the previously described embodiment. However, the slot 350 may be located on the same side of the line LC as in the previously described embodiment. The sizes of the radiating element 410 and the slot 350 are the same as in the previously described embodiment. However, the sizes of the radiating element 410 and the slot 350 can be varied in various ways, as in the example of FIG. 14 .

[0054] In accordance with the fact that the radiating element 410 is positioned closer to the line LC than in the previously described embodiment, the dimensions of the dielectric substrate 100, the second conductive layer 310, etc. in the y-axis direction are made smaller than in the previously described embodiment, thereby reducing the overall size of the antenna device.

[0055] Figure 18 is a waveform diagram showing the angle (Theta) characteristics of the radiation pattern corresponding to Phi = 0 degrees and Phi = 90 degrees. The horizontal axis represents Theta. The center of the horizontal axis is where Theta is 0 degrees, and the range from -90 to 90 degrees is shown. The vertical axis represents antenna gain. Graph G41 for Phi = 0 degrees shows the frequency characteristics of the radiation pattern in the xz plane, and graph G42 for Phi = 90 degrees shows the frequency characteristics of the radiation pattern in the yz plane.

[0056] Figure 19(A) is a polar chart showing the radiation pattern for Phi = 0 degrees in the range of Theta from 0 to 360 degrees, and Figure 19(B) is a polar chart showing the radiation pattern for Phi = 90 degrees in the range of Theta from 0 to 360 degrees.

[0057] Although the shape of each radiation pattern in variant 4 has a slightly lower gain than the above-mentioned embodiment, the overall shape is similar to that of the above-mentioned embodiment, so this antenna device is effective for devices that have a high demand for miniaturization.

[0058] 20 is a block diagram of a radar device 2000 including the antenna device 1000 according to an embodiment of the present disclosure. The radar device 2000 is, for example, a millimeter-wave radar device.

[0059] The radar device 2000 includes a transmitting antenna device 1000_1, a receiving antenna device 1000_2, and a transceiver unit 800. Although separate transmitting and receiving antenna devices are provided, one antenna device may be used for both transmitting and receiving. As an example, the radar device 2000 may be mounted on a mobile vehicle such as an automobile or a mobile device. However, the radar device 2000 may also be provided in a fixedly installed device or system, such as a fixedly installed monitoring device. The antenna device 1000_1 or the antenna device 1000_2 is an antenna device according to the above-described embodiment or any of the modified examples.

[0060] The transceiver 800 is a circuit that performs signal transmission and reception processing. The transceiver 800 generates a signal for transmission. The transceiver 800 includes the radio unit 200 described above. The transceiver 800 supplies the generated signal to the antenna device 1000_1. The signal supplied to the antenna device 1000_1 is transmitted via the waveguide 300 and directly fed to the multiple radiating elements 410 via the multiple slots 350. The antenna 400, which includes the multiple radiating elements 410, radiates radio waves through resonance based on the fed signal. The antenna device 1000_2 receives reflected waves of the radiated radio waves and transmits the received signal via the waveguide 300 to supply it to the transceiver 800. The transceiver 800 analyzes, for example, the state of the object from which the radio waves were reflected or the distance to the object based on the received signal.

[0061] [Application Examples] Application examples of the antenna device 1000 according to the present disclosure will be described below. The antenna device 1000 can be applied to any of the following on-board control systems, devices, methods, etc. The antenna devices according to the above-described modifications can also be applied in the same manner.

[0062] 21 is a block diagram showing an example of the configuration of a vehicle control system 11, which is an example of a mobile device control system to which the present technology is applied. The antenna device according to the above-described embodiment or modification can be used, for example, as an antenna included in the communication unit 22 when the communication unit 22 performs wireless communication, or as the radar 52.

[0063] The vehicle control system 11 is provided in the vehicle 1 and performs processing related to driving assistance and automatic driving of the vehicle 1.

[0064] The vehicle control system 11 includes a vehicle control ECU (Electronic Control Unit) 21, a communication unit 22, a map information storage unit 23, a location information acquisition unit 24, an external recognition sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a memory unit 28, a driving assistance / autonomous driving control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.

