Antenna device and radar device

Abstract

[Problem] To simplify the design of a waveguide and improve power feeding efficiency. [Solution] An antenna device provided with: a dielectric substrate; a power feeding section that is disposed on a first surface of the dielectric substrate; a first waveguide that has one end disposed on the first surface of the dielectric substrate and transmits a signal supplied from the power feeding section to the one end within the dielectric substrate; and an antenna that is disposed on a second surface of the dielectric substrate and includes a radiating element for receiving the signal supplied from the first waveguide.

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. As an antenna compatible with such IC chips, an antenna device has been proposed that uses an in-substrate waveguide and feeds power from the backside of the substrate to the center of the antenna (see Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2023-21725

[0004] However, the antenna device of Patent Document 1 is premised on using stacked vias as the metal walls of the waveguide. However, depending on the manufacturing process, it may not be possible to form stacked vias, in which case the design of the waveguide becomes complicated.

[0005] Furthermore, the antenna device of Patent Document 1 feeds power from the power feed section to the waveguide via a microstrip line (MSL) using a proximity junction feeding method, which causes power feeding loss due to the microstrip line and power feeding loss due to the proximity junction feeding, resulting in a deterioration in power feeding efficiency.

[0006] Therefore, the present disclosure provides an antenna device and a radar device that can simplify the design of the waveguide and improve the power supply efficiency.

[0007] In order to solve the above problems, according to the present disclosure, there is provided an antenna device comprising: a dielectric substrate; a power supply portion arranged on a first surface of the dielectric substrate; a first waveguide having one end arranged on the first surface of the dielectric substrate and transmitting within the dielectric substrate a signal supplied from the power supply portion to the one end; and an antenna arranged on a second surface of the dielectric substrate and including a radiating element that receives the signal supplied from the first waveguide.

[0008] The first waveguide may have a first opening to which the signal is supplied from the feeding portion, and the first opening may be disposed so as to be in contact with the feeding portion.

[0009] The feeding section may include a feeding element that feeds a signal to the dielectric substrate, and a matching adjustment section that adjusts impedance between the feeding element and the first waveguide.

[0010] The matching adjustment section may have a tapered section, and the tapered section may have a wider path width on the first waveguide side and a narrower path width on the feed element side.

[0011] The first waveguide may include a second opening for outputting the signal to the radiating element.

[0012] The dielectric substrate may have a plurality of conductive layers, the plurality of conductive layers including: a first layer on which the feeding portion is arranged; a second layer stacked on the first layer and on which the second opening is arranged; and a third layer stacked on the first layer and the second layer and on which the radiating element is arranged, and the first waveguide may be arranged between the first layer and the second layer.

[0013] The matching adjustment section and the first waveguide may have a first feed line that transmits the signal in a planar direction of the dielectric substrate.

[0014] The dielectric substrate may further include a second waveguide arranged to be stacked on the first waveguide in a thickness direction of the dielectric substrate, the second waveguide having a second opening for outputting the signal to the radiating element and a third opening for transmitting the signal from the first waveguide, wherein the first waveguide and the second waveguide may have portions that do not overlap in a planar view.

[0015] The matching adjustment section and the first waveguide may have a first feed line that transmits the signal in a planar direction of the dielectric substrate, and the first waveguide and the second waveguide may have a second feed line that transmits the signal in a planar direction and a thickness direction of the dielectric substrate.

[0016] The present disclosure also provides an antenna device comprising: a dielectric substrate; a power supply section arranged on a first surface of the dielectric substrate; a first waveguide within the dielectric substrate for transmitting a signal supplied from the power supply section; an antenna including a radiating element for receiving the signal supplied from the first waveguide; and a second waveguide arranged to be stacked on the first waveguide in the thickness direction of the dielectric substrate, the second waveguide having a second opening for outputting the signal to the radiating element and a third opening for receiving the signal from the first waveguide, wherein the first waveguide and the second waveguide have portions that do not overlap in a planar view.

[0017] The center of gravity of the first waveguide and the center of gravity of the second waveguide may be arranged to be offset in a planar direction of the dielectric substrate.

[0018] In a plan view, the center of gravity of the feeding portion, the center of gravity of the first waveguide, the center of gravity of the second waveguide, and the center of gravity of the radiating element may be arranged in this order.

[0019] The dielectric substrate may have a plurality of conductive layers, the plurality of conductive layers including: a first layer on which the feeding portion is arranged; a second layer stacked on the first layer and on which the third opening is arranged; a third layer stacked on the second layer and on which the second opening is arranged; and a fourth layer stacked on the first layer, the second layer, and the third layer and on which the radiating element is arranged; the first waveguide may be arranged between the first layer and the second layer; and the second waveguide may be arranged between the second layer and the third layer.

[0020] A sidewall of the first waveguide and a sidewall of the second waveguide may have a stacked via.

[0021] The second opening may be arranged at an end of the second waveguide on the side of the signal traveling direction, and the third opening may be arranged at an end of the second waveguide on the side opposite to the signal traveling direction.

[0022] The second waveguide may include a plurality of third waveguides arranged so as to be stacked in a thickness direction of the dielectric substrate, and the plurality of third waveguides may be connected to adjacent first waveguides or third waveguides in the thickness direction, and the plurality of third waveguides may have portions that do not overlap with adjacent first waveguides or third waveguides in the thickness direction in a plan view.

[0023] The plurality of third waveguides may be stacked so as to be inclined from the feeding portion to the center of gravity of the radiating element.

[0024] The radiating element may be proximity-coupled to feed the signal from the second opening.

[0025] The sidewall of the first waveguide may have a plurality of vias extending in a thickness direction of the dielectric substrate.

[0026] The present disclosure also provides a radar device comprising: an antenna device having: a dielectric substrate; a power supply portion arranged on a first surface of the dielectric substrate; a first waveguide having one end arranged on the first surface of the dielectric substrate and transmitting, within the dielectric substrate, a signal supplied from the power supply portion to the one end; and an antenna arranged on a second surface of the dielectric substrate and including a radiating element that receives the signal supplied from the first waveguide; and a transceiver that transmits or receives signals using the antenna device.

[0027] 1 is a cross-sectional view showing a configuration of an antenna device according to an embodiment of the present disclosure. FIG. 2 is a first perspective view of the antenna device of FIG. 1. FIG. 3 is a second perspective view of the antenna device of FIG. 1. FIG. 4 is a back view of the antenna device of FIG. 1. FIG. 5 is a top view of the antenna device of FIG. 1. FIG. 6 is a top view showing a configuration of an antenna according to an embodiment of the present disclosure. FIG. 7 is a diagram showing a feeder line of the antenna device of FIG. 1. FIG. 8 is a cross-sectional view of an antenna device according to a comparative example. FIG. 9 is a top view of the antenna device of FIG. 1. FIG. 10 is a waveform diagram showing frequency characteristics of antenna gain. FIG. 11 is a waveform diagram showing frequency characteristics of reflection loss and transmission loss of the antenna gain. FIG. 12 is a waveform diagram showing frequency characteristics of a radiation pattern in the XZ plane of an antenna device according to a comparative example. FIG. 13 is a waveform diagram showing frequency characteristics of a radiation pattern in the XZ plane of an antenna device according to an embodiment of the present disclosure. FIG. 14 is a waveform diagram showing frequency characteristics of a radiation pattern in the YZ plane of an antenna device according to a comparative example. FIG. 15 is a cross-sectional view showing a configuration of an antenna device according to a first modified example of an embodiment of the present disclosure. FIG. 16 is a cross-sectional view showing a configuration of an antenna device according to a second modified example of an embodiment of the present disclosure. FIG. 17 is a cross-sectional view showing a configuration of an antenna device according to a third modified example of an embodiment of the present disclosure. FIG. 18 is a block diagram showing an example configuration of a vehicle control system. 18 is a diagram showing an example of a sensing area of ​​an external recognition sensor of the vehicle control system of FIG. 17.

[0028] 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.

[0029] (Embodiment of the Present Disclosure) Fig. 1 is a cross-sectional view showing a configuration of an antenna device 1000 according to an embodiment of the present disclosure. Fig. 2A is a first perspective view of the antenna device 1000. Fig. 2B is a second perspective view of the antenna device 1000. The antenna device 1000 includes a dielectric substrate (substrate) 100, a feeding section 200, a waveguide (first waveguide) 300a, a waveguide (second waveguide) 300b, and an antenna 400.

