Radar device

Abstract

Provided is a technology that enables efficient arrangement of antennas while avoiding physical interference.　The present technology provides a radar device comprising a transmission antenna array including two or more transmission antennas. The transmission antenna array has a first transmission sub-array and a second transmission sub-array, each including one or more transmission antennas. An arrangement region of the first transmission sub-array and an arrangement region of the second transmission sub-array partially or entirely overlap. Each of the first transmission sub-array and the second transmission sub-array transmits a signal by a division method.

Description

radar equipment

[0001] The technology according to the present disclosure (hereinafter also referred to as "the present technology") relates to a radar device.

[0002] When using multiple antennas to transmit and receive radar signals, the antennas must be physically spaced apart to avoid interference between them and generate the desired beam pattern.

[0003] For example, Patent Document 1 discloses a technique related to a radar device that performs two-dimensional beam scanning in the vertical and horizontal directions.

[0004] JP 2023-52852 A

[0005] However, with conventional antenna technology, antennas have a fixed length, so when attempting to arrange them at a predetermined spacing, physical interference occurs, forcing them to be arranged at an angle. This increases the area occupied by the antenna array, making efficient arrangement difficult. Furthermore, the diagonal deformation of the virtual MIMO array shape can reduce the efficiency of signal processing and make it incompatible with FFT.

[0006] Therefore, a main object of the present technology is to provide a technology that allows antennas to be arranged efficiently while avoiding physical interference.

[0007] The present technology provides a radar device including a transmitting antenna array including two or more transmitting antennas, wherein the transmitting antenna array has a first transmitting subarray and a second transmitting subarray, each including one or more transmitting antennas, wherein a placement area of ​​the first transmitting subarray and a placement area of ​​the second transmitting subarray overlap partially or entirely, and wherein each of the first transmitting subarray and the second transmitting subarray transmits signals in a divisional manner. The placement areas of the first transmitting subarray and the second transmitting subarray may have the same shape. The transmitting antenna array may further have a third transmitting subarray including one or more transmitting antennas, wherein a placement area of ​​the second transmitting subarray and a placement area of ​​the third transmitting subarray overlap partially or entirely, and each of the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray may transmit signals in a divisional manner. The placement area of ​​the first transmitting subarray and the placement area of ​​the third transmitting subarray may overlap partially or entirely. The shapes of the arrangement areas of two or more of the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray may be the same. The shapes of the arrangement areas of the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray may be the same. The transmitting antennas may be arranged linearly side by side. The arrangement pattern of the transmitting antennas to be excited may be the same in each of the first transmitting subarray and the second transmitting subarray. The arrangement pattern of the transmitting antennas to be excited may be the same in each of the second transmitting subarray and the third transmitting subarray. The transmitting antennas may be arranged at intersections of three or more mutually intersecting straight lines. The transmitting antenna array may be formed by a first group of straight lines and a second group of straight lines each having a different direction, the transmitting antennas may be arranged at one or more intersections formed by the first group of straight lines and the second group of straight lines, the first group of straight lines may include two or more parallel straight lines, and the second group of straight lines may include two or more parallel straight lines perpendicular to the first group of straight lines.The arrangement pattern of the excited transmitting antennas may be the same in each of the first transmitting subarray and the second transmitting subarray. The arrangement pattern of the excited transmitting antennas may be the same in each of the second transmitting subarray and the third transmitting subarray. The transmitting antenna array may be formed by a first group of lines, a second group of lines, and a third group of lines, each having a different direction, the first group of lines including two or more parallel lines, the second group of lines including two or more parallel lines in a direction different from that of the first group of lines, and the third group of lines including two or more parallel lines in a direction different from that of the first group of lines and the second group of lines, and the transmitting antennas may be arranged at intersections formed by the first group of lines, the second group of lines, and the third group of lines. The three or more lines included in the first group of lines may be arranged at equal intervals. The arrangement pattern of the excited transmitting antennas may be the same in each of the first transmitting subarray and the second transmitting subarray. The arrangement pattern of the transmitting antennas to be excited may be the same in each of the second transmitting subarray and the third transmitting subarray. The division method may be a time division method. The present technology also provides a radar device including: a receiving antenna array including two or more receiving antennas; and a subarray signal generator that generates subarray receiving signals based on signals received by the receiving antennas, wherein the receiving antenna array has first receiving subarrays and second receiving subarrays each including one or more of the receiving antennas, a placement area of ​​the first receiving subarray and a placement area of ​​the second receiving subarray overlap partially or entirely, each of the first receiving subarray and the second receiving subarray receives signals using a division method, and the subarray signal generator generates a first subarray receiving signal based on signals received by the receiving antennas that constitute the first receiving subarray, and generates a second subarray receiving signal based on signals received by the receiving antennas that constitute the second receiving subarray.The present technology also provides a radar device including: a virtual signal generation unit that generates a virtual antenna based on a received signal; two or more of the virtual antennas constitute a virtual antenna array; the virtual antenna array has a first virtual subarray and a second virtual subarray, each of which includes one or more of the virtual antennas; a placement area of ​​the first virtual subarray and a placement area of ​​the second virtual subarray overlap in part or in whole; and each of the first virtual subarray and the second virtual subarray is generated based on a signal received using a division method.

[0008] According to the present technology, it is possible to efficiently arrange antennas while avoiding physical interference. Note that the effects described herein are not necessarily limited to those described herein, and may be any of the effects described in this disclosure.

[0009] 1 is a schematic diagram showing an example of an arrangement of antennas. FIG. 1 is a schematic diagram showing an example of an arrangement of antennas. FIG. 2 is a schematic diagram showing an example of an arrangement of virtual antennas. FIG. 3 is a schematic diagram showing an example of a configuration of an antenna according to an embodiment of the present technology. FIG. 4 is a graph showing an example of a chirp signal. FIG. 5 is a schematic diagram showing an example of an arrangement of antennas according to an embodiment of the present technology. FIG. 6 is a schematic diagram showing an example of a configuration of a radar device 100 according to an embodiment of the present technology. FIG. 7 is a schematic diagram showing an example of an arrangement of a virtual antenna V according to an embodiment of the present technology. FIG. 8 is a block diagram showing an example of a configuration of a radar device 100 according to an embodiment of the present technology. FIG. 9 is a flowchart showing an example of a processing flow of transmission control of the radar device 100 according to an embodiment of the present technology. FIG. 10 is a schematic diagram showing an example of a configuration of a transmission sub-array according to an embodiment of the present technology. FIG. 11 is a schematic diagram showing an example of a configuration of a reception sub-array according to an embodiment of the present technology. FIG. 12 is a schematic diagram showing an example of a configuration of a transmission sub-array according to an embodiment of the present technology. FIG. 13 is a schematic diagram showing an example of a configuration of a sub-array according to an embodiment of the present technology. FIG. 14 is a schematic diagram showing an example of a configuration of a sub-array according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 2 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 3 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 4 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 5 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 6 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 7 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 8 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 9 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 10 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology.FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 2 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 3 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 4 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 5 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 6 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 7 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 8 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 9 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology.FIG. 1 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing a configuration example of an antenna element according to an embodiment of the present technology. FIG. 1 is a schematic diagram showing an example of processing by a sub-array signal generator 341 according to an embodiment of the present technology. FIG. 2 is a block diagram showing an example of the configuration of a radar device 102 according to an embodiment of the present technology. FIG. 3 is a schematic diagram showing an example of processing by a virtual signal generator 342 according to an embodiment of the present technology. FIG. 4 is a schematic diagram showing an example of processing by a virtual signal generator 342 according to an embodiment of the present technology. FIG. 5 is a schematic diagram showing an example of processing by a sub-array signal generator 343 according to an embodiment of the present technology. FIG. 6 is a table showing an example of the configuration of data processed by a signal processing unit 34 according to an embodiment of the present technology.