[0065] The vehicle control ECU 21, communication unit 22, map information storage unit 23, position information acquisition unit 24, external recognition sensor 25, in-vehicle sensor 26, vehicle sensor 27, memory unit 28, cruise assist / autonomous driving control unit 29, driver monitoring system (DMS) 30, human-machine interface (HMI) 31, and vehicle control unit 32 are interconnected via a communication network 41 for mutual communication. The communication network 41 is configured, for example, by an in-vehicle communication network or bus conforming to a digital bidirectional communication standard such as a Controller Area Network (CAN), a Local Interconnect Network (LIN), a Local Area Network (LAN), FlexRay (registered trademark), or Ethernet (registered trademark). Different communication networks 41 may be used depending on the type of data being transmitted. For example, a CAN may be used for data related to vehicle control, and an Ethernet may be used for large-volume data. In addition, each part of the vehicle control system 11 may be directly connected without going through the communication network 41, using wireless communication intended for communication over relatively short distances, such as near field communication (NFC) or Bluetooth (registered trademark).

[0066] In the following description, when each unit of the vehicle control system 11 communicates via the communication network 41, the description of the communication network 41 will be omitted. For example, when the vehicle control ECU 21 and the communication unit 22 communicate via the communication network 41, it will simply be described that the vehicle control ECU 21 and the communication unit 22 communicate with each other.

[0067] The vehicle control ECU 21 is configured by various processors such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), etc. The vehicle control ECU 21 controls the entire or part of the functions of the vehicle control system 11.

[0068] The communication unit 22 communicates with various devices inside and outside the vehicle, other vehicles, servers, base stations, etc., and transmits and receives various data. At this time, the communication unit 22 can communicate using a plurality of communication methods.

[0069] The following provides an overview of communication with the outside of the vehicle that can be performed by the communication unit 22. The communication unit 22 communicates with a server (hereinafter referred to as an external server) or the like on an external network via a base station or an access point using a wireless communication method such as 5G (fifth generation mobile communication system), LTE (Long Term Evolution), or DSRC (Dedicated Short Range Communications). The external network with which the communication unit 22 communicates is, for example, the Internet, a cloud network, or a network specific to a carrier. The communication method used by the communication unit 22 with the external network is not particularly limited as long as it is a wireless communication method that enables digital two-way communication at a communication speed equal to or higher than a predetermined distance.

[0070] Furthermore, for example, the communication unit 22 can communicate with a terminal located near the vehicle using P2P (Peer to Peer) technology. The terminal located near the vehicle can be, for example, a terminal worn by a mobile object moving at a relatively slow speed, such as a pedestrian or a bicycle, a terminal installed at a fixed location in a store, or an MTC (Machine Type Communication) terminal. Furthermore, the communication unit 22 can also perform V2X communication. V2X communication refers to communication between the vehicle and others, such as vehicle-to-vehicle communication with another vehicle, vehicle-to-infrastructure communication with a roadside unit, vehicle-to-home communication, and vehicle-to-pedestrian communication with a terminal carried by a pedestrian.

[0071] The communication unit 22 can receive, for example, a program for updating software that controls the operation of the vehicle control system 11 from the outside (over the air). The communication unit 22 can also receive map information, traffic information, information about the surroundings of the vehicle 1, and the like from the outside. For example, the communication unit 22 can also transmit information about the vehicle 1 and information about the surroundings of the vehicle 1 to the outside. Information about the vehicle 1 that the communication unit 22 transmits to the outside includes, for example, data indicating the state of the vehicle 1 and the recognition result by the recognition unit 73. Furthermore, for example, the communication unit 22 performs communication corresponding to a vehicle emergency notification system such as e-call.

[0072] For example, the communication unit 22 receives electromagnetic waves transmitted by a road traffic information and communication system (VICS (Vehicle Information and Communication System) (registered trademark)) such as a radio beacon, an optical beacon, or FM multiplex broadcasting.

[0073] The following provides an overview of communication with the vehicle interior that can be performed by the communication unit 22. The communication unit 22 can communicate with each device in the vehicle using, for example, wireless communication. The communication unit 22 can communicate with each device in the vehicle using a communication method that enables bidirectional digital communication at a predetermined communication speed or higher via wireless communication, such as wireless LAN, Bluetooth, NFC, or Wireless USB (WUSB). The communication unit 22 can also communicate with each device in the vehicle using wired communication. For example, the communication unit 22 can communicate with each device in the vehicle using wired communication via a cable connected to a connection terminal (not shown). The communication unit 22 can communicate with each device in the vehicle using a communication method that enables bidirectional digital communication at a predetermined communication speed or higher via wired communication, such as Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI) (registered trademark), or Mobile High-Definition Link (MHL).

[0074] Here, the in-vehicle device refers to, for example, a device in the vehicle that is not connected to the communication network 41. Possible in-vehicle devices include, for example, a mobile device or wearable device carried by a passenger such as a driver, and an information device brought into the vehicle and temporarily installed therein.