[0030] The horizontal direction in Fig. 1 is the longitudinal direction (first direction) X of the antenna device 1000. Moreover, the direction orthogonal to the longitudinal direction X shown in Fig. 2A is the lateral direction (second direction) Y of the antenna device 1000. The vertical direction in Fig. 1 is the thickness direction (third direction) Z of the antenna device 1000.

[0031] The antenna device 1000 has a backside feeding structure and an in-substrate waveguide feeding structure. Specifically, a signal from the feeding section 200 is fed from the backside (first surface) A1 of the dielectric substrate 100. The signal from the feeding section 200 is transmitted to waveguides 300a and 300b arranged within the dielectric substrate 100 and fed to an antenna 400 arranged on the front side (second surface) A2 of the dielectric substrate 100. The antenna 400 radiates radio waves based on the signal fed from the feeding section 200.

[0032] 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 may also be used as a receiving device.

[0033] The dielectric substrate 100 has a plurality of dielectric layers L1 to L7. The dielectric layers L1, L2, L3, L4, L5, L6, and L7 are stacked in this order from the rear surface A1 side of the dielectric substrate 100. The layers L1 and L7 include, for example, a fluorine substrate or a glass polyimide substrate. The layers L2, L3, L4, L5, and L6 include, for example, a high-frequency material such as a glass epoxy substrate.

[0034] FIG. 1 shows an example in which the dielectric substrate 100 is composed of seven dielectric layers, but is not limited to this, and the dielectric substrate 100 may be composed of six or fewer dielectric layers, or eight or more dielectric layers.

[0035] The dielectric substrate 100 also has a conductor layer (first layer) L11, a conductor layer (second layer) L12, a conductor layer (third layer) L13, and a conductor layer (fourth layer) L14. The lower surface of the conductor layer L11 corresponds to the back surface A1 of the dielectric substrate 100. The upper surface of the conductor layer L14 corresponds to the front surface A2 of the dielectric substrate 100. The conductor layer L12 is arranged so as to sandwich the dielectric layers L1 and L2 between itself and the conductor layer L11. The conductor layer L13 is arranged so as to sandwich the dielectric layers L6 and L7 between itself and the conductor layer L14. Furthermore, dielectric layers L3 to L5 are arranged between the conductor layers L12 and L13.

[0036] Ground plates 110a, which are conductive members, are provided on the left and right sides of the conductive layer L11, spaced apart by a gap (slot) of openings (first openings) 310a in a direction parallel to the substrate surface. Openings 310a correspond to the signal input section of waveguide 300a. Furthermore, a power feeding section 200 is disposed in opening 310a. Power feeding section 200 includes a power feeding element 210 and a matching adjustment section 220. As shown in FIG. 1 , one end of waveguide 300a and power feeding section 200 are disposed on rear surface A1.

[0037] The feed element 210 is a connection part to a preceding feed chip (e.g., a millimeter-wave IC chip), and receives a predetermined signal from the feed chip. The matching adjuster 220 performs impedance matching between the feed element 210 and the waveguide 300a to suppress ringing noise and the like.

[0038] The conductive layer L12 is provided with ground plates 110b, which are conductive members, on both sides of the conductive layer L12, spaced apart by a slot (a distance equal to a third opening) 310b in a direction parallel to the substrate surface. The opening 310b corresponds to the signal output port of the waveguide 300a and the signal input port of the waveguide 300b.

[0039] A waveguide 300a is disposed between the dielectric layers L1 and L2. The waveguide 300a transmits a signal input through the opening 310a and outputs the signal to the waveguide 300b through the opening 310b. A conductor layer is disposed between the dielectric layers L1 and L2.

[0040] 2A , the sidewall 320a of the waveguide 300a is disposed so as to penetrate the dielectric layers L1 and L2. As shown in FIG. 2A , the sidewall 320a has a plurality of vias (first vias) 330a extending in the thickness direction Z of the dielectric substrate 100. The plurality of vias 330a electrically connect the conductor layers L11 and L12.

[0041] The lower portion of the waveguide 300a is covered by the ground plate 110a, and the upper portion, except for the opening 310b, is covered by the ground plate 110b. As shown in FIG. 2B , the side surface of the waveguide 300a has a portion where the side wall 320a is disposed and a portion where the side wall 320a is not disposed. The side wall 320a is formed by the plated metal walls of a plurality of vias 330a. The millimeter-wave signal input from the power supply unit 200 is reflected by the metal walls of the vias 330a, thereby transmitting the signal through the waveguide 300a.

[0042] 3 is a rear view of the antenna device 1000. As shown in FIG. 3, the matching adjustment section 220 has a tapered section. The tapered section is arranged so that one end contacts the feed element 210 and the other end contacts the waveguide 300a. The tapered section has a narrower path width on the feed element 210 side and a wider path width on the waveguide 300a side. This reduces the impedance of the waveguide 300a compared to the feed element 210. Note that the tapered section may also be configured so that the wider path width on the feed element 210 side and the narrower path width on the waveguide 300a side.

[0043] The conductive layer L13 is provided with ground plates 110c, which are conductive members, on both sides of the conductive layer L13, spaced apart by a gap (slot) of an opening (second opening) 310c in a direction parallel to the substrate surface. The opening 310c corresponds to the signal output section of the waveguide 300b.

[0044] A waveguide 300b is disposed on the dielectric layers L3 to L5. The waveguide 300b transmits a signal input from the opening 310b and supplies the signal to the antenna 400 via the opening 310c.

[0045] 2A, the sidewall 320b of the waveguide 300b is disposed so as to penetrate the dielectric layers L3 to L5. As shown in FIG. 2A, the sidewall 320b has a plurality of vias (second vias) 330b. The plurality of vias 330b electrically connect the conductor layers L12 and L13.

[0046] The lower portion of the waveguide 300b is covered by the ground plate 110b except for the opening 310b, and the upper portion is covered by the ground plate 110c except for the opening 310c. The side surface of the waveguide 300b is covered by a sidewall 320b having, for example, a rectangular shape. The sidewall of the waveguide 300b is formed by the metal walls of a plurality of vias 330b. The opening 310c is located at the end of the waveguide 300b in the signal traveling direction, and the opening 310b is located at the end opposite the signal traveling direction.

[0047] 2B , the waveguide 300b is disposed so as to be stacked on the waveguide 300a in the thickness direction Z of the dielectric substrate 100. The waveguide 300b has a portion that does not overlap with the waveguide 300a in a plan view. Note that, although an example in which the waveguides 300a and 300b are rectangular waveguides will be described in this specification, the present invention is not limited to this, and the waveguides 300a and 300b may have any shape.

[0048] Fig. 4 is a top view of the antenna device 1000. Fig. 1 is a cross-sectional view taken along line A-A' in Fig. 4. As shown in Fig. 4, the center of gravity of the waveguide 300a and the center of gravity of the waveguide 300b are arranged to be offset in a planar direction (e.g., the longitudinal direction X) of the dielectric substrate 100. Furthermore, the openings 310a, 310b, and 310c are arranged to be offset in a planar direction (e.g., the longitudinal direction X) of the dielectric substrate 100.

[0049] 4 also illustrates a feed line (first feed line) Lsa in the longitudinal direction X. The feed line Lsa of the antenna device 1000 is composed of a tapered portion and a waveguide 300a. The feed line Lsa has a length from the feed element 210 to the center of gravity of the opening 310b.

[0050] An antenna 400 is disposed on the conductive layer L14 in FIG. 1. The antenna 400 may have directivity in any direction or may be omnidirectional. The antenna 400 has one radiating element 410. The radiating element 410 is disposed so as to face the opening 310c of the waveguide 300b via the dielectric layers L6 and L7.

[0051] Fig. 5 is a top view showing the configuration of an antenna 400 according to an embodiment of the present disclosure. Fig. 5 shows the configuration of a combline antenna as an example of the antenna 400. However, the antenna 400 is not limited to this, and a patch array antenna or the like may also be used. The radiating element 410 in Fig. 5 has a microstrip line 420 extending in the longitudinal direction X and a plurality of comblines 430 arranged in a comb-like pattern on the microstrip line 420. A slit may be provided between the combline 430 and the microstrip line 420.