[0010] Hereinafter, preferred embodiments for implementing the present technology will be described with reference to the drawings. Note that the embodiment described below shows an example of a typical embodiment of the present technology, and does not limit the scope of the present technology. In addition, the present technology can be combined with any of the following examples and their modifications.

[0011] In the following description of the embodiments, configurations may be described using terms including "approximately," such as "approximately parallel" and "approximately perpendicular." For example, "approximately parallel" does not only mean completely parallel, but also means substantially parallel, i.e., including a state where the orientation is deviated from the completely parallel state by, for example, a few percent. The same applies to other terms including "approximately." Furthermore, each figure is a schematic diagram and is not necessarily an accurate depiction. The scale of the drawings has been exaggerated to make the features of the technology easier to understand. Therefore, it should be noted that the scale of the drawings and the scale of the actual device are not necessarily the same.

[0012] Unless otherwise specified, in the drawings, "top" means the top or upper side in the drawing, "bottom" means the bottom or lower side in the drawing, "left" means the left or left side in the drawing, and "right" means the right or right side in the drawing. Furthermore, in the drawings, the same or equivalent elements or members are given the same reference numerals, and redundant explanations will be omitted.

[0013] The description will be given in the following order: 1. First embodiment of the present technology (radar device example 1) (1) Overview (2) Antenna configuration example (3) Radar device configuration example (4) Subarray configuration example (5) Radar device application example 2. Second embodiment of the present technology (radar device example 2) 3. Third embodiment of the present technology (radar device example 3) 4. Fourth embodiment of the present technology (radar device example 4) 5. Fifth embodiment of the present technology (radar device example 5) 6. Sixth embodiment of the present technology (radar device example 6) 7. Seventh embodiment of the present technology (radar device example 7) 8. Eighth embodiment of the present technology (radar device example 8) 9. Ninth embodiment of the present technology (radar device example 9) 10. Tenth embodiment of the present technology (radar device example 10) 11. Eleventh embodiment of the present technology (radar device example 11)

[0014] [1. First embodiment of the present technology (example 1 of radar device)] [(1) Overview] In conventional antenna technology, when performing highly accurate direction detection or signal collection using multiple antennas, physical interference and placement constraints exist. Since the antennas have a fixed length and it is difficult to arrange them at a desired spacing, the antennas have to be placed at an angle.

[0015] This will be explained with reference to Figure 1. Figure 1 is a schematic diagram showing an example of antenna arrangement. In order to satisfy the performance of this antenna array, the antennas A1 to A4 must be arranged at an interval L1. However, as shown in Figure 1, the length L2 of each of the antennas A1 to A4 is equal to or greater than the arrangement interval L1. When arranging multiple antennas A1 to A4 at an arrangement interval L1, they must be arranged diagonally as shown in this figure to avoid physical interference.

[0016] This requires an antenna with a larger area than necessary, and the diagonal arrangement reduces the efficiency of signal processing. In particular, when the shape of a virtual MIMO (Multiple Input Multiple Output) array is deformed diagonally, the efficiency of signal processing by FFT (Fast Fourier Transform) decreases.

[0017] This will be explained with reference to Fig. 2. Fig. 2 is a schematic diagram showing an example of antenna arrangement. In this diagram, each transmitting antenna TX and each receiving antenna RX are schematically shown as a square, and multiple transmitting antennas TX, multiple receiving antennas RX, and ICs that control the antennas are shown. To avoid physical interference, each transmitting antenna TX is arranged diagonally.

[0018] Each transmitting antenna TX and each receiving antenna RX transmits and receives signals using TDM-MIMO (Time Division Multiplexing - Multiple Input Multiple Output) technology. TDM-MIMO is a combination of time division multiplexing technology and communication technology using multiple transmitting and receiving antennas. This technology is implemented as a method of allocating multiple data streams to different time slots and sharing a single channel. Each transmitting antenna TX transmits chirp signals in a specific order. Each receiving antenna RX can identify the received signal based on this transmission order and identify which transmitting antenna TX the signal came from. Details of this processing flow will be described later.

[0019] The radar device shown in this figure can generate a virtual array using TDM-MIMO, which is a technology that uses time division multiplexing (TDM) to make an array function virtually as if it had a larger number of antennas, while physically using a limited number of antennas.

[0020] This virtual array will be described with reference to Fig. 3. Fig. 3 is a schematic diagram showing an example of the arrangement of virtual antennas. Each virtual antenna V shown in Fig. 3 is generated based on a received signal. As shown in this figure, each virtual antenna V is arranged diagonally. This is because each transmitting antenna TX (see Fig. 2) is arranged diagonally. This results in a region R1 where no virtual antenna V is arranged. Furthermore, if the shape of the virtual antenna array is deformed diagonally, the efficiency of signal processing by FFT (Fast Fourier Transform) decreases.

[0021] One possible solution to this problem is to use only the virtual antennas V located in region R2. In this case, signal processing is not performed for the virtual antennas V that are not located in region R2, which may result in a decrease in signal utilization efficiency.

[0022] Another possible solution is to use the virtual antenna V located in region R3 by zeroing or interpolating the signal in region R3. However, this may impose a load on signal processing and reduce detection accuracy.

[0023] Therefore, the present technology provides the antenna configuration shown in Fig. 4. Fig. 4 is a schematic diagram showing an example configuration of an antenna according to an embodiment of the present technology. As shown in Fig. 4, in this configuration example, for example, two antenna elements A11 and A12 are connected to one feed point P1, and these constitute an antenna A1. A plurality of antennas A1 to A6 constitute one antenna array AA.

[0024] The present technology can select specific antennas from the multiple antennas that make up the antenna array AA and configure them as subarrays. For example, there may be a subarray configured from antennas A1 and A2, or there may be a subarray configured from antennas A1, A2, and A3. The antennas that make up the subarrays can be flexibly changed.

[0025] As used herein, antenna element refers to one or more radiating elements that make up an antenna. An antenna element is a component that functions as an individual radiator or receiver. An antenna element is a basic building block that radiates or receives a particular signal. If it radiates a signal, the antenna element is a transmitting antenna element. If it receives a signal, the antenna element is a receiving antenna element.

[0026] In this specification, an antenna refers to an antenna that includes one or more transmission lines and one or more antenna elements and is connected to one feed point. The signal radiation pattern and reception sensitivity of an antenna are determined by the antenna elements that are its components. When an antenna radiates a signal, it becomes a transmitting antenna. When an antenna receives a signal, it becomes a receiving antenna. Note that there is no particular limitation on the number of antenna elements that make up an antenna.

[0027] In this specification, an antenna array is a larger unit consisting of multiple antennas. Each antenna functions as part of an antenna array and cooperates together to radiate or receive signals. When radiating signals, the antenna array is a transmitting antenna array. When receiving signals, the antenna array is a receiving antenna array. Using an antenna array makes it possible to improve characteristics such as directionality, gain, and reception range. There is no particular limitation on the number of antennas that make up the antenna array.

[0028] As used herein, a subarray refers to a group of antennas that make up a portion of an antenna array. A subarray is a combination of specific antennas that perform a specific function within the antenna array. If a subarray radiates a signal, it is a transmit subarray. If a subarray receives a signal, it is a receive subarray.

[0029] When this antenna array transmits a signal, the subarrays function as a phased array and are excited simultaneously, so that the signals transmitted from each subarray are phase-controlled to form a beam in a predetermined direction.