[0075] The map information storage unit 23 stores one or both of a map acquired from an external source and a map created by the vehicle 1. For example, the map information storage unit 23 stores a three-dimensional high-precision map, a global map that is less accurate than a high-precision map and covers a wide area, and the like.

[0076] Examples of high-precision maps include dynamic maps, point cloud maps, and vector maps. A dynamic map is a map consisting of four layers of dynamic information, quasi-dynamic information, quasi-static information, and static information, and is provided to the vehicle 1 from an external server or the like. A point cloud map is a map made up of a point cloud (point group data). A vector map is a map that corresponds traffic information such as the positions of lanes and traffic lights to the point cloud map, and is adapted to an advanced driver assistance system (ADAS) or autonomous driving (AD).

[0077] The point cloud map and the vector map may be provided, for example, from an external server or the like, or may be created in the vehicle 1 based on sensing results from the camera 51, radar 52, LiDAR 53, etc. as a map for matching with a local map described later, and stored in the map information storage unit 23. Furthermore, when a high-precision map is provided from an external server or the like, map data of, for example, an area of ​​several hundred square meters relating to the planned route along which the vehicle 1 will travel is acquired from the external server or the like in order to reduce communication capacity.

[0078] The position information acquisition unit 24 receives GNSS (Global Navigation Satellite System) signals from GNSS satellites and acquires position information of the vehicle 1. The acquired position information is supplied to the driving assistance / autonomous driving control unit 29. Note that the method of the position information acquisition unit 24 is not limited to using GNSS signals, and it may acquire position information using a beacon, for example.

[0079] The external recognition sensor 25 includes various sensors used to recognize the situation outside the vehicle 1, and supplies sensor data from each sensor to each part of the vehicle control system 11. The type and number of sensors included in the external recognition sensor 25 are arbitrary.

[0080] For example, the external recognition sensor 25 includes a camera 51, a radar 52, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) 53, and an ultrasonic sensor 54. Without being limited to this, the external recognition sensor 25 may be configured to include one or more types of sensors selected from the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54. The number of cameras 51, radars 52, LiDARs 53, and ultrasonic sensors 54 is not particularly limited as long as the number is a number that can be realistically installed on the vehicle 1. Furthermore, the types of sensors included in the external recognition sensor 25 are not limited to this example, and the external recognition sensor 25 may include other types of sensors. Examples of sensing areas of each sensor included in the external recognition sensor 25 will be described later.

[0081] The imaging method of the camera 51 is not particularly limited. For example, cameras of various imaging methods capable of distance measurement, such as a time-of-flight (ToF) camera, a stereo camera, a monocular camera, and an infrared camera, can be applied to the camera 51 as needed. However, the camera 51 may simply acquire an image without distance measurement.

[0082] Furthermore, for example, the external recognition sensor 25 may include an environmental sensor for detecting the environment for the vehicle 1. The environmental sensor is a sensor for detecting the environment such as weather, climate, brightness, etc., and may include various sensors such as a raindrop sensor, a fog sensor, a sunlight sensor, a snow sensor, and an illuminance sensor.

[0083] Furthermore, for example, the external recognition sensor 25 includes a microphone used to detect sounds around the vehicle 1 and the location of sound sources.

[0084] The interior sensor 26 includes various sensors for detecting information inside the vehicle, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The types and number of the various sensors included in the interior sensor 26 are not particularly limited as long as they are of types and numbers that can be realistically installed in the vehicle 1.

[0085] For example, the interior sensor 26 may include one or more types of sensors selected from the group consisting of a camera, radar, a seating sensor, a steering wheel sensor, a microphone, and a biometric sensor. The camera included in the interior sensor 26 may be a camera using any of various imaging methods capable of measuring distances, such as a Time of Flight (ToF) camera, a stereo camera, a monocular camera, or an infrared camera. The camera included in the interior sensor 26 may also be a camera simply for acquiring captured images, regardless of distance measurement. The biometric sensor included in the interior sensor 26 may be provided, for example, on a seat, a steering wheel, or the like, and detect various types of biometric information of a passenger, such as a driver.

[0086] The vehicle sensor 27 includes various sensors for detecting the state of the vehicle 1, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The types and number of the various sensors included in the vehicle sensor 27 are not particularly limited as long as they are of types and numbers that can be realistically installed on the vehicle 1.