[0052] As an example, the radiating element 410 is formed by patterning a conductive foil on the surface of the dielectric layer L7. More specifically, the entire surface of the dielectric layer L7 is covered with conductive foil, and the conductive foil is patterned in the region where the radiating element 410 is to be formed, thereby forming the radiating element 410.

[0053] The waveguide 300b supplies signals to the antenna 400 by a proximity joining feeding method. By proximity joining from the conductive layer L13, which is the layer immediately below the conductive layer L14 on which the antenna 400 is arranged, the radio waves radiated from the antenna 400 can be made broadband.

[0054] Furthermore, as shown in FIG. 5 , the waveguide 300b feeds a signal to approximately the center of the radiating element 410 (also referred to as center feeding in this specification). One comparative example is root feeding, in which power is fed from the end of the radiating element 410. In an antenna device with root feeding, fluctuations in frequency cause tilt and distortion of the radiation pattern (disruption of directivity). In contrast, the antenna 400 according to the present disclosure can cancel out the tilt of the radiation pattern on the left and right sides of the antenna 400 when the frequency shifts, thereby suppressing at least one of the tilt of the radiation pattern and the disruption of directivity.

[0055] 1 , the feeding section 200 and the opening 310a of the waveguide 300a are arranged on the same conductor layer L11 and the same back surface A1 of the dielectric substrate 100. The antenna device 1000 according to the first embodiment of the present disclosure is characterized in that the waveguide 300a is fed with a signal directly from the feeding element 210. This improves the feeding efficiency compared to proximity-junction feeding from the feeding element 210.

[0056] Fig. 6 is a diagram showing the feed line of the antenna device 1000. As shown in Fig. 4, a signal supplied from the feed element 210 passes through the waveguides 300a and 300b extending in the longitudinal direction X and is output to the radiating element 410 from the opening 310c.

[0057] As shown in Fig. 6 , the antenna device 1000 according to the embodiment of the present disclosure is configured by relaying signals in the planar direction and thickness direction Z of the dielectric substrate using waveguides 300a and 300b. In this specification, this configuration is also referred to as a relay waveguide structure. Fig. 6 shows an example in which the relay waveguide structure is configured with two waveguides 300a and 300b, but the relay waveguide structure may be configured with three or more waveguides. The two waveguides 300a and 300b configure a feed line (second feed line) Lsb that transmits signals in the thickness direction Z and planar direction of the dielectric substrate 100.

[0058] 6 illustrates an example in which the waveguides 300a and 300b are used as feed lines, particularly in the longitudinal direction X. In this case, the feed element 210, the center of gravity of the waveguide 300a, the center of gravity of the waveguide 300b, and the center of gravity of the radiating element 410 are arranged in this order in a plan view.

[0059] 6, in the antenna device 1000, signal transmission from the feed element 210 can be completed within the dielectric substrate 100. This eliminates the need for a microstrip line or the like on the back surface A1. Note that the antenna device 1000 may have a structure in which a microstrip line is provided in part of the feed section 200.

[0060] Fig. 7 is a cross-sectional view of an antenna device 5000 according to a comparative example. Fig. 8 is a top view of the antenna device 5000 according to the comparative example. The antenna device 5000 of Fig. 7 differs from the antenna device 1000 of Fig. 1 in that it does not have a waveguide 300a.

[0061] The waveguide 300b in FIG. 7 receives a signal from the feed element 210 via proximity junction feeding. Specifically, the antenna device 5000 includes a microstrip line 5011 and a ground plate 5012. The microstrip line 5011 is disposed on the rear surface A1 of the dielectric substrate 100 and transmits a signal from the feed element 210. The microstrip line 5011 is used as a feed line in the planar direction of the dielectric substrate 100 and extends from the feed element 210 to a position reaching an opening 5020 in the waveguide 300b. The ground plate 5012 is disposed on the conductor layer L101 between the dielectric layers L1 and L2 and functions as a ground line for the microstrip line 5011. The waveguide 300b has an opening 5020 provided in the ground plate 110b, and receives a signal from the microstrip line 5011 via the opening 5020 via proximity junction feeding.

[0062] The antenna 400 in Fig. 7 has two radiating elements 5031 and 5032. The radiating elements 5031 and 5032 face each other across the center of the antenna 400. The distance between the radiating elements 5031 and 5032 is approximately the same as the wavelength λ of the operating frequency of the antenna 400. The antenna device 5000 also has a feed plate 5040. The feed plate 5040 is a plate-shaped conductive member, and is used to feed power from the waveguide 300b to approximately the center of the antenna 400. The feed plate 5040 is disposed on the conductor layer L102 between the dielectric layers L6 and L7.

[0063] 7 supplies signals with a phase difference of approximately 180° to radiating elements 5031 and 5032 by centrally feeding antenna 400 from feeder plate 5040. This cancels out frequency fluctuations between radiating elements 5031 and 5032, and suppresses tilt of the radiation pattern and loss of directivity, similar to antenna device 1000 in FIG.

[0064] The waveguide 300b in FIG. 7 is positioned so that a signal can be supplied to the feeder plate 5040 from the signal output opening 310c, and is used as a feeder line in the thickness direction Z of the dielectric substrate 100. The sidewall 320b of the waveguide 300b is composed of stacked vias. More specifically, the sidewall 320b has a via 5051, a via 5052 formed on the via 5051, and a via 5053 formed on the via 5052. The via 5051 connects the ground plate 110b to a ground plate 5061 disposed between the dielectric layers L3 and L4. The via 5052 connects the ground plate 5061 to a ground plate 5062 disposed between the dielectric layers L4 and L5. The via 5053 connects the ground plate 5062 to the ground plate 110c.

[0065] 8 illustrates the feed line Lsc in the longitudinal direction X. The feed line Lsc of the antenna device 5000 is made up of a microstrip line 5011 and has the same length as the microstrip line 5011.

[0066] A first problem with the antenna device 5000 according to the comparative example is that a proximity junction feed is used to feed power to the waveguide 300b, which causes a power feed loss due to the proximity junction feed.

[0067] A second problem with the antenna device 5000 is that the microstrip line 5011 is used as a feed line in the planar direction of the dielectric substrate 100. This causes a feed loss due to the microstrip line.

[0068] A third problem of the antenna device 5000 is that the waveguide 300b is used as a feed line in the thickness direction Z. This complicates the design of the waveguide 300b when stacked vias cannot be used due to constraints in the manufacturing process or the like.

[0069] A fourth problem of the antenna device 5000 is that the feed plate 5040 is required for center feeding of the antenna 400. This requires the conductive layer L102, which increases the thickness of the dielectric substrate 100.

[0070] In contrast, in the antenna device 1000 according to the embodiment of the present disclosure, as shown in Fig. 3, power is fed directly to the waveguide 300a from the power feeding section 200. This prevents power feeding loss due to proximity junction feeding.

[0071] Furthermore, by using the waveguide 300a as the feed line, there is no need for a microstrip line on the rear surface A1 of the dielectric substrate 100. This eliminates the power feed loss caused by the microstrip line.

[0072] Furthermore, the antenna device 1000 uses the relay waveguide structure as a feed line in the planar direction and thickness direction Z of the dielectric substrate 100. This eliminates the need for stacked vias in the configuration of the waveguides 300a and 300b, simplifying the design of the waveguides.

[0073] Furthermore, the antenna device 1000 does not require the feed plate 5040. This eliminates the need for the conductive layer L102, allowing the dielectric substrate 100 to be made thinner.

[0074] 9 to 14, the performance of the antenna device 1000 according to the embodiment of the present disclosure will be compared with that of the antenna device 5000 according to a comparative example. For the purpose of performance comparison, the inventors used the comb-line antenna shown in FIG. 5 as the antenna 400 of the antenna devices 1000 and 5000. The length of the feed line Lsa in FIG. 3 is approximately the same as the length of the feed line Lsc in FIG. 8. The dielectric layer of the dielectric substrate 100 has the same structure, and the materials, conductor constants, etc. are approximately the same.