[0030] When constructing an antenna array, it is desirable to align the antenna characteristics. This is to maintain uniform performance across the entire antenna array and ensure predictable radiation patterns and reception sensitivity. For example, using antennas with the same shape makes it easier to maintain such consistency. However, this technology is not limited to antennas with the same shape.

[0031] As shown in Figure 4, the antennas A1 to A6 are arranged at an interval L1. The interval L1 is the distance from the center of a feed point to the center of an adjacent feed point. The length L2 of each antenna is the same as the interval L1.

[0032] With this configuration, it can be considered that a virtual antenna is placed between a certain feed point and an adjacent feed point. For example, the virtual antenna PA is generated based on the signals of antennas A1 and A2. In other words, the subarray consisting of antennas A1 and A2 can be considered as the virtual antenna PA.

[0033] Specifically, chirp signals are simultaneously output to the feed point P1 of antenna A1 and the feed point P2 of antenna A2. This chirp signal will be described with reference to FIG. 5. FIG. 5 is a graph showing an example of a chirp signal. In this graph, the horizontal axis represents time and the vertical axis represents frequency. This graph shows chirp signals transmitted from virtual antennas PA to PE.

[0034] Returning to the explanation of Figure 4, when a PA is assigned to a chirp signal, by simultaneously exciting antennas A1 and A2, it is possible to virtually consider an antenna to exist between them. When only antenna A1 is fed, it is considered that an antenna exists at the feed point P1 that constitutes antenna A1, but when antennas A1 and A2 are fed simultaneously, it is possible to virtually consider that a virtual antenna PA exists at the midpoint between them, and that a signal is radiated from there.

[0035] Similarly, virtual antenna PB is generated based on the signals from antennas A2 and A3, virtual antenna PC is generated based on the signals from antennas A3 and A4, virtual antenna PD is generated based on the signals from antennas A4 and A5, and virtual antenna PE is generated based on the signals from antennas A5 and A6.

[0036] With this configuration, the antennas A1 to A6 can be arranged in a straight line with an interval L1 between them, and an antenna longer than the interval L1 can be constructed. By combining multiple subarrays, it is possible to function as an antenna with the same gain and radiation pattern as a conventional long antenna.

[0037] 6 is a schematic diagram showing an example of antenna arrangement according to an embodiment of the present technology. By applying the present technology, as shown in this diagram, it is possible to arrange antennas efficiently while avoiding physical interference.

[0038] As a result, it is possible to realize a radar device having the configuration shown in Fig. 7. Fig. 7 is a schematic diagram showing a configuration example of a radar device 100 according to an embodiment of the present technology. As shown in Fig. 7, the radar device 100 includes a transmitting antenna array TXA including two or more transmitting antennas TX. The radar device 100 may further include a receiving antenna array RXA including two or more receiving antennas RX, and an IC that controls the antennas.

[0039] The transmitting antennas TX are arranged in a straight line. Each subarray SA is composed of two transmitting antennas TX. Five subarrays SA are arranged in the vertical direction (the up-down direction in the figure) with their placement areas partially overlapping. This configuration makes it possible to prevent the virtual antennas from being placed at an angle. The virtual antenna will be described with reference to FIG. 8. FIG. 8 is a schematic diagram showing an example of the placement of virtual antennas V according to an embodiment of the present technology.

[0040] As shown in Fig. 8, the virtual antennas V are not arranged diagonally, but are arranged two-dimensionally in the horizontal and vertical directions. Since five subarrays SA shown in Fig. 7 are arranged vertically, the virtual antennas V are arranged in five rows. This allows the virtual antennas V arranged in region R4, which is larger than region R2 (see Fig. 3), to be used. As a result, signal utilization efficiency is improved, and signals can be detected over a wider range.

[0041] [(2) Antenna Configuration Example] An antenna configuration example will be described with reference to FIG. 9 . FIG. 9 is a schematic diagram showing an antenna configuration example according to an embodiment of the present technology. As shown in FIG. 9 , a divider and a delay line are provided, and multiple antenna elements are connected to one IC port PIC. The delay line delays the input signal by a predetermined time, and the divider distributes this delayed signal to the antennas. In this way, a desired beam direction is achieved by providing differences in signal strength and phase between the antennas.

[0042] The overall gain G of the phased array antenna in this configuration is tot (θ) can be calculated using the following formula (1).

[0043]

[0044] Here, w i is the weight given to each antenna element, and Φ i is the phase delay of each antenna, k is the wave number (k = 2π / λ, λ is the wavelength), d i is the distance between the antennas, Φ is the observation angle, G ai(θ) is the angular gain of each antenna, and indicates the change in gain depending on the observation angle.

[0045] exp(j(Φ i +kd i The (sin θ) function is a complex exponential function calculated based on the phase delay and position of each antenna, taking into account wave interference, allowing for the formation of a beam in a specific direction θ and maximizing the signal strength from that direction.

[0046] (3) Configuration Example of Radar Device An example of the configuration of a radar device will be described with reference to Fig. 10. Fig. 10 is a block diagram showing an example of the configuration of a radar device 100 according to an embodiment of the present technology. As shown in Fig. 10, the radar device 100 includes a transmitter 1, a receiver 2, a transmission control unit 32, a signal generator 33, a signal processing unit 34, and a calculator 31.

[0047] The transmitter 1 includes one or more transmitting antennas TX, an amplifier 11, a phase shifter 12, and a switch 13, through which a chirp signal is generated and transmitted, which is received by the receiver 2 after being reflected by an external object.

[0048] The receiver 2 includes one or more receiving antennas RX, an amplifier 21, mixers 22 and 26, a phase shifter 25, low-pass filters (LPFs) 23 and 27, and an analog-to-digital converter (ADC) 82.

[0049] The signal received by the receiving antenna RX is subjected to quadrature detection using a quadrature detector, and then band-limited by low-pass filters 23 and 27. The band-limited signal is down-converted to a digital signal by analog-to-digital converters 24 and 28. The down-converted digital signal is output as data separated into a real part (I component) and an imaginary part (Q component). This separated data is sent to a signal processing unit 34, where further detailed signal processing is performed.

[0050] The calculation unit 31 may be, for example, a microcontroller unit (MCU). The calculation unit 31 is mainly responsible for controlling the transmitter 1, adjusting the timing and phase of the generated chirp signal. The calculation unit 31 also analyzes the received data, generates a radar image, and executes necessary signal processing algorithms.

[0051] An example of a processing flow of transmission control of the radar device 100 will be described with reference to Fig. 11. Fig. 11 is a flowchart showing an example of a processing flow of transmission control of the radar device 100 according to an embodiment of the present technology. This flowchart defines a control procedure for a transmitting antenna using subarrays when transmitting a radar signal. This processing starts from index i=1 and is repeated until the number of subarrays reaches a specified number.

[0052] First, in step S11, 1 is set to the index i.

[0053] Next, in step S12, the calculation unit 31 sets the gain of the amplifier and the phase amount of the phase shifter for the transmitting antenna that constitutes the i-th subarray.

[0054] Next, in step S13, the calculation unit 31 turns on the switches of the transmitting antennas that make up the subarray, and transmits the radar signal (step S14).

[0055] After the transmission is completed, in step S15, the calculation unit 31 turns off the switch.

[0056] Next, in step S16, the calculation unit 31 increments the index i by one, i=i+1.

[0057] Steps S12 to S15 are repeated while the index i is smaller than the number of subarrays. When the transmission process is completed for all subarrays (step S17: No), the procedure ends.

[0058] Each subarray transmits a signal using a time division multiplexing (TDM) scheme. This flowchart shows the process flow when each subarray transmits a signal using time division multiplexing (TDM). Other than time division multiplexing, other division schemes such as code division multiplexing (CDM) or frequency division multiplexing (FDM) can also be used.