[0087] For example, the vehicle sensor 27 includes a speed sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), and an inertial measurement unit (IMU) that integrates these sensors. For example, the vehicle sensor 27 includes a steering angle sensor that detects the steering angle of the steering wheel, a yaw rate sensor, an accelerator sensor that detects the amount of accelerator pedal operation, and a brake sensor that detects the amount of brake pedal operation. For example, the vehicle sensor 27 includes a rotation sensor that detects the number of rotations of the engine or motor, an air pressure sensor that detects tire air pressure, a slip ratio sensor that detects tire slip ratio, and a wheel speed sensor that detects the rotation speed of the wheels. For example, the vehicle sensor 27 includes a battery sensor that detects the remaining battery charge and temperature, and an impact sensor that detects external impacts.

[0088] The storage unit 28 includes at least one of a non-volatile storage medium and a volatile storage medium, and stores data and programs. The storage unit 28 is used, for example, as an electrically erasable programmable read-only memory (EEPROM) and a random access memory (RAM). Examples of storage media that can be used include a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, and a magneto-optical storage device. The storage unit 28 stores various programs and data used by each component of the vehicle control system 11. For example, the storage unit 28 includes an event data recorder (EDR) and a data storage system for automated driving (DSSAD), and stores information about the vehicle 1 before and after an event such as an accident, and information acquired by the in-vehicle sensors 26.

[0089] The driving assistance / automated driving control unit 29 controls driving assistance and automatic driving of the vehicle 1. For example, the driving assistance / automated driving control unit 29 includes an analysis unit 61, an action planning unit 62, and an operation control unit 63.

[0090] The analysis unit 61 performs an analysis process of the vehicle 1 and the surrounding situation. The analysis unit 61 includes a self-position estimation unit 71, a sensor fusion unit 72, and a recognition unit 73.

[0091] The self-position estimation unit 71 estimates the self-position of the vehicle 1 based on the sensor data from the external recognition sensor 25 and the high-precision map stored in the map information storage unit 23. For example, the self-position estimation unit 71 generates a local map based on the sensor data from the external recognition sensor 25 and matches the local map with the high-precision map to estimate the self-position of the vehicle 1. The position of the vehicle 1 is based on, for example, the center of the rear wheel pair axle.

[0092] The local map is, for example, a three-dimensional high-precision map or an occupancy grid map created using a technique such as SLAM (Simultaneous Localization and Mapping). The three-dimensional high-precision map is, for example, the point cloud map described above. The occupancy grid map is a map in which the three-dimensional or two-dimensional space around the vehicle 1 is divided into grids of a predetermined size and the occupancy status of objects is indicated on a grid-by-grid basis. The occupancy status of objects is indicated, for example, by the presence or absence of an object and its probability of existence. The local map is also used, for example, in the detection process and recognition process of the situation outside the vehicle 1 by the recognition unit 73.

[0093] The self-position estimation unit 71 may estimate the self-position of the vehicle 1 based on the position information acquired by the position information acquisition unit 24 and the sensor data from the vehicle sensor 27 .

[0094] The sensor fusion unit 72 performs sensor fusion processing to obtain new information by combining multiple different types of sensor data (for example, image data supplied from the camera 51 and sensor data supplied from the radar 52). Methods for combining different types of sensor data include integration, fusion, and association.

[0095] The recognition unit 73 executes a detection process for detecting the situation outside the vehicle 1 and a recognition process for recognizing the situation outside the vehicle 1 .

[0096] For example, the recognition unit 73 performs detection processing and recognition processing of the situation outside the vehicle 1 based on information from the external recognition sensor 25, information from the self-position estimation unit 71, information from the sensor fusion unit 72, etc.

[0097] Specifically, for example, the recognition unit 73 performs detection processing and recognition processing of objects around the vehicle 1. The object detection processing is, for example, processing to detect the presence or absence, size, shape, position, movement, etc. of an object. The object recognition processing is, for example, processing to recognize attributes such as the type of object, or to identify a specific object. However, the detection processing and the recognition processing are not necessarily clearly separated, and may overlap.

[0098] For example, the recognition unit 73 detects objects around the vehicle 1 by performing clustering to classify a point cloud based on sensor data from the radar 52, the LiDAR 53, or the like into clusters of points. This allows the presence, size, shape, and position of objects around the vehicle 1 to be detected.

[0099] For example, the recognition unit 73 performs tracking to follow the movement of clusters of point clouds classified by clustering, thereby detecting the movement of objects around the vehicle 1. As a result, the speed and traveling direction (movement vector) of the objects around the vehicle 1 are detected.

[0100] For example, the recognition unit 73 detects or recognizes vehicles, people, bicycles, obstacles, structures, roads, traffic lights, traffic signs, road markings, etc. based on image data supplied from the camera 51. The recognition unit 73 may also recognize the types of objects around the vehicle 1 by performing recognition processing such as semantic segmentation.