[0075] Fig. 9 is a waveform diagram showing frequency characteristics of antenna gain. The horizontal axis of Fig. 9 represents frequency (Freq [GHz]), and the vertical axis represents antenna gain (Gain [dB]). Curve W1 represents the antenna gain of the antenna device 1000, and curve W2 represents the antenna gain of the antenna device 5000. As shown in Fig. 9, due to the improvement in power supply efficiency described above, the antenna gain of the antenna device 1000 according to the embodiment of the present disclosure is improved over that of the antenna device 5000 in all frequency bands. Specifically, the antenna gain is improved by approximately 0.5 dB.

[0076] Fig. 10 is a waveform diagram showing the frequency characteristics of the return loss and insert loss of the antenna gain. The horizontal axis of Fig. 10 represents frequency, and the vertical axis represents the loss of the antenna gain (dB). Fig. 10 shows negative values ​​for the antenna gain, with the loss approaching zero as you move up the vertical axis. In other words, the loss of the antenna gain increases as you move down the vertical axis.

[0077] A curve W3 indicates the insertion loss of the antenna device 1000, and a curve W4 indicates the insertion loss of the antenna device 5000. As shown in Fig. 10, the insertion loss of the antenna gain of the antenna device 1000 is smaller than that of the antenna device 5000 in all frequency bands.

[0078] Curve W5 shows the return loss of antenna device 1000, and curve W6 shows the return loss of antenna device 5000. As shown in Fig. 10, the return loss of antenna device 5000 fluctuates greatly, and a large return loss of antenna gain occurs in a specific frequency band. In contrast, the return loss of antenna device 1000 fluctuates little, and the return loss of antenna gain is suppressed in all frequency bands.

[0079] 11 and 12 are waveform diagrams showing frequency characteristics of the radiation pattern in the XZ plane (phi = 0°, phi is the angle between the X axis and the Y axis) formed by the longitudinal direction X and thickness direction Z of the dielectric substrate 100. The horizontal axes of FIGS. 11 and 12 represent the angle (Theta [°]) between the XY plane and the Z axis. The central axis of FIGS. 11 and 12 is 0°. The vertical axes of FIGS. 11 and 12 represent antenna gain. FIG. 11 shows frequency characteristics of the radiation pattern in the XZ plane of an antenna device 5000 according to a comparative example. FIG. 12 shows frequency characteristics of the radiation pattern in the XZ plane of the antenna device 1000 according to an embodiment of the present disclosure. As shown in FIGS. 11 and 12 , in the XZ plane, the antenna device 1000 can suppress tilt of the radiation pattern and loss of directivity to the same extent as the antenna device 5000.

[0080] 13 and 14 are waveform diagrams showing the frequency characteristics of the radiation pattern in the YZ plane (phi = 90 deg) of the dielectric substrate 100. In FIGS. 13 and 14, the horizontal axis represents the angle between the XY plane and the Z axis, and the vertical axis represents the antenna gain. FIG. 13 shows the frequency characteristics of the radiation pattern in the YZ plane of the antenna device 5000 according to a comparative example. FIG. 14 shows the frequency characteristics of the radiation pattern in the YZ plane of the antenna device 1000 according to an embodiment of the present disclosure. As shown in FIGS. 13 and 14, even in the YZ plane, the antenna device 1000 can suppress the tilt of the radiation pattern and the loss of directivity to the same extent as the antenna device 5000.

[0081] As shown in FIGS. 11 to 14, antenna device 1000 can suppress the tilt of the radiation pattern and the loss of directivity in the same way as antenna device 5000, even without feeder plate 5040.

[0082] (First Modification) Fig. 15A is a cross-sectional view showing an antenna device 1000a according to a first modification of the embodiment of the present disclosure. The antenna device 1000a of Fig. 15A is characterized in that part of the side walls of the waveguides 300a and 300b are configured with stacked vias. The waveguides 300a and 300b have a common side wall 320c. The side wall 320c has a via 330c connecting the ground plates 110a and 110b, and a via 330d connecting the ground plates 110b and 110c. The via 330d is formed on the via 330c. Note that the side wall 320c may be configured with a via hole or the like instead of a stacked via.

[0083] 15B is a cross-sectional view showing an antenna device 1000b according to a second modification of the embodiment of the present disclosure. The antenna device 1000b in Fig. 15B differs from the antenna device 1000 in Fig. 1 in that it does not have a relay waveguide structure.

[0084] 15B has a conductor layer (first layer) L21 on which the feeding section 200 and the opening 310a of the waveguide 300a are arranged, a conductor layer (second layer) L22 on which the opening 310c of the waveguide 300a is arranged, and a conductor layer (third layer) L23 on which the radiating element 410 is arranged. The waveguide 300a is arranged between the conductor layers L21 and L22.

[0085] Waveguide 300a is fed with a signal from opening 310a, transmits the signal in the planar direction and thickness direction Z of dielectric substrate 100, and feeds the signal via proximity junction from opening 310c to radiating element 410. Antenna device 1000b in Fig. 15B feeds the signal from feeding section 200 directly to waveguide 300a without passing through a microstrip line, and therefore can improve power feeding efficiency, similar to antenna device 1000 in Fig. 1.

[0086] (Third Modification) FIG. 15C is a cross-sectional view showing an antenna device 1000c according to a third modification of the embodiment of the present disclosure. The antenna device 1000c of FIG. 15C is characterized in that the relay waveguide structure is composed of three or more waveguides. The example of FIG. 15C illustrates five waveguides 300a, 300c, 300d, 300e, and 300f stacked in this order from the bottom of FIG. 15C in the thickness direction Z of the dielectric substrate 100. The waveguides 300a and 300c to 300f are stacked so as to be inclined from the power feed section 200 to the center of gravity of the radiating element 410. The waveguides 300c to 300f correspond to the waveguide 300b of FIG. 1 and receive a signal from the waveguide 300a and transmit the signal to the radiating element 410. As shown in FIG. 15C, waveguides 300a and 300c to 300f have openings for connecting with adjacent waveguides, and adjacent waveguides have portions that do not overlap in a plan view.

[0087] 16 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.

[0088] 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.

[0089] The transceiver 800 is a circuit that performs signal transmission and reception processing. The transceiver 800 generates a signal to be transmitted and supplies it from the power feed line of the antenna device 1000_1. In the antenna device 1000_1, the supplied signal is transmitted to the power feed section via a waveguide, and power is supplied from the power feed section to the antenna by proximity coupling. The antenna radiates radio waves through resonance based on the signal supplied by proximity coupling. The antenna device 1000_2 receives reflected waves of the radiated radio waves and supplies the received signals 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.

[0090] (Application Example) FIG. 17 is a block diagram showing a configuration example of a vehicle control system 11, which is a non-limiting example of a mobility device control system to which the present technology is applied.

[0091] The vehicle control system 11 is provided in the vehicle 1 and performs processing related to automated driving of the vehicle 1. This automated driving includes levels 1 to 5 of automated driving, as well as remote driving and / or remote assistance of the vehicle 1 by a remote driver. The level of automated driving may refer to the Society of Automotive Engineers (SAE) J3016™ APL2021 Levels of Driving Automation, where SAE Level 0 denotes the lowest level of automated driving and SAE Level 5 denotes the highest level of automated driving. For example, SAE Level 1 automated driving may be composed of driver assistance functions that provide steering or braking / acceleration support to the driver, and SAE Level 5 automated driving may be composed of automated driving functions that can drive the vehicle under all conditions.

[0092] 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 automation control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.

[0093] Two or more (or in some cases, all) of 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, driving automation control unit 29, DMS 30, HMI 31, and vehicle control unit 32 are communicatively connected to each other via a communication network 41. 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). In some embodiments, the communication network 41 may include two or more types of communication networks, and different types of communication networks 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 some embodiments, two or more (or in some cases, all) units of the vehicle control system 11 may be directly connected using wireless communication (e.g., communication at a relatively short distance) without using the communication network 41. In some embodiments, the wireless communication may use a short-range wireless communication technology. Non-limiting examples of short-range wireless communication technologies include near field communication (NFC) and Bluetooth (registered trademark). In some embodiments, two or more (or in some cases, all) units of the vehicle control system 11 may be connected using the communication network 41 and a wireless communication technology (e.g., a short-range wireless communication technology).