[0059] Code division multiplexing (CDM) is a communication technology designed to prevent different communication channels from interfering with each other even when they simultaneously use the same frequency band. In this system, each antenna is assigned a unique code (spreading code), which is used to spread the transmitted signal. At the receiving end, the same code is used to decode the signal and separate it from other signals.

[0060] Frequency division multiplexing is a communication method in which different signals are transmitted simultaneously over different frequency bands. The available bandwidth is divided into multiple independent frequency bands, with each channel transmitting over a different frequency band. The frequency bands are separated by guard bands to prevent interference between the signals.

[0061] [(4) Configuration Example of Subarray] A configuration example of a subarray will be described with reference to FIG. 12 . FIG. 12 is a schematic diagram showing a configuration example of a transmitting subarray according to an embodiment of the present technology. As shown in FIG. 12 , the transmitting subarray SA includes transmitting antennas A1 and A2. Each of the transmitting antennas A1 and A2 includes an amplifier 11 and a phase shifter 12. Each amplifier 11 is connected to each of the feeding points P1 and P2. Each of the phase shifters 12 is connected to each of the IC ports PIC. When the transmitting antenna A1 and the transmitting antenna A2 are fed simultaneously, it can be considered that a virtual antenna PA exists at the midpoint between them. In other words, the transmitting subarray SA can be considered as a virtual antenna PA.

[0062] Meanwhile, a configuration example of a receiving subarray will be described with reference to FIG. 13 . FIG. 13 is a schematic diagram showing a configuration example of a receiving subarray according to an embodiment of the present technology. As shown in FIG. 13 , the receiving subarray SA includes receiving antennas A1 and A2. Each receiving antenna A1 and A2 includes an amplifier 21 and a phase shifter 25. Each amplifier 21 is connected to a feeding point P1 or P2. Each phase shifter 25 is connected to a corresponding IC port PIC. When the receiving antenna A1 and the receiving antenna P2 are fed simultaneously, it can be considered that a virtual antenna PA exists at the midpoint between them. In other words, the receiving subarray SA can be considered as a virtual antenna PA.

[0063] The subarrays that transmit signals function as a phased array and are excited simultaneously. Phased array antennas are a technology that electronically controls the beam pattern of an antenna by controlling multiple antennas. In this antenna system, the direction of the radiating or receiving beam can be changed by adjusting the phase and amplitude of the signal to each antenna.

[0064] One method is to use amplifiers and phase shifters to weight the signals fed to each antenna, where the amplifiers adjust the signal amplitude and the phase shifters change the signal phase, allowing for beamforming to a specific direction or reception of a signal from a specific direction.

[0065] A configuration example of a transmission subarray will be described with reference to Fig. 14. Fig. 14 is a schematic diagram showing a configuration example of a transmission subarray according to an embodiment of the present technology. tot (θ) can be calculated using the following formula (2).

[0066]

[0067] The overall gain G of the transmit subarray tot (θ) is the sum of the gains of the individual antennas in the antenna array, where n is the total number of antennas and G pi is the amplifier gain of each antenna. The other symbols are the same as in Equation (1).

[0068] exp(j(Φ i +kd i The (sin θ) function is a complex exponential function calculated based on the phase delay and position of each antenna, taking into account wave interference, allowing for the formation of a beam in a specific direction θ and maximizing the signal strength from that direction.

[0069] The present technology provides a radar device including a transmitting antenna array including two or more transmitting antennas, the transmitting antenna array having a first transmitting subarray and a second transmitting subarray each including one or more transmitting antennas, a placement area of ​​the first transmitting subarray and a placement area of ​​the second transmitting subarray overlap partially or entirely, and each of the first transmitting subarray and the second transmitting subarray transmits signals in a divisional manner.

[0070] The arrangement regions of the first and second transmitting subarrays will be described with reference to Fig. 15. Fig. 15 is a schematic diagram showing an example configuration of a subarray according to an embodiment of the present technology. In the following description, the arrangement of the antenna array, antennas, and subarrays will be described in detail.

[0071] Each antenna has the ability to transmit and receive signals independently. Each antenna can be configured into subarrays, which are used to provide specific signal processing functions. When transmitting, it functions as a transmit subarray, and when receiving, it functions as a receive subarray.

[0072] 15, a first antenna A1, a second antenna A2, a third antenna A3, a fourth antenna A4, and a fifth antenna A5 form an antenna array. The transmitting antennas are arranged in a straight line.

[0073] The first subarray placement area (area surrounded by a rectangle) is configured by simultaneously exciting the first antenna A1 and the second antenna A2, while the second subarray placement area is configured by simultaneously exciting the second antenna A2, the third antenna A3, the fourth antenna A4, and the fifth antenna A5.

[0074] In this case, the layout area of ​​the first subarray and the layout area of ​​the second subarray partially overlap, and the excited second antenna A2 is included in both the layout area of ​​the first subarray and the layout area of ​​the second subarray.

[0075] The partial or complete overlap of the first subarray and the second subarray allows the antennas to be spaced apart more efficiently while avoiding physical interference, thereby improving the gain of the antenna array.

[0076] Configuration examples of the subarrays will be further described with reference to Fig. 16 to Fig. 22. Fig. 16 to Fig. 22 are schematic diagrams showing configuration examples of the subarrays according to an embodiment of the present technology.

[0077] In the configuration example shown in FIG. 16, a first antenna A1 and a second antenna A2 form an antenna array.

[0078] The placement area of ​​the first subarray is formed by simultaneously exciting the first antenna A1 and the second antenna A2, and the placement area of ​​the second subarray is formed by exciting the second antenna A2.

[0079] In this case, the placement area of ​​the first subarray and the placement area of ​​the second subarray partially overlap, the placement area of ​​the second subarray entirely overlaps with the placement area of ​​the first subarray, and the second antenna A2 to be excited is included in the placement area of ​​the first subarray and also in the placement area of ​​the second subarray.

[0080] In the configuration example shown in FIG. 17, a first antenna A1, a second antenna A2, and a third antenna A3 form an antenna array.

[0081] The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1 and the second antenna A2. The placement area of ​​the second subarray is configured by simultaneously exciting the second antenna A2 and the third antenna A3. In this way, the placement areas of the first transmitting subarray and the second subarray can have the same shape.

[0082] In this case, the layout area of ​​the first subarray and the layout area of ​​the second subarray partially overlap, and the excited second antenna A2 is included in the layout area of ​​the first subarray and also in the layout area of ​​the second subarray.

[0083] The transmitting antenna array may further include a third transmitting subarray including one or more transmitting antennas, where the arrangement area of ​​the second transmitting subarray and the arrangement area of ​​the third transmitting subarray overlap partially or entirely, and the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray may each transmit signals in a divisional manner.

[0084] In the configuration example shown in FIG. 18, a first antenna A1, a second antenna A2, and a third antenna A3 form an antenna array.

[0085] The placement area of ​​the first subarray is configured by exciting the first antenna A1. The placement area of ​​the second subarray is configured by simultaneously exciting the first antenna A1, the second antenna A2, and the third antenna A3. The placement area of ​​the third subarray is configured by simultaneously exciting the third antenna A3.

[0086] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. Furthermore, the placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The first antenna A1 to be excited is included in the placement area of ​​the first subarray and also in the placement area of ​​the second subarray. The third antenna A3 to be excited is included in the placement area of ​​the second subarray and also in the placement area of ​​the third subarray.

[0087] In the configuration example shown in FIG. 19, a first antenna A1, a second antenna A2, and a third antenna A3 form an antenna array.