[0101] For example, the recognition unit 73 can perform a recognition process of traffic rules around the vehicle 1 based on the map stored in the map information storage unit 23, the result of estimation of the self-position by the self-position estimation unit 71, and the result of recognition of objects around the vehicle 1 by the recognition unit 73. Through this process, the recognition unit 73 can recognize the positions and states of traffic lights, the contents of traffic signs and road markings, the contents of traffic regulations, and lanes that can be traveled, etc.

[0102] For example, the recognition unit 73 can perform a recognition process of the environment around the vehicle 1. The surrounding environment to be recognized by the recognition unit 73 may include weather, temperature, humidity, brightness, and road surface conditions.

[0103] The behavior planning unit 62 creates a behavior plan for the vehicle 1. For example, the behavior planning unit 62 creates the behavior plan by performing route planning and route tracking processing.

[0104] Global path planning is a process for planning a rough route from the start to the goal. This route planning also includes a process for generating a trajectory (local path planning) that allows the vehicle 1 to proceed safely and smoothly in the vicinity of the vehicle 1, taking into account the motion characteristics of the vehicle 1 on the planned route.

[0105] Path following is a process of planning an operation for safely and accurately traveling along a route planned by a route plan within a planned time. The behavior planning unit 62 can, for example, calculate a target speed and a target angular velocity of the vehicle 1 based on the results of this path following process.

[0106] The operation control unit 63 controls the operation of the vehicle 1 in order to realize the action plan created by the action planning unit 62 .

[0107] For example, the operation control unit 63 controls the steering control unit 81, the brake control unit 82, and the drive control unit 83 included in the vehicle control unit 32 described later to perform acceleration / deceleration control and direction control so that the vehicle 1 travels along the trajectory calculated by the trajectory plan. For example, the operation control unit 63 performs cooperative control with the aim of realizing ADAS functions such as collision avoidance or impact mitigation, following driving, vehicle speed maintenance driving, collision warning for the host vehicle, and lane departure warning for the host vehicle. For example, the operation control unit 63 performs cooperative control with the aim of automatic driving, which travels autonomously without driver operation.

[0108] The DMS 30 performs processes such as authenticating the driver and recognizing the driver's state based on sensor data from the in-vehicle sensors 26 and input data input to the HMI 31 (described later). Examples of the driver's state to be recognized include physical condition, level of alertness, level of concentration, level of fatigue, line of sight, level of intoxication, driving operation, and posture.

[0109] The DMS 30 may be configured to perform authentication processing for passengers other than the driver and recognition processing for the conditions of the passengers. Furthermore, for example, the DMS 30 may be configured to perform recognition processing for the conditions inside the vehicle based on sensor data from the in-vehicle sensor 26. Possible conditions inside the vehicle to be recognized include, for example, temperature, humidity, brightness, and odor.

[0110] The HMI 31 inputs various data and instructions and presents various data to the driver and the like.

[0111] The following provides an overview of data input via the HMI 31. The HMI 31 includes input devices for a person to input data. The HMI 31 generates input signals based on data, instructions, and the like input via the input devices and supplies the signals to each component of the vehicle control system 11. The HMI 31 includes, as input devices, controls such as a touch panel, buttons, switches, and levers. The HMI 31 may also include input devices that allow information to be input by voice, gestures, or other means other than manual operation. Furthermore, the HMI 31 may use, as input devices, externally connected devices such as a remote control device using infrared or radio waves, or a mobile or wearable device compatible with the operation of the vehicle control system 11.

[0112] The presentation of data by the HMI 31 will be briefly described. The HMI 31 generates visual information, auditory information, and tactile information for the occupant or the outside of the vehicle. The HMI 31 also performs output control, controlling the output, output content, output timing, output method, etc. of each piece of generated information. The HMI 31 generates and outputs, as visual information, information indicated by images or lights, such as an operation screen, a status display of the vehicle 1, a warning display, and a monitor image showing the situation around the vehicle 1. The HMI 31 also generates and outputs, as auditory information, information indicated by sounds, such as voice guidance, warning sounds, and warning messages. The HMI 31 also generates and outputs, as tactile information, information imparted to the occupant's sense of touch by, for example, force, vibration, movement, etc.