[0094] Hereinafter, in an embodiment in which two or more units of the vehicle control system 11 communicate with each other via the communication network 41, the description of the communication network 41 will be omitted. For example, in an embodiment in which the vehicle control ECU 21 and the communication unit 22 communicate with each other 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.

[0095] 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.

[0096] The communication unit 22 communicates with various devices inside the vehicle 1 (hereinafter referred to as in-vehicle devices), various devices outside the vehicle 1 (hereinafter referred to as out-vehicle devices), other vehicles, base stations, etc., and transmits and receives various types of data. In some embodiments, the communication unit 22 may communicate using multiple communication technologies.

[0097] A non-limiting example of communication between the communication unit 22 and an external device will now be briefly described. In some embodiments, the communication unit 22 may communicate 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 wireless communication technology. Non-limiting examples of wireless communication technology include 5G (5th Generation Mobile Communication System), LTE (Long Term Evolution), DSRC (Dedicated Short Range Communications), etc. The external network with which the communication unit 22 can communicate is, for example, the Internet, a cloud network, or a network specific to an operator. The communication technology used by the communication unit 22 to communicate with the external network is not particularly limited as long as it is a wireless communication technology that enables digital two-way communication at a communication speed equal to or higher than a predetermined distance.

[0098] In some embodiments, the communication unit 22 may use P2P (Peer to Peer) technology to communicate with a terminal located near the vehicle. The terminal located near the vehicle may be, for example, a terminal attached to 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, and / or an MTC (Machine Type Communication) terminal. In some embodiments, the communication unit 22 may perform V2X (Vehicle to Everything) communication. V2X communication generally refers to communication between the vehicle and another entity. Non-limiting examples of V2X communication include 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 or worn by a pedestrian.

[0099] In some embodiments, the communication unit 22 may receive a program for updating software that controls the operation of the vehicle control system 11 from outside the vehicle 1 (e.g., over the air). In some embodiments, the communication unit 22 may receive map information, traffic information, information about the surroundings of the vehicle 1, etc. from outside the vehicle 1. In some embodiments, the communication unit 22 may transmit information about the vehicle 1 or information about the surroundings of the vehicle 1, etc. to an external device or an external network. Non-limiting examples of information about the vehicle 1 that the communication unit 22 transmits to an external device or an external network include data indicating the status of the vehicle 1, recognition results by the recognition unit 73, etc. In some embodiments, the communication unit 22 may communicate with a vehicle emergency notification system. Non-limiting examples of a vehicle emergency notification system include eCall, etc.

[0100] In some embodiments, the communication unit 22 may receive electromagnetic waves transmitted by a road traffic information communication system. In some embodiments, the electromagnetic waves may be transmitted using a radio beacon, an optical beacon, FM multiplex broadcasting, or the like.

[0101] Non-limiting examples of communication with in-vehicle devices that can be performed by the communication unit 22 will now be briefly described. In some embodiments, the communication unit 22 may communicate with the in-vehicle devices using wireless communication. For example, in some embodiments, the communication unit 22 may communicate with the in-vehicle devices using wireless communication technology that enables bidirectional digital communication at a predetermined communication speed or higher. Non-limiting examples of wireless communication technology include wireless LAN, Bluetooth, NFC, and WUSB (Wireless USB). Alternatively, the communication unit 22 may communicate with the in-vehicle devices using wired communication (in addition to or as an alternative to wireless communication). For example, in some embodiments, the communication unit 22 may communicate with the in-vehicle devices using wired communication via a cable connected to a connection terminal (not shown). In some embodiments, the communication unit 22 may communicate with the in-vehicle devices using wired communication technology that enables bidirectional digital communication at a predetermined communication speed or higher. Non-limiting examples of wired communication technologies include Universal Serial Bus (USB), High-Definition Multimedia Interface (HDMI)®, and Mobile High-definition Link (MHL).

[0102] Here, the in-vehicle devices refer to, for example, devices inside the vehicle 1 that are not connected to the communication network 41. The in-vehicle devices are divided into devices that constitute the vehicle control system 11 and devices that do not constitute the vehicle control system 11. Non-limiting examples of in-vehicle devices that do not constitute the vehicle control system 11 include mobile devices and wearable devices carried by users of the vehicle 1 (for example, the driver or passengers), and information devices that are temporarily installed inside the vehicle 1. These devices can, for example, be moved outside the vehicle 1 and become external devices.

[0103] The map information storage unit 23 stores maps acquired from an external device or an external network and / or maps created by the vehicle 1. For example, the map information storage unit 23 may store a three-dimensional high-precision map, a global map that has lower precision than a high-precision map and covers a wide area, or the like.

[0104] The high-precision map may be, for example, a dynamic map, a point cloud map, a vector map, etc. The dynamic map may be, for example, a map consisting of four layers of dynamic information, quasi-dynamic information, quasi-static information, and static information, and may be provided to the vehicle 1 from an external server or the like. The point cloud map may be a map composed of a point cloud (point cloud data). The vector map may be, for example, a map adapted for automated driving by associating traffic information such as the positions of lanes and traffic lights with the point cloud map.

[0105] 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 regarding the planned route along which the vehicle 1 will travel may be acquired from the external server or the like in order to reduce communication capacity.

[0106] The position information acquisition unit 24 acquires position information of the vehicle 1. The acquired position information may be supplied to the driving automation control unit 29. In some embodiments, the position information acquisition unit 24 may receive GNSS (Global Navigation Satellite System) signals from GNSS satellites. In some embodiments, the position information acquisition unit 24 may receive signals from beacons or the like.

[0107] The external recognition sensor 25 includes various sensors used to recognize the situation outside the vehicle 1, and supplies sensor data from one or more (or in some cases, all) sensors to one or more (or in some cases, all) units of the vehicle control system 11. The type and number of sensors included in the external recognition sensor 25 are arbitrary.

[0108] In some embodiments, the external recognition sensor 25 may include 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 they are numbers 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 the sensors included in the external recognition sensor 25 will be described later.

[0109] The camera 51 may use any suitable imaging method. In some embodiments, the camera 51 may use an imaging method capable of distance measurement. Non-limiting examples of cameras using imaging methods capable of distance measurement include a time-of-flight (ToF) camera, a stereo camera, a monocular camera, and an infrared camera. However, the camera 51 may simply acquire an image without distance measurement.

[0110] In some embodiments, the external recognition sensor 25 may include an environmental sensor for detecting characteristics of the environment around the vehicle 1. Non-limiting examples of environmental characteristics that may be detected include weather, climate, brightness, etc. In some embodiments, the environmental sensor may include various sensors such as a rain sensor, a fog sensor, a sunlight sensor, a snow sensor, and an illuminance sensor.

[0111] In some embodiments, the external recognition sensor 25 may include a microphone used to detect sounds around the vehicle 1 and the location of sound sources.

[0112] The interior sensor 26 includes various sensors for detecting information about the interior of the vehicle 1, and supplies sensor data from one or more (or in some cases, all) sensors to one or more (or in some cases, all) units 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 the types and number that can be realistically installed in the vehicle 1.

[0113] In some embodiments, the interior sensor 26 may include one or more sensors selected from the group consisting of a camera, radar, a seating sensor, a microphone, and a biometric sensor. In some embodiments, the camera included in the interior sensor 26 may use an imaging method capable of measuring distances. Non-limiting examples of cameras using imaging methods capable of measuring distances include a Time of Flight (ToF) camera, a stereo camera, a monocular camera, and an infrared camera. The camera included in the interior sensor 26 may also be a camera simply used to acquire captured images, regardless of distance measurement. The biometric sensor included in the interior sensor 26 may be provided, for example, on a seat or a steering wheel, and may detect various types of biometric information of the user.

[0114] The vehicle sensor 27 includes various sensors for detecting the state of the vehicle 1, and supplies sensor data from one or more (or in some cases, all) sensors to one or more (or in some cases, all) units 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 the types and number that can be realistically installed on the vehicle 1.

[0115] In some embodiments, the vehicle sensor 27 may include a speed sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), and / or an inertial measurement unit (IMU) that integrates these. In some embodiments, the vehicle sensor 27 may include 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 (e.g., pedal force, pedal stroke), and / or a brake sensor that detects the amount of brake pedal operation (e.g., pedal force, pedal stroke). In some embodiments, the vehicle sensor 27 may include 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 / or a wheel speed sensor that detects the rotation speed of the wheels. In some embodiments, the vehicle sensor 27 may include a battery sensor that detects the remaining battery level and temperature, and / or an impact sensor that can detect external impacts.