[0088] The placement area of ​​the first subarray is configured by exciting the second antenna A2, the placement area of ​​the second subarray is configured by simultaneously exciting the first antenna A1 and the second antenna A2, and the placement area of ​​the third subarray is configured by simultaneously exciting the second antenna A2 and the third antenna A3.

[0089] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. Furthermore, the placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The excited second antenna A2 is included in all of the placement areas of the first subarray, the second subarray, and the third subarray. In this way, the placement area of ​​the first transmitting subarray and the placement area of ​​the third transmitting subarray may partially or entirely overlap. In other words, the placement areas of the first to third transmitting subarrays may partially or entirely overlap.

[0090] In the configuration example shown in FIG. 20, a first antenna A1, a second antenna A2, and a third antenna A3 form an antenna array.

[0091] The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1 and the second antenna A2. The placement area of ​​the second subarray is configured by simultaneously exciting the second antenna A2 and the third antenna A3. The placement area of ​​the third subarray is configured by exciting the third antenna A3. In this manner, the shapes of the placement areas of two or more of the first subarray, second subarray, and third subarray may be the same. In this configuration example, the shapes of the placement areas of the first subarray and the second subarray are the same.

[0092] In this case, the layout area of ​​the first subarray and the layout area of ​​the second subarray partially overlap, and the excited second antenna A2 is included in the layout area of ​​the first subarray and also in the layout area of ​​the second subarray.

[0093] Furthermore, the layout area of ​​the second subarray and the layout area of ​​the third subarray partially overlap, and the excited third antenna A3 is included in the layout area of ​​the second subarray and also in the layout area of ​​the third subarray.

[0094] In the configuration example shown in FIG. 21, a first antenna A1, a second antenna A2, a third antenna A3, and a fourth antenna A4 form an antenna array.

[0095] The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1 and the second antenna A2. The placement area of ​​the second subarray is configured by simultaneously exciting the second antenna A2 and the third antenna A3. The placement area of ​​the third subarray is configured by simultaneously exciting the third antenna A3 and the fourth antenna A4. In this configuration example, the placement areas of two or more of the first, second, and third transmit subarrays may have the same shape. In this configuration example, the placement areas of the first, second, and third transmit subarrays are the same shape.

[0096] In this case, the layout area of ​​the first subarray and the layout area of ​​the second subarray partially overlap, and the excited second antenna A2 is included in the layout area of ​​the first subarray and also in the layout area of ​​the second subarray.

[0097] Furthermore, the layout area of ​​the second subarray and the layout area of ​​the third subarray partially overlap, and the excited third antenna A3 is included in the layout area of ​​the second subarray and also in the layout area of ​​the third subarray.

[0098] In the configuration example shown in FIG. 22, a first antenna A1, a second antenna A2, a third antenna A3, a fourth antenna A4, and a fifth antenna A5 form an antenna array.

[0099] The layout area of ​​the first subarray is configured by simultaneously exciting the first antenna A1 and the third antenna A3. At this time, the second antenna A2 is not excited, but is sandwiched between the excited first antenna A1 and the third antenna A3, so the second antenna A2 is also included in the layout area of ​​the first subarray.

[0100] Similarly, the second subarray's placement area is configured by simultaneously exciting the second antenna A2 and the fourth antenna A4. At this time, the third antenna A3 is not excited, but is sandwiched between the excited second antenna A2 and the fourth antenna A4, so the third antenna A3 is also included in the second subarray's placement area.

[0101] Similarly, the third subarray's layout area is configured by simultaneously exciting the third antenna A3 and the fifth antenna A5. At this time, the fourth antenna A4 is not excited, but is sandwiched between the excited third antenna A3 and the fifth antenna A5, so the fourth antenna A4 is also included in the third subarray's layout area.

[0102] In this way, the arrangement pattern of the excited antennas may be the same in each of the first transmitting subarray and the second transmitting subarray. This arrangement pattern can also be described as an order. In each of the first subarray and the second subarray, the excited antennas are arranged in the order of excited antennas, non-excited antennas, and excited antennas.

[0103] Furthermore, the arrangement pattern of the transmitting antennas to be excited may be the same in each of the second transmitting subarray and the third transmitting subarray, i.e., the arrangement pattern of the transmitting antennas to be excited may be the same in each of the first subarray, the second subarray, and the third subarray.

[0104] In this case, the layout area of ​​the first subarray and the layout area of ​​the second subarray partially overlap, and the second antenna A2 and the third antenna are included in the layout area of ​​the first subarray and also in the layout area of ​​the second subarray.

[0105] The layout area of ​​the second subarray and the layout area of ​​the third subarray partially overlap each other. The third antenna A3 and the fourth antenna A4 are included in the layout area of ​​the second subarray and also in the layout area of ​​the third subarray.

[0106] The number of antennas constituting the antenna array and subarrays is not particularly limited. Configuration examples of the subarrays will be further described with reference to FIGS. 23 to 31. FIGS. 23 to 31 are schematic diagrams showing configuration examples of the subarrays according to an embodiment of the present technology. In these configuration examples, the first antenna A1 to the seventh antenna A7 constitute the antenna array.

[0107] A description will be given of the configuration example shown in Fig. 23. In this configuration example, the first antenna A1 to the seventh antenna A7 form an antenna array.

[0108] The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1 and the second antenna A2. The placement area of ​​the second subarray is configured by simultaneously exciting the second antenna A2 and the third antenna A3. The placement area of ​​the third subarray is configured by simultaneously exciting the third antenna A3 and the fourth antenna A4. The placement area of ​​the fourth subarray is configured by simultaneously exciting the fourth antenna A4 and the fifth antenna A5. The placement area of ​​the fifth subarray is configured by simultaneously exciting the fifth antenna A5 and the sixth antenna A6. The placement area of ​​the sixth subarray is configured by simultaneously exciting the sixth antenna A6 and the seventh antenna A7. In this way, the shape of the placement area of ​​each subarray can be identical.

[0109] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. The placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray. The placement area of ​​the fourth subarray partially overlaps with the placement area of ​​the fifth subarray. The placement area of ​​the fifth subarray partially overlaps with the placement area of ​​the sixth subarray.

[0110] The order in which the first to sixth subarrays are excited is not particularly limited. The first subarray, the second subarray, and the third subarray may be excited in that order, or the sixth subarray, the fifth subarray, and the fourth subarray may be excited in that order. The order in which the subarrays are excited is also not particularly limited in other configuration examples.

[0111] Next, we will explain the configuration example shown in Figure 24. The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1, second antenna A2, and third antenna A3. Explanation of the configurations of the second to fifth subarrays will be omitted.

[0112] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray, the placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray, the placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray, and the placement area of ​​the fourth subarray partially overlaps with the placement area of ​​the fifth subarray.

[0113] Next, we will explain the configuration example shown in Figure 25. The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1 and the third antenna A3. At this time, the second antenna A2 is not excited, but since it is sandwiched between the excited first antenna A1 and the third antenna A3, the second antenna A2 also constitutes the first subarray. Explanation of the configurations of the second to fifth subarrays will be omitted.

[0114] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray, the placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray, the placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray, and the placement area of ​​the fourth subarray partially overlaps with the placement area of ​​the fifth subarray.

[0115] Next, we will explain the configuration example shown in Figure 26. The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1, second antenna A2, third antenna A3, and fourth antenna A4. Explanation of the configurations of the second to fourth subarrays will be omitted.

[0116] In this case, the layout area of ​​the first subarray partially overlaps with the layout area of ​​the second subarray, the layout area of ​​the second subarray partially overlaps with the layout area of ​​the third subarray, and the layout area of ​​the third subarray partially overlaps with the layout area of ​​the fourth subarray.