[0113] Examples of the output device to which the HMI 31 outputs visual information include a display device that presents visual information by displaying an image on its own or a projector device that presents visual information by projecting an image. The display device may be a device that displays visual information within the field of view of the occupant, such as a head-up display, a transmissive display, or a wearable device with an augmented reality (AR) function, in addition to a display device having a normal display. The HMI 31 may also use display devices included in a navigation system, an instrument panel, a camera monitoring system (CMS), an electronic mirror, a lamp, or the like provided in the vehicle 1 as output devices that output visual information.

[0114] As an output device for the HMI 31 to output auditory information, for example, an audio speaker, a headphone, or an earphone can be applied.

[0115] For example, a haptic element using haptic technology can be applied as an output device for outputting tactile information from the HMI 31. The haptic element is provided on a part of the vehicle 1 that an occupant comes into contact with, such as a steering wheel or a seat.

[0116] The vehicle control unit 32 controls each part of the vehicle 1. The vehicle control unit 32 includes a steering control unit 81, a brake control unit 82, a drive control unit 83, a body system control unit 84, a light control unit 85, and a horn control unit 86.

[0117] The steering control unit 81 detects and controls the state of the steering system of the vehicle 1. The steering system includes, for example, a steering mechanism including a steering wheel, an electric power steering, etc. The steering control unit 81 includes, for example, a steering ECU that controls the steering system, an actuator that drives the steering system, etc.

[0118] The brake control unit 82 detects and controls the state of the brake system of the vehicle 1. The brake system includes, for example, a brake mechanism including a brake pedal, an antilock brake system (ABS), a regenerative brake mechanism, etc. The brake control unit 82 includes, for example, a brake ECU that controls the brake system, an actuator that drives the brake system, etc.

[0119] The drive control unit 83 detects and controls the state of the drive system of the vehicle 1. The drive system includes, for example, an accelerator pedal, a drive force generating device for generating drive force such as an internal combustion engine or a drive motor, and a drive force transmission mechanism for transmitting the drive force to the wheels. The drive control unit 83 includes, for example, a drive ECU for controlling the drive system, and an actuator for driving the drive system.

[0120] The body system control unit 84 detects and controls the states of the body system systems of the vehicle 1. The body system systems include, for example, a keyless entry system, a smart key system, a power window device, a power seat, an air conditioning system, an airbag, a seat belt, a shift lever, etc. The body system control unit 84 includes, for example, a body system ECU that controls the body system systems, an actuator that drives the body system systems, etc.

[0121] The light control unit 85 detects and controls the states of various lights of the vehicle 1. Examples of lights to be controlled include headlights, backlights, fog lights, turn signals, brake lights, projections, and bumper displays. The light control unit 85 includes a light ECU that controls the lights, an actuator that drives the lights, and the like.

[0122] The horn control unit 86 detects and controls the state of the car horn of the vehicle 1. The horn control unit 86 includes, for example, a horn ECU that controls the car horn, an actuator that drives the car horn, and the like.

[0123] Fig. 22 is a diagram showing an example of a sensing area by the camera 51, radar 52, LiDAR 53, ultrasonic sensor 54, etc. of the external recognition sensor 25 in Fig. 21. Note that Fig. 22 schematically shows the vehicle 1 as viewed from above, with the left end side being the front end (front) side of the vehicle 1 and the right end side being the rear end (rear) side of the vehicle 1.

[0124] Sensing area 101F and sensing area 101B show examples of sensing areas of the ultrasonic sensors 54. Sensing area 101F covers the periphery of the front end of the vehicle 1 with multiple ultrasonic sensors 54. Sensing area 101B covers the periphery of the rear end of the vehicle 1 with multiple ultrasonic sensors 54.

[0125] The sensing results in the sensing area 101F and the sensing area 101B are used, for example, for parking assistance for the vehicle 1.

[0126] Sensing area 102F to sensing area 102B show examples of sensing areas of a short-range or medium-range radar 52. Sensing area 102F covers a position farther in front of the vehicle 1 than sensing area 101F. Sensing area 102B covers a position farther behind the vehicle 1 than sensing area 101B. Sensing area 102L covers the periphery behind the left side of the vehicle 1. Sensing area 102R covers the periphery behind the right side of the vehicle 1.

[0127] The sensing results in sensing area 102F are used, for example, to detect vehicles, pedestrians, and the like that are present in front of the vehicle 1. The sensing results in sensing area 102B are used, for example, for a collision prevention function behind the vehicle 1. The sensing results in sensing area 102L and sensing area 102R are used, for example, to detect objects in blind spots on the sides of the vehicle 1.