[0116] The storage unit 28 includes at least one of a non-volatile storage medium and a volatile storage medium, and stores data and programs. Non-limiting examples of storage media include magnetic storage devices such as electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), and / or hard disk drives (HDDs), semiconductor storage devices, optical storage devices, and magneto-optical storage devices. The storage unit 28 stores various programs and data used by one or more (or in some cases, all) units of the vehicle control system 11. In some embodiments, the storage unit 28 may include an event data recorder (EDR) or a data storage system for automated driving (DSSAD), and may store information about the vehicle 1 before and after an event such as an accident, as well as information acquired by the in-vehicle sensors 26.

[0117] The driving automation control unit 29 controls the driving automation function of the vehicle 1. In some embodiments, the driving automation control unit 29 may include an analysis unit 61, an action planning unit 62, and an operation control unit 63.

[0118] The analysis unit 61 performs an analysis process of the vehicle 1 and / or the surrounding situation. The analysis unit 61 includes a self-position estimation unit 71, a sensor fusion unit 72, and a recognition unit 73.

[0119] In some embodiments, the self-position estimation unit 71 may estimate the self-position of the vehicle 1 based on sensor data from the external recognition sensor 25 and a high-precision map stored in the map information storage unit 23. For example, the self-position estimation unit 71 may generate a local map based on the sensor data from the external recognition sensor 25 and estimate the self-position of the vehicle 1 by matching the local map with the high-precision map. The position of the vehicle 1 may be based on, for example, the center of the rear wheel pair axle.

[0120] In some embodiments, the local map may be a three-dimensional high-precision map, an occupancy grid map, or the like created using a technique such as SLAM (Simultaneous Localization and Mapping). The three-dimensional high-precision map may be, for example, the point cloud map described above. The occupancy grid map may be a map obtained by dividing a three-dimensional or two-dimensional space around the vehicle 1 into grids of a predetermined size and indicating the occupancy status of objects on a grid-by-grid basis. The occupancy status of an object may be indicated, for example, by the presence or absence of an object or a probability of its presence. In some embodiments, the local map may also be used, for example, in the detection process and / or recognition process of the situation outside the vehicle 1 by the recognition unit 73.

[0121] In some embodiments, 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 / or sensor data from the vehicle sensor 27 .

[0122] The sensor fusion unit 72 performs sensor fusion processing to obtain 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, but are not limited to, compounding, integration, fusion, and association.

[0123] The recognition unit 73 executes a detection process for detecting the situation outside the vehicle 1 and / or a recognition process for recognizing the situation outside the vehicle 1 .

[0124] For example, the recognition unit 73 may perform detection processing and / or 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.

[0125] Specifically, for example, the recognition unit 73 may perform a detection process and / or a recognition process of objects around the vehicle 1. The object detection process may be, for example, a process of detecting the presence or absence, size, shape, position, movement, etc. of an object. The object recognition process may be, for example, a process of recognizing attributes such as the type of object, or a process of identifying a specific object. The detection process and the recognition process are not necessarily clearly separated, and there may be at least a partial overlap.

[0126] In some embodiments, the recognition unit 73 may detect objects around the vehicle 1 by performing clustering to classify a point cloud based on sensor data from the radar 52 and / or the LiDAR 53, etc. into clusters of points. This makes it possible to detect the presence, size, shape, and position of objects around the vehicle 1.

[0127] In some embodiments, the recognition unit 73 may detect the movement of objects around the vehicle 1 by tracking the movement of clusters of point clouds classified by clustering. This makes it possible to detect the speed and / or traveling direction (movement vector) of objects around the vehicle 1.

[0128] In some embodiments, the recognition unit 73 may detect and / or recognize vehicles (including bicycles), people, obstacles, structures, roads, traffic lights, traffic signs, road markings, etc. based on image data supplied from the camera 51. In some embodiments, the recognition unit 73 may recognize the type of object around the vehicle 1 by performing recognition processing such as semantic segmentation.

[0129] In some embodiments, the recognition unit 73 may 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 / or the result of recognition of objects around the vehicle 1 by the recognition unit 73. Through this process, the recognition unit 73 may recognize the position and / or state of traffic lights, the contents of traffic signs and / or road markings, the contents of traffic regulations, and / or lanes that can be traveled, etc.

[0130] In some embodiments, the recognition unit 73 may perform recognition processing of the environment around the vehicle 1. In some embodiments, the recognition unit 73 may recognize weather characteristics (temperature, humidity, brightness) and / or road surface conditions, etc.

[0131] The behavior planning unit 62 creates a behavior plan for the vehicle 1. For example, the behavior planning unit 62 may create a behavior plan by performing route planning and route tracking.

[0132] In some embodiments, path planning may include global path planning and local path planning. Global path planning may include a process of planning a rough route from a start to a goal. Local path planning, also referred to as trajectory planning, may include generating a trajectory that allows the vehicle 1 to proceed safely and smoothly along a planned route in the vicinity of the vehicle 1, taking into account the motion characteristics of the vehicle 1, the presence of any obstacles, and the like.

[0133] In some embodiments, the path following may be a planning of an operation for safely and accurately traveling along a route planned by the route planner within a planned time. The behavior planning unit 62 may, for example, calculate a target speed and / or a target angular velocity of the vehicle 1 based on the result of the path following process.

[0134] 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 .

[0135] For example, in some embodiments, the operation control unit 63 may control the steering control unit 81, the brake control unit 82, and / or the drive control unit 83 included in the vehicle control unit 32 (described later) to perform lateral vehicle motion control and / or longitudinal vehicle motion control so that the vehicle 1 travels along the trajectory calculated by the trajectory plan. For example, the operation control unit 63 may perform control (e.g., lateral vehicle motion control, longitudinal vehicle motion control) for one or more driver assistance functions and / or driving automation. Non-limiting examples of driver assistance functions include collision avoidance or impact mitigation, following distance control (e.g., control to maintain a specific distance from a vehicle traveling in front of the vehicle 1), vehicle speed control (e.g., control to maintain a specific speed), vehicle collision warning, and lane departure warning. Non-limiting examples of driving automation include driving without operation by a driver or a remote driver.

[0136] In some embodiments, the DMS 30 may perform a driver authentication process and / or a driver state recognition process based on sensor data from the in-vehicle sensors 26 and / or input data input to the HMI 31 (described later), etc. Non-limiting examples of the driver state that may be recognized include physical condition, alertness, concentration, fatigue, gaze direction, level of intoxication, driving operation, posture, etc.

[0137] In some embodiments, the DMS 30 may perform authentication processing of a user other than the driver (e.g., a passenger) and / or recognition processing of the state of the user. In some embodiments, the DMS 30 may perform recognition processing of the interior situation of the vehicle 1 based on sensor data from the interior sensors 26. Non-limiting examples of characteristics of the interior situation of the vehicle 1 that can be recognized include temperature, humidity, brightness, odor, etc.

[0138] The HMI 31 receives various data, instructions, etc. as input, and presents the various data to the user.

[0139] The input of data to the HMI 31 will be briefly described. The HMI 31 includes an input device through which a person inputs data, instructions, etc. The HMI 31 generates an input signal based on the data, instructions, etc. input via the input device and supplies the signal to one or more (or in some cases, all) units of the vehicle control system 11. In some embodiments, the HMI 31 may include a touch panel, buttons, switches, and / or levers as input devices. Without being limited thereto, the HMI 31 may also include an input device that allows information to be input by a method other than manual operation, such as voice or gestures. In some embodiments, the HMI 31 may include an input device such as a remote control device using infrared and / or radio waves, or an externally connected device that can operate the vehicle control system 11. Non-limiting examples of externally connected devices include a mobile device (e.g., a smartphone) and a wearable device (e.g., a smart watch).

[0140] The presentation of data by the HMI 31 will be briefly described. The HMI 31 generates visual information, auditory information, and / or tactile information for the user and / or a person outside the vehicle 1. The HMI 31 may also perform output control, controlling the output, output content, output timing, and / or output method of each piece of generated information. Non-limiting examples of visual information that can be generated and output by the HMI 31 include information displayed 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. Non-limiting examples of auditory information that can be generated and output by the HMI 31 include voice guidance, warning sounds, warning messages, etc. Non-limiting examples of tactile information that can be generated and output by the HMI 31 include information imparted to the user's sense of touch by force, vibration, movement, etc.