[0117] Next, we will explain the configuration example shown in Figure 27. The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1, second antenna A2, and fourth antenna A4. At this time, the third antenna A3 is not excited, but since it is sandwiched between the excited second antenna A2 and fourth antenna A4, the third antenna A3 also constitutes the first subarray. Explanation of the configurations of the second to fourth subarrays will be omitted.

[0118] In this case, the layout area of ​​the first subarray partially overlaps with the layout area of ​​the second subarray, the layout area of ​​the second subarray partially overlaps with the layout area of ​​the third subarray, and the layout area of ​​the third subarray partially overlaps with the layout area of ​​the fourth subarray.

[0119] Next, we will explain the configuration example shown in Figure 28. The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1 and the fourth antenna A4. At this time, the second antenna A2 and the third antenna A3 are not excited, but since they are sandwiched between the excited first antenna A1 and the fourth antenna A4, the second antenna A2 and the third antenna A3 also constitute the first subarray. Explanation of the configurations of the second to fourth subarrays will be omitted.

[0120] In this case, the layout area of ​​the first subarray partially overlaps with the layout area of ​​the second subarray, the layout area of ​​the second subarray partially overlaps with the layout area of ​​the third subarray, and the layout area of ​​the third subarray partially overlaps with the layout area of ​​the fourth subarray.

[0121] Next, we will explain the configuration example shown in Figure 29. The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1 and the fourth antenna A4. At this time, the second antenna A2 and the third antenna A3 are not excited, but since they are sandwiched between the excited first antenna A1 and the fourth antenna A4, the second antenna A2 and the third antenna A3 also constitute the first subarray. Explanation of the configurations of the second to fourth subarrays will be omitted.

[0122] The fifth subarray is configured by simultaneously exciting the first antenna A1, the second antenna A2, the third antenna A3, and the fourth antenna A4. The sixth to eighth subarrays are not described here.

[0123] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. The placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray. Furthermore, the placement area of ​​the first subarray entirely overlaps with the placement area of ​​the fifth subarray. The placement area of ​​the second subarray entirely overlaps with the placement area of ​​the sixth subarray. The placement area of ​​the third subarray entirely overlaps with the placement area of ​​the seventh subarray. The placement area of ​​the fourth subarray entirely overlaps with the placement area of ​​the eighth subarray.

[0124] In this way, an antenna array can contain multiple subarrays with different layout patterns. This design allows the antenna array to combine subarrays with different directivity and sensitivity, allowing the entire antenna array to have a wider range and more diverse signal processing capabilities.

[0125] Next, we will explain the configuration example shown in Figure 30. The placement area of ​​the first subarray is configured by simultaneously exciting the first antenna A1, second antenna A2, third antenna A3, and fourth antenna A4. Explanation of the configurations of the second to fourth subarrays will be omitted.

[0126] In this case, the layout area of ​​the first subarray partially overlaps with the layout area of ​​the second subarray, the layout area of ​​the second subarray partially overlaps with the layout area of ​​the third subarray, and the layout area of ​​the third subarray partially overlaps with the layout area of ​​the fourth subarray.

[0127] In addition, in the design of the antenna array, it is possible to excite the first antenna A1 to the seventh antenna A7 individually. In this case, the layout area of ​​the first subarray and the layout area of ​​the first antenna A1 partially overlap.

[0128] In this way, by combining subarrays with different configurations, it is possible to optimize the sensitivity and directionality of the entire antenna array. For example, by arranging subarrays with sensitivity in different directions, it is possible to effectively capture signals from all directions.

[0129] Next, a configuration example shown in Fig. 31 will be described. In designing an antenna array, it is possible to excite the antennas constituting each subarray individually or simultaneously. The antenna array may be configured by combining the first antenna and the first to seventh subarrays shown in Fig. 31.

[0130] In this way, an antenna array can contain multiple subarrays with different layout patterns. This design allows the antenna array to combine subarrays with different directivity and sensitivity, allowing the entire antenna array to have a wider range and more diverse signal processing capabilities.

[0131] (5) Application Examples of Radar Devices A radar device according to the present technology is expected to be effective in applications, particularly in fields such as self-driving vehicles, autonomous robots, drones, and vital sensing.

[0132] The radar device according to the present technology is used to enable autonomous vehicles to recognize the surrounding environment more accurately. In particular, by using a multi-element, high-gain antenna, it is possible to effectively detect other vehicles, pedestrians, and obstacles, significantly improving safety.

[0133] A robot equipped with a radar device according to this technology can detect objects in a factory or warehouse, allowing the robot to accurately identify obstacles in its surroundings and carry out its work efficiently.

[0134] Detecting and avoiding obstacles during flight is important for drones. By using the radar device related to this technology, drones can detect obstacles in real time during flight and take swift evasive measures.

[0135] This technology, which can suppress distortion of a person's shape and accurately grasp their body shape, can also be applied to vital signs sensing. In particular, it can accurately grasp a person's shape and provide information to accurately identify specific body parts such as the heart or abdomen. This will contribute to diagnostic support in the medical field.

[0136] The above description of the radar device according to the first embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0137] [2. Second embodiment of the present technology (example 2 of radar device)] In the radar device according to the first embodiment, a configuration example in which the antennas are arranged in a straight line is described. The antenna arrangement is not limited to a straight line, and the antennas may be arranged two-dimensionally.

[0138] Configuration examples of antennas arranged two-dimensionally will be described with reference to Fig. 32 to Fig. 36. Fig. 32 to Fig. 36 are schematic diagrams showing configuration examples of subarrays according to an embodiment of the present technology. In these configuration examples, antennas arranged two-dimensionally constitute an antenna array.

[0139] An example configuration shown in Figure 32 will be described. In this example configuration, antennas are arranged in two rows. In the upper row, antennas A11 to A17 are arranged in a straight line from left to right, and in the lower row, antennas A21 to A27 are similarly arranged. The antennas are aligned, and the two rows are also arranged in an orderly manner in the vertical direction. This forms a two-dimensional grid (matrix) configuration for the antenna array. Note that the number of rows and columns is not particularly limited.

[0140] The placement area of ​​the first subarray is configured by simultaneous excitation of antennas A11 and A12. The placement area of ​​the second subarray is configured by simultaneous excitation of antennas A12 and A13. The placement area of ​​the third subarray is configured by simultaneous excitation of antennas A13 and A14. The placement area of ​​the fourth subarray is configured by simultaneous excitation of antennas A14 and A15. The placement area of ​​the fifth subarray is configured by simultaneous excitation of antennas A15 and A16. The placement area of ​​the sixth subarray is configured by simultaneous excitation of antennas A16 and A17.

[0141] Similarly, the placement area of ​​the seventh subarray is configured by simultaneous excitation of antennas A21 and A22. The placement area of ​​the eighth subarray is configured by simultaneous excitation of antennas A22 and A23. The placement area of ​​the ninth subarray is configured by simultaneous excitation of antennas A23 and A24. The placement area of ​​the tenth subarray is configured by simultaneous excitation of antennas A24 and A25. The placement area of ​​the eleventh subarray is configured by simultaneous excitation of antennas A25 and A26. The placement area of ​​the twelfth subarray is configured by simultaneous excitation of antennas A26 and A27.

[0142] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. The placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray. The placement area of ​​the fourth subarray partially overlaps with the placement area of ​​the fifth subarray. The placement area of ​​the fifth subarray partially overlaps with the placement area of ​​the sixth subarray.