[0128] Sensing areas 103F to 103B show examples of sensing areas sensed by camera 51. Sensing area 103F covers a position farther in front of vehicle 1 than sensing area 102F. Sensing area 103B covers a position farther in the rear of vehicle 1 than sensing area 102B. Sensing area 103L covers the periphery of the left side of vehicle 1. Sensing area 103R covers the periphery of the right side of vehicle 1.

[0129] The sensing results in the sensing area 103F can be used for, for example, recognition of traffic lights and traffic signs, lane departure prevention assistance systems, and automatic headlight control systems. The sensing results in the sensing area 103B can be used for, for example, parking assistance and surround view systems. The sensing results in the sensing areas 103L and 103R can be used for, for example, surround view systems.

[0130] Sensing area 104 shows an example of the sensing area of ​​LiDAR 53. Sensing area 104 covers a position farther ahead of vehicle 1 than sensing area 103F. On the other hand, sensing area 104 has a narrower range in the left-right direction than sensing area 103F.

[0131] The sensing results in the sensing area 104 are used to detect objects such as surrounding vehicles, for example.

[0132] A sensing area 105 shows an example of the sensing area of ​​the long-range radar 52. The sensing area 105 covers a position further ahead of the vehicle 1 than the sensing area 104. On the other hand, the sensing area 105 has a narrower range in the left-right direction than the sensing area 104.

[0133] The sensing results in the sensing area 105 are used for, for example, adaptive cruise control (ACC), emergency braking, collision avoidance, and the like.

[0134] The sensing areas of the cameras 51, radars 52, LiDARs 53, and ultrasonic sensors 54 included in the external recognition sensor 25 may have various configurations other than those shown in FIG. 22 . Specifically, the ultrasonic sensors 54 may also sense the sides of the vehicle 1, and the LiDAR 53 may sense the rear of the vehicle 1. The installation positions of the sensors are not limited to the above-described examples. The number of each sensor may be one or more.

[0135] The present invention is not limited to the above-described embodiments, and the components can be modified and embodied in practice without departing from the spirit of the invention. Furthermore, various inventions can be created by appropriately combining multiple components disclosed in the above-described embodiments. For example, some components may be omitted from all the components shown in the embodiments. Furthermore, components from different embodiments may be appropriately combined.

[0136] Furthermore, the effects of the present disclosure described in this specification are merely examples, and other effects may also be present.

[0137] The present disclosure can also have the following configurations. [Item 1] An antenna device comprising: a waveguide that transmits a signal; a plurality of openings arranged in a row in a waveguiding direction of the waveguide, the plurality of openings being alternately offset along the waveguiding direction; and a plurality of radiating elements arranged corresponding to the plurality of openings and receiving the signal from the waveguide via the plurality of openings. [Item 2] The antenna device according to item 1, wherein the plurality of radiating elements are arranged to cover the openings. [Item 3] The antenna device according to item 2, wherein the plurality of radiating elements are alternately offset along the waveguiding direction of the waveguide. [Item 4] The antenna device according to any one of items 1 to 3, wherein the waveguide includes a first conductive layer, a first dielectric layer formed on the first conductive layer, and a second conductive layer provided on the first dielectric layer, the signal being transmitted through the first dielectric layer between the first conductive layer and the second conductive layer, the plurality of openings being formed in the second conductive layer, a second dielectric layer being provided on the second conductive layer, and the plurality of radiating elements being arranged on the second dielectric layer corresponding to the plurality of openings. [Item 5] The antenna device according to item 4, wherein the plurality of openings are arranged along a line parallel to the surface of the second conductive layer or the surface of the second dielectric layer, alternately on a first side of the line and a second side opposite to the first side. [Item 6] The antenna device according to item 5, wherein the plurality of radiating elements are arranged alternately on the first side and the second side along the line. [Item 7] The antenna device according to Item 6, wherein a portion of each of the radiating elements arranged on the second side is included in the first side, and a portion of each of the radiating elements arranged on the first side is included in the second side, so that each of the plurality of radiating elements spans from one of the first side and the second side to the other. [Item 8] The antenna device according to Item 6 or 7, wherein the spacing between adjacent radiating elements on the first side or the second side is an even multiple of approximately half a wavelength of an operating frequency.[Item 9] The antenna device according to any one of items 6 to 8, wherein the length of the radiating element in a direction parallel to the surface of the second dielectric layer and perpendicular to the line is shorter than the length in a direction corresponding to the line. [Item 10] The antenna device according to any one of items 1 to 9, wherein the plurality of radiating elements are each a metal plate. [Item 11] The antenna device according to any one of items 1 to 10, further comprising: a radio unit that generates the signal and supplies the signal to the waveguide. [Item 12] A radar device comprising: an antenna device having: a waveguide that transmits a signal; a plurality of openings arranged in a row in a waveguiding direction of the waveguide, the plurality of openings being offset alternately along the waveguiding direction; and a plurality of radiating elements arranged corresponding to the plurality of openings and receiving the signal from the waveguide via the plurality of openings; and a transceiver unit that transmits and receives the signal using the antenna device.