[0141] In some embodiments, the HMI 31 may include, as an output device capable of outputting visual information, a display device that presents visual information by displaying an image itself or a projector device that presents visual information by projecting an image. In some embodiments, the display device may be, in addition to or instead of a typical display device, a device that displays visual information within the user's field of view, such as a head-up display, a see-through display, or a wearable device with an augmented reality (AR) function. In some embodiments, the HMI 31 may include, as an output device capable of outputting visual information, a display device included in a navigation device, an instrument panel, a camera monitoring system (CMS), an electronic mirror, a lamp, or the like provided in the vehicle 1.

[0142] In some embodiments, the HMI 31 may include an audio speaker, headphones, or earphones as output devices capable of outputting auditory information.

[0143] In some embodiments, the HMI 31 may include a haptic element using haptic technology as an output device capable of outputting tactile information. The haptic element may be provided on a part of the vehicle 1 that the user comes into contact with, such as the steering wheel or the seat.

[0144] The vehicle control unit 32 controls one or more (or in some cases, all) units 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.

[0145] The steering control unit 81 detects and / or 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.

[0146] The brake control unit 82 detects and / or 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.

[0147] The drive control unit 83 detects and / or 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.

[0148] The body system control unit 84 detects and / or 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.

[0149] The light control unit 85 detects and / or controls the states of various lights of the vehicle 1. Non-limiting examples of lights that can be controlled by the light control unit 85 include headlights, backlights, fog lights, turn signals, brake lights, projector lights, and bumper indicators. The light control unit 85 includes a light ECU that controls the lights, an actuator that drives the lights, and the like.

[0150] The horn control unit 86 detects and / or 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.

[0151] Fig. 18 is a diagram showing an example of a sensing area by the camera 51, the radar 52, the LiDAR 53, the ultrasonic sensor 54, etc. of the external recognition sensor 25 in Fig. 17. Fig. 18 schematically shows the vehicle 1 as viewed from above.

[0152] Sensing area 101F and sensing area 101B show examples of sensing areas of the ultrasonic sensors 54. Sensing area 101F (e.g., sensing area of ​​the multiple ultrasonic sensors 54) covers the periphery of the front end of the vehicle 1. Sensing area 101B (e.g., sensing area of ​​the multiple ultrasonic sensors 54) covers the periphery of the rear end of the vehicle 1.

[0153] The sensing results in sensing area 101F and / or sensing area 101B may be used, for example, for parking assistance for vehicle 1.

[0154] Sensing area 102F, sensing area 102B, sensing area 102L, and sensing area 102R 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 surrounding area behind the left side of the vehicle 1. Sensing area 102R covers the surrounding area behind the right side of the vehicle 1.

[0155] The sensing results in the sensing area 102F may be used, for example, to detect vehicles, pedestrians, etc. present in front of the vehicle 1. The sensing results in the sensing area 102B may be used, for example, for a collision prevention function behind the vehicle 1. The sensing results in the sensing area 102L and / or the sensing area 102R may be used, for example, to detect one or more objects in blind spots on the left and / or right sides of the vehicle 1.

[0156] Sensing area 103F, sensing area 103B, sensing area 103L, and sensing area 103R 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 behind vehicle 1 than sensing area 102B. Sensing area 103L covers the periphery on the left side of vehicle 1. Sensing area 103R covers the periphery on the right side of vehicle 1.

[0157] The sensing results in sensing area 103F may be used, for example, for recognizing traffic lights and traffic signs, a lane departure prevention assistance system, or an automatic headlight control system. The sensing results in sensing area 103B may be used, for example, for parking assistance and / or a surround view system. The sensing results in sensing area 103L and / or sensing area 103R may be used, for example, for a surround view system.

[0158] 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 of vehicle 1 than sensing area 103F.

[0159] The sensing results in the sensing area 104 may be used to detect objects such as surrounding vehicles, for example.

[0160] Sensing area 105 shows an example of the sensing area of ​​the long-range radar 52. Sensing area 105 covers a position further ahead of the vehicle 1 than sensing area 104. On the other hand, sensing area 105 has a narrower range in the left-right direction of the vehicle 1 than sensing area 104.

[0161] The sensing results in the sensing area 105 may be used for, for example, adaptive cruise control (ACC), emergency braking, collision avoidance, and the like.

[0162] In some embodiments, the sensing area of ​​each of the external recognition sensors 25 (e.g., the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54) may have various configurations other than the configuration shown in Fig. 18. Specifically, in some embodiments, the ultrasonic sensor 54 may also sense the sides of the vehicle 1, and the LiDAR 53 may sense the rear of the vehicle 1. Furthermore, the installation position of each sensor is not limited to the above-mentioned examples. Furthermore, the number of each sensor may be one or more.

[0163] The antenna device 1000 of Fig. 1 can be applied to, for example, the radar 52 of Fig. 17. This enables the radar 52 to communicate over a wider area with less power supply.

[0164] The present technology may have the following configurations: (1) An antenna device comprising: a dielectric substrate; a feeding portion disposed on a first surface of the dielectric substrate; a first waveguide having one end disposed on the first surface of the dielectric substrate and transmitting, within the dielectric substrate, a signal fed from the feeding portion to the one end; and an antenna disposed on a second surface of the dielectric substrate and including a radiating element receiving the signal fed from the first waveguide. (2) The antenna device described in (1), in which the first waveguide has a first opening to which the signal is fed from the feeding portion, and the first opening is disposed so as to be in contact with the feeding portion. (3) The antenna device described in (1) or (2), in which the feeding portion has a feeding element that feeds a signal to the dielectric substrate, and a matching adjuster that adjusts impedance between the feeding element and the first waveguide. (4) The antenna device according to (3), wherein the matching adjustment section has a tapered section, and the tapered section has a wider path width on the first waveguide side and a narrower path width on the feed element side. (5) The antenna device according to (3) or (4), wherein the first waveguide has a second opening through which the signal is output to the radiating element. (6) The antenna device according to (5), wherein the dielectric substrate has a plurality of conductor layers, the plurality of conductor layers including: a first layer on which the feed section is arranged; a second layer stacked on the first layer and on which the second opening is arranged; and a third layer stacked on the first layer and the second layer and on which the radiating element is arranged, and the first waveguide is arranged between the first layer and the second layer. (7) The antenna device according to (5) or (6), wherein the matching adjustment section and the first waveguide have a first feed line that transmits the signal in a planar direction of the dielectric substrate. (8) The antenna device according to (3) or (4), further comprising a second waveguide arranged so as to be stacked on the first waveguide in the thickness direction of the dielectric substrate, the second waveguide having a second opening for outputting the signal to the radiating element and a third opening for transmitting the signal from the first waveguide, wherein the first waveguide and the second waveguide have portions that do not overlap in a planar view.(9) The antenna device according to (8), wherein the matching adjustment section and the first waveguide have a first feed line that transmits the signal in a planar direction of the dielectric substrate, and the first waveguide and the second waveguide have second feed lines that transmit the signal in the planar direction and thickness direction of the dielectric substrate. (10) An antenna device comprising: a dielectric substrate, a feed section arranged on a first surface of the dielectric substrate, a first waveguide within the dielectric substrate that transmits the signal fed from the feed section, an antenna including a radiating element that receives the signal supplied from the first waveguide, and a second waveguide arranged to be stacked on the first waveguide in the thickness direction of the dielectric substrate, the second waveguide having a second opening that outputs the signal to the radiating element and a third opening through which the signal is transmitted from the first waveguide, wherein the first waveguide and the second waveguide have portions that do not overlap in a planar view. (11) The antenna device according to any one of (8) to (10), wherein the center of gravity of the first waveguide and the center of gravity of the second waveguide are shifted in a planar direction of the dielectric substrate. (12) The antenna device according to any one of (8) to (11), wherein the center of gravity of the feeding portion, the center of gravity of the first waveguide, the center of gravity of the second waveguide, and the center of gravity of the radiating element are arranged in this order in a planar view. (13) The antenna device according to any one of (8) to (12), wherein the dielectric substrate has a plurality of conductor layers, the plurality of conductor layers having: a first layer on which the feeding portion is arranged, a second layer stacked on the first layer and on which the third opening is arranged, a third layer stacked on the second layer and on which the second opening is arranged, and a fourth layer stacked on the first layer, the second layer, and the third layer and on which the radiating element is arranged, the first waveguide being arranged between the first layer and the second layer, and the second waveguide being arranged between the second layer and the third layer. (14) The antenna device according to any one of (8) to (13), wherein a sidewall of the first waveguide and a sidewall of the second waveguide have stacked vias.(15) The antenna device according to any one of (8) to (14), wherein the second opening is arranged at an end of the second waveguide on the side of the signal traveling direction, and the third opening is arranged at an end of the second waveguide on the side opposite to the signal traveling direction. (16) The antenna device according to any one of (8) to (15), wherein the second waveguide includes a plurality of third waveguides arranged to be stacked in a thickness direction of the dielectric substrate, and the plurality of third waveguides are connected to first waveguides or third waveguides adjacent to each other in the thickness direction, and the plurality of third waveguides have portions that do not overlap with first waveguides or third waveguides adjacent to each other in the thickness direction in a planar view. (17) The antenna device according to (16), wherein the plurality of third waveguides are stacked at an angle from the feeding portion to a center of gravity of the radiating element. (18) The antenna device according to any one of (5) to (17), wherein the radiating element is fed the signal from the second opening by proximity coupling. (19) The antenna device according to any one of (1) to (18), wherein a side wall of the first waveguide has a plurality of vias extending in a thickness direction of the dielectric substrate. (20) A radar device comprising: a dielectric substrate; a feeding portion arranged on a first surface of the dielectric substrate; a first waveguide within the dielectric substrate that transmits a signal fed from the feeding portion; an antenna arranged on a second surface of the dielectric substrate and including a radiating element that receives the signal supplied from the first waveguide, wherein the first waveguide is arranged on the first surface; and a transceiver that transmits or receives a signal using the antenna device.