[0143] Similarly, the placement area of ​​the seventh subarray partially overlaps with the placement area of ​​the eighth subarray. The placement area of ​​the eighth subarray partially overlaps with the placement area of ​​the ninth subarray. The placement area of ​​the ninth subarray partially overlaps with the placement area of ​​the tenth subarray. The placement area of ​​the tenth subarray partially overlaps with the placement area of ​​the eleventh subarray. The placement area of ​​the eleventh subarray partially overlaps with the placement area of ​​the twelfth subarray.

[0144] Furthermore, for example, among the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray arranged two-dimensionally, the shapes of the arrangement regions of two or more transmitting subarrays may be the same. For example, among the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray arranged two-dimensionally, the shapes of the arrangement regions of each (all) of the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray may be the same.

[0145] Next, the configuration example shown in Fig. 33 will be described. The placement area of ​​the first subarray is configured by simultaneously exciting antennas A11, A12, A21, and A22. The placement area of ​​the second subarray is configured by simultaneously exciting antennas A12, A13, A22, and A23. The placement area of ​​the third subarray is configured by simultaneously exciting antennas A13, A14, A23, and A24. Description of the configurations of the fourth to sixth subarrays will be omitted.

[0146] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. The placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray. The placement area of ​​the fourth subarray partially overlaps with the placement area of ​​the fifth subarray. The placement area of ​​the fifth subarray partially overlaps with the placement area of ​​the sixth subarray.

[0147] Next, the configuration example shown in Fig. 34 will be described. In this configuration example, the antennas are arranged in three rows. In the top row, antennas A11 to A17 are lined up in a straight line from left to right. In the middle row, antennas A21 to A27 are lined up in a similar manner. And in the bottom row, antennas A31 to A37 are lined up in a similar manner. Each antenna is arranged in a straight line, and each of the three rows is also aligned in the vertical direction, so that the entire antenna array forms a two-dimensional grid (matrix) configuration.

[0148] The arrangement area of ​​the first subarray is configured by simultaneously exciting antennas A11, A12, A13, A14, A21, A22, A23, and A24. Explanation of the configurations of the second to eighth subarrays will be omitted.

[0149] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. The placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray. The placement area of ​​the fourth subarray partially overlaps with the placement area of ​​the fifth subarray. The placement area of ​​the fifth subarray partially overlaps with the placement area of ​​the sixth subarray. The placement area of ​​the sixth subarray partially overlaps with the placement area of ​​the seventh subarray. The placement area of ​​the seventh subarray partially overlaps with the placement area of ​​the eighth subarray.

[0150] Next, a configuration example shown in Fig. 35 will be described. The arrangement area of ​​the first subarray is formed by simultaneously exciting antennas A11, A13, A22, and A24. At this time, antenna A12 is not excited, but since it is sandwiched between excited antennas A11 and A13, antenna A12 also constitutes the first subarray. Antenna A23 is also not excited, but since it is sandwiched between excited antennas A22 and A24, antenna A23 also constitutes the first subarray. Description of the configurations of the second to eighth subarrays will be omitted.

[0151] While the shape of the subarray placement area in the above-described configuration examples is rectangular or square, the shape of the placement area shown in this drawing is a parallelogram. In this way, the shape of the placement area is not particularly limited.

[0152] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. The placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray. The placement area of ​​the first subarray partially overlaps with the placement area of ​​the fifth subarray. The placement area of ​​the fifth subarray partially overlaps with the placement area of ​​the sixth subarray. The placement area of ​​the sixth subarray partially overlaps with the placement area of ​​the seventh subarray. The placement area of ​​the seventh subarray partially overlaps with the placement area of ​​the eighth subarray.

[0153] Furthermore, in each of the first transmitting subarray and the second transmitting subarray, which are arranged two-dimensionally, the arrangement pattern of the excited antennas is the same.

[0154] In addition, the arrangement pattern of the excited transmitting antennas is the same in each of the two-dimensionally arranged second transmitting subarray and third transmitting subarray, i.e., the arrangement pattern of the excited transmitting antennas is the same in each of the first transmitting subarray, second transmitting subarray, and third transmitting subarray.

[0155] Next, the configuration example shown in Fig. 36 will be described. In this configuration example, the antennas are arranged in three rows. In the top row, antennas A11 to A17 are arranged in a straight line from left to right. In the center row, antennas A21 to A27 are arranged in a straight line from left to right, and are arranged offset in the horizontal direction compared to the antennas in the top and bottom rows. In the bottom row, antennas A31 to A37 are arranged in a straight line, again like the top row. The antennas are arranged in a triangular configuration.

[0156] The arrangement area of ​​the first subarray is configured by simultaneously exciting antennas A11, A12, A13, A14, A21, A22, A23, and A24. Explanation of the configurations of the second to eighth subarrays will be omitted.

[0157] In this case, the placement area of ​​the first subarray partially overlaps with the placement area of ​​the second subarray. The placement area of ​​the second subarray partially overlaps with the placement area of ​​the third subarray. The placement area of ​​the third subarray partially overlaps with the placement area of ​​the fourth subarray. The placement area of ​​the fourth subarray partially overlaps with the placement area of ​​the fifth subarray. The placement area of ​​the fifth subarray partially overlaps with the placement area of ​​the sixth subarray. The placement area of ​​the sixth subarray partially overlaps with the placement area of ​​the seventh subarray. The placement area of ​​the seventh subarray partially overlaps with the placement area of ​​the eighth subarray.

[0158] Various configuration examples of antennas arranged two-dimensionally will be further described with reference to Figures 37 to 49. Figures 37 to 49 are schematic diagrams showing configuration examples of subarrays according to an embodiment of the present technology. In these configuration examples, antennas constituting the antenna array are arranged at the intersections of three or more straight lines that intersect with each other.

[0159] An example configuration shown in Fig. 37 will be described. In this example configuration, antenna A constituting the antenna array is arranged at the intersection of line G1 and line G2 which intersect with each other. Antenna A is also arranged at the intersection of line G2 and line G3 which intersect with each other. Antenna A is further arranged at the intersection of line G1 and line G3 which intersect with each other. Antenna A and the lines G1 to G3 form a triangle.

[0160] Each antenna is in a triangular configuration. Triangular configuration refers to the way antennas are arranged in a triangular pattern. This configuration is primarily used in antenna array design to achieve a specific radiation pattern or sensitivity.

[0161] Next, a configuration example shown in Figure 38 will be described. In this configuration example, an antenna array is formed by a first group of lines G1 and a second group of lines G2, each of which has a different direction. Antennas A constituting this antenna array are arranged at one or more intersections formed by the first group of lines G1 and the second group of lines G2. The first group of lines G1 includes two or more parallel lines, and the second group of lines G2 includes two or more parallel lines that intersect at right angles with the first group of lines G1. These antennas A and the groups of lines G1 to G3 form a quadrangle. Note that, as shown in this figure, there may be intersections at which no antennas are arranged.

[0162] Each antenna is in a quadrilateral arrangement, which refers to the way antennas are arranged in a quadrilateral, especially a rectangular or square, pattern.

[0163] Next, a configuration example shown in Fig. 39 will be described. In this configuration example, antennas A constituting an antenna array are arranged on one or more intersections formed by a first group of lines G1 and a second group of lines G2. The first group of lines G1 includes two or more parallel lines, and the second group of lines G2 includes two or more parallel lines that intersect at right angles with the first group of lines G1. Furthermore, antennas A are arranged on all intersections formed by the first group of lines G1 and the second group of lines G2.