[0138] REFERENCE SIGNS LIST 1 Vehicle 11 Vehicle control system 22 Communication unit 23 Map information storage unit 24 Position information acquisition unit 25 External recognition sensor 26 In-vehicle sensor 27 Vehicle sensor 28 Memory unit 29 Cruise assistance / autonomous driving control unit 30 Driver monitoring system (DMS) 31 Human-machine interface (HMI) 32 Vehicle control unit 41 Communication network 51 Camera 52 Radar 54 Ultrasonic sensor 61 Analysis unit 62 Action planning unit 63 Operation control unit 71 Self-position estimation unit 72 Sensor fusion unit 73 Recognition unit 81 Steering control unit 82 Brake control unit 83 Drive control unit 84 Body system control unit 85 Light control unit 86 Horn control unit 100 Dielectric substrate (substrate) 100 Dielectric substrate 101B Sensing area 101F Sensing area 102B Sensing area 102F Sensing area 102L Sensing area 102R Sensing area 103B Sensing area 103F Sensing area 103L Sensing area 103R Sensing area 104 Sensing area 105 Sensing area 110 First conductor layer 150 First dielectric layer 150A Dielectric layer 150B Dielectric layer 200 Radio section 250 Second dielectric layer 250A Dielectric layer 250B Dielectric layer 300 Waveguide 310 Second conductor layer 330 Via 350 Slot 400 Radiating section 410 Radiating element (third conductor layer) 410A Radiating element 800 Transmitting / receiving section 1000 Antenna device 1000_1 Antenna device 1000_2 Antenna device 1000A Antenna device 2000 radar equipment

Claims

1. A waveguide for transmitting a signal, a plurality of openings arranged in a row in the waveguide direction of the waveguide, the plurality of openings being a plurality of openings alternately offset along the waveguide direction, and a plurality of radiation elements arranged corresponding to the plurality of openings and receiving the signal from the waveguide through the plurality of openings. An antenna device comprising:

2. The antenna device according to claim 1, wherein the plurality of radiation elements are arranged so as to cover the openings.

3. The antenna device according to claim 2, wherein the plurality of radiation elements are alternately offset along the waveguide direction of the waveguide.

4. The waveguide includes a first conductor layer, a first dielectric layer formed on the first conductor layer, and a second conductor layer provided on the first dielectric layer. The signal is transmitted through the first dielectric layer between the first conductor layer and the second conductor layer. The plurality of openings are formed in the second conductor layer, a second dielectric layer is provided on the second conductor layer, and the plurality of radiation elements are arranged on the second dielectric layer corresponding to the plurality of openings. The antenna device according to claim 1.

5. The antenna device according to claim 4, wherein the plurality of openings are alternately arranged along a line parallel to the surface of the second conductor layer or the surface of the second dielectric layer on the first side and the second side opposite to the first side of the line.

6. The antenna device according to claim 5, wherein the plurality of radiation elements are alternately arranged on the first side and the second side along the line.

7. The antenna device according to claim 6, wherein a part of each of the radiation elements arranged on the second side is included in the first side, and a part of each of the radiation elements arranged on the first side is included in the second side, so that each of the plurality of radiation elements straddles from one side to the other side of the first side and the second side.

8. The antenna device according to claim 6, wherein the interval between the adjacent radiation elements on the first side or the second side is an even multiple of approximately half the wavelength of the operating frequency.

9. The antenna device according to claim 6, wherein the length of the radiation element in the direction perpendicular to the line and parallel to the surface of the second dielectric layer is shorter than the length in the direction corresponding to the line.

10. The antenna device according to claim 1, wherein the plurality of radiation elements are each a metal plate.

11. The antenna device according to claim 1, further comprising a wireless unit that generates the signal and supplies the signal to the waveguide.

12. A radar device comprising: a waveguide that transmits a signal; a plurality of openings arranged in a row in a wave-guiding direction of the waveguide, the plurality of openings being a plurality of openings alternately offset along the wave-guiding direction; a plurality of radiating elements arranged corresponding to the plurality of openings and receiving the signal from the waveguide through the plurality of openings; and a transceiver that transmits and receives the signal using the antenna device.

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