[0165] The aspects of the present disclosure are not limited to the individual embodiments described above, but include various modifications that may be conceived by those skilled in the art, and the effects of the present disclosure are not limited to the above-described contents. In other words, various additions, modifications, and partial deletions are possible within the scope of the conceptual idea and spirit of the present disclosure, which is derived from the contents defined in the claims and their equivalents.

[0166] 100 Dielectric substrate, 110a, 110b, 110c, 5012, 5061, 5062 Ground plate, 200 Power supply section, 210 Power supply element, 220 Matching adjustment section, 300a, 300b, 300c, 300d, 300e, 300f Waveguide, 310a, 310b, 310c, 5020 Opening, 320a, 320b, 320c Side wall, 330a, 330b, 330c, 330d, 5051, 5052, 5053 Via, 400 Antenna, 410, 5031, 5032 Radiating element, 420 Microstrip line, 430 Comb line, 800 Transmitting / receiving section, 1000, 1000a , 1000b, 1000c, 5000 antenna device, 2000 radar device, 5011 microstrip line, 5040 feed plate

Claims

1. An antenna device comprising: a dielectric substrate; a power supply portion disposed on a first surface of the dielectric substrate; a first waveguide having one end disposed on the first surface of the dielectric substrate and transmitting within the dielectric substrate a signal supplied from the power supply portion to the one end; and an antenna disposed on a second surface of the dielectric substrate and including a radiating element that receives the signal supplied from the first waveguide.

2. The antenna device according to claim 1, wherein the first waveguide has a first opening to which the signal is supplied from the feeding portion, and the first opening is arranged so as to be in contact with the feeding portion.

3. The antenna device according to claim 1, wherein the feeding section comprises a feeding element that feeds a signal to the dielectric substrate, and a matching adjustment section that adjusts the impedance between the feeding element and the first waveguide.

4. The antenna device according to claim 3, wherein the matching adjustment section has a tapered section, and the tapered section has a wider path width on the side of the first waveguide and a narrower path width on the side of the feed element.

5. The antenna device according to claim 3, wherein the first waveguide has a second opening for outputting the signal to the radiating element.

6. The antenna device according to claim 5, wherein the dielectric substrate has a plurality of conductive layers, the plurality of conductive layers having: a first layer on which the power supply section is arranged; a second layer stacked on the first layer and on which the second opening section is arranged; and a third layer stacked on the first layer and the second layer and on which the radiating element is arranged; and the first waveguide is arranged between the first layer and the second layer.

7. The antenna device according to claim 5, wherein the matching adjustment section and the first waveguide have a first feed line that transmits the signal in a planar direction of the dielectric substrate.

8. The antenna device according to claim 3, further comprising a second waveguide arranged so as to be stacked on the first waveguide in the thickness direction of the dielectric substrate, the second waveguide having a second opening for outputting the signal to the radiating element and a third opening for transmitting the signal from the first waveguide, wherein the first waveguide and the second waveguide have portions that do not overlap in a planar view.

9. The antenna device according to claim 8, wherein the matching adjustment section and the first waveguide have a first feed line that transmits the signal in a planar direction of the dielectric substrate, and the first waveguide and the second waveguide have second feed lines that transmit the signal in the planar direction and thickness direction of the dielectric substrate.

10. An antenna device comprising: a dielectric substrate; a power supply section arranged on a first surface of the dielectric substrate; a first waveguide within the dielectric substrate for transmitting a signal supplied from the power supply section; an antenna including a radiating element for receiving the signal supplied from the first waveguide; and a second waveguide arranged to be stacked on the first waveguide in the thickness direction of the dielectric substrate, the second waveguide having a second opening for outputting the signal to the radiating element and a third opening for receiving the signal from the first waveguide, wherein the first waveguide and the second waveguide have portions that do not overlap in a planar view.

11. The antenna device according to claim 8, wherein the center of gravity of the first waveguide and the center of gravity of the second waveguide are arranged to be offset in the planar direction of the dielectric substrate.

12. The antenna device according to claim 8, wherein, in a plan view, the center of gravity of the power supply section, the center of gravity of the first waveguide, the center of gravity of the second waveguide, and the center of gravity of the radiating element are arranged in this order.

13. The antenna device according to claim 8, wherein the dielectric substrate has a plurality of conductive layers, the plurality of conductive layers having: a first layer on which the feeding portion is arranged; a second layer stacked on the first layer and on which the third opening is arranged; a third layer stacked on the second layer and on which the second opening is arranged; and a fourth layer stacked on the first, second and third layers and on which the radiating element is arranged; the first waveguide is arranged between the first layer and the second layer; and the second waveguide is arranged between the second layer and the third layer.

14. The antenna device according to claim 8, wherein a sidewall of the first waveguide and a sidewall of the second waveguide have stacked vias.

15. The antenna device according to claim 8, wherein the second opening is arranged at an end of the second waveguide on the side in the signal propagation direction, and the third opening is arranged at an end of the second waveguide on the side opposite to the signal propagation direction.

16. The antenna device described in claim 8, wherein the second waveguide comprises a plurality of third waveguides arranged so as to be stacked in the thickness direction of the dielectric substrate, the plurality of third waveguides being connected to adjacent first waveguides or third waveguides in the thickness direction, and the plurality of third waveguides have portions that do not overlap in a plan view with adjacent first waveguides or third waveguides in the thickness direction.

17. The antenna device according to claim 16, wherein the plurality of third waveguides are stacked so as to be inclined from the feeding portion to the position of the center of gravity of the radiating element.

18. The antenna device according to claim 5, wherein the radiating element is fed with the signal from the second opening by proximity coupling.

19. The antenna device according to claim 1, wherein a sidewall of the first waveguide has a plurality of vias extending in the thickness direction of the dielectric substrate.

20. A radar device comprising: an antenna device having a dielectric substrate; a power supply unit arranged on a first surface of the dielectric substrate; a first waveguide having one end arranged on the first surface of the dielectric substrate and transmitting, within the dielectric substrate, a signal supplied from the power supply unit to the one end; and an antenna arranged on a second surface of the dielectric substrate and including a radiating element that receives the signal supplied from the first waveguide; and a transceiver unit that transmits or receives signals using the antenna device.

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