[0164] Next, a configuration example shown in Fig. 40 will be described. In this configuration example, antennas A constituting an antenna array are arranged on one or more intersections formed by a first group of straight lines G1 and a second group of straight lines G2. The first group of straight lines G1 includes two or more parallel straight lines, and the second group of straight lines G2 includes two or more parallel straight lines that are perpendicular to the first group of straight lines G1. The straight lines included in the first group of straight lines G1 are spaced apart at equal intervals d x are lined up.

[0165] Next, a configuration example shown in Fig. 41 will be described. In this configuration example, antennas A11 to A33 constituting an antenna array are arranged on one or more intersections formed by a first group of straight lines G1 and a second group of straight lines G2. The first group of straight lines G1 includes two or more parallel straight lines, and the second group of straight lines G2 includes two or more parallel straight lines that are orthogonal to the first group of straight lines G1. The straight lines included in the first group of straight lines G1 are spaced at equal intervals d x The straight lines included in the second straight line group G2 are arranged at equal intervals d y are lined up.

[0166] The placement area of ​​the first subarray is formed by simultaneously exciting antennas A11, A12, A21, and A22. The placement area of ​​the second subarray is formed by simultaneously exciting antennas A12, A13, A22, and A23. The placement area of ​​the third subarray is formed by simultaneously exciting antennas A22, A23, A32, and A33.

[0167] In this case, the layout area of ​​the first subarray and the layout area of ​​the second subarray partially overlap, and the layout area of ​​the second subarray and the layout area of ​​the third subarray partially overlap.

[0168] Next, a configuration example shown in Fig. 42 will be described. In this configuration example, an antenna array made up of an antenna A is formed by a first group of lines G1, a second group of lines G2, and a third group of lines G3, each of which has a different direction. The first group of lines G1 includes two or more parallel lines. The second group of lines G2 includes two or more parallel lines in a direction different from that of the first group of lines G1. The third group of lines G3 includes two or more parallel lines in a direction different from that of the first group of lines G1 and the second group of lines G2.

[0169] In this case, the antenna A is disposed on the intersection formed by the first group of straight lines G1, the second group of straight lines G2, and the third group of straight lines G3.

[0170] Next, a configuration example shown in Fig. 43 will be described. In this configuration example, as in the configuration example shown in Fig. 42, an antenna array made up of an antenna A is formed by a first group of straight lines G1, a second group of straight lines G2, and a third group of straight lines G3, each of which has a different direction. Antenna A is placed at the intersection formed by the first group of straight lines G1, the second group of straight lines G2, and the third group of straight lines G3.

[0171] Next, a configuration example shown in Fig. 44 will be described. In this configuration example, antennas are arranged in a triangular manner, similar to the configuration example shown in Fig. 43. As shown in Fig. 44, there may be intersections where no antennas are arranged.

[0172] In this configuration example, unlike the configuration example shown in Fig. 42, the first group of straight lines G1 includes three or more straight lines arranged at equal intervals. The antennas are arranged in a triangular configuration.

[0173] Next, a configuration example shown in Fig. 45 will be described. In this configuration example, antennas are arranged in a triangular configuration, similar to the configuration example shown in Fig. 44. As shown in Fig. 45, antennas may be arranged on all of the intersections formed by the first group of straight lines G1, the second group of straight lines G2, and the third group of straight lines G3.

[0174] Next, a configuration example shown in Fig. 46 will be described. In this configuration example, the antennas are arranged in a triangular configuration, similar to the configuration example shown in Fig. 45. As shown in Fig. 46, the spacing between the lines included in the first group of lines G1 and the spacing between the lines included in the second group of lines G2 are the same, d2.

[0175] In this example configuration, the antenna and the line form an isosceles triangle. In an antenna arrangement that forms an isosceles triangle, two sides are equal in length and the other side has a different length. This type of arrangement is sometimes used to increase the antenna's sensitivity in a specific direction. An isosceles triangle arrangement can have stronger radiation or reception capabilities along the base side, achieving high gain in a specific direction and improving signal concentration in the desired direction.

[0176] Next, a configuration example shown in Fig. 47 will be described. In this configuration example, as in the configuration example shown in Fig. 46, the antennas are arranged in a triangular configuration. As shown in Fig. 47, the spacing between the lines included in the first group of lines G1 and the spacing between the lines included in the second group of lines G2 are the same as d. Furthermore, the spacing between the lines included in the second group of lines G2 and the spacing between the lines included in the third group of lines G3 are the same as d.

[0177] In this example configuration, the antennas and lines form an equilateral triangle. In an equilateral triangle, all sides are equal and all angles are 60 degrees. This even arrangement can provide particularly wide coverage and a uniform radiation pattern.

[0178] Next, a configuration example shown in Fig. 48 will be described. In this configuration example, as in the configuration example shown in Fig. 47, the antennas are arranged in a triangular configuration. As shown in Fig. 48, an antenna array made up of antennas A11 to A32 is formed by a first group of straight lines G1, a second group of straight lines G2, and a third group of straight lines G3, each of which has a different direction. The antennas A11 to A32 are arranged on the intersections formed by the first group of straight lines G1, the second group of straight lines G2, and the third group of straight lines G3.

[0179] The placement area of ​​the first subarray is configured by simultaneously exciting antennas A11 and A12. The placement area of ​​the second subarray is configured by simultaneously exciting antennas A21 and A22. The placement area of ​​the third subarray is configured by simultaneously exciting antennas A31 and A32. The placement area of ​​the fourth subarray is configured by simultaneously exciting antennas A22 and A23.

[0180] In this case, the arrangement pattern of the excited antennas is the same in the first subarray and the second subarray, and the shapes of the arrangement areas of the first subarray and the second subarray are the same.

[0181] Furthermore, the arrangement patterns of the antennas to be excited are the same in the second subarray and the third subarray, and the shapes of the arrangement areas of the second subarray and the third subarray are the same. That is, the arrangement patterns of the antennas to be excited and the shapes of the arrangement areas are the same in the first to third subarrays.

[0182] Next, a description will be given of the configuration example shown in Fig. 49. This figure shows a configuration example of a subarray formed by antennas A11 to A32 shown in Fig. 48.

[0183] The placement area of ​​the first subarray is configured by simultaneously exciting antennas A11, A21, and A22. The placement area of ​​the second subarray is configured by simultaneously exciting antennas A12, A22, and A23. The placement area of ​​the third subarray is configured by simultaneously exciting antennas A22, A31, and A32.

[0184] In this case, the arrangement pattern of the excited antennas is the same in the first subarray and the second subarray, and the shapes of the arrangement areas of the first subarray and the second subarray are the same.

[0185] Furthermore, the arrangement patterns of the antennas to be excited are the same in the second subarray and the third subarray, and the shapes of the arrangement areas of the second subarray and the third subarray are the same. That is, the arrangement patterns of the antennas to be excited and the shapes of the arrangement areas are the same in the first to third subarrays.

[0186] The above description of the radar device according to the second embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0187] [3. Third embodiment of the present technology (third example of radar device)] Antennas may be arranged three-dimensionally. A configuration example of antennas arranged three-dimensionally will be described with reference to Fig. 50 . Fig. 50 is a schematic diagram showing a configuration example of a subarray according to an embodiment of the present technology. In the configuration example shown in Fig. 50 , antennas arranged three-dimensionally constitute an antenna array.

[0188] As shown in Fig. 50, multiple antennas A are arranged at three or more intersections that are orthogonal to one another. An antenna array made up of these multiple antennas A is formed by a first group of straight lines G1, a second group of straight lines G2, and a third group of straight lines G3 that are orthogonal to one another. Antennas A are arranged at one or more intersections formed by the first group of straight lines G1, the second group of straight lines G2, and the third group of straight lines G3.

[0189] The first group of straight lines G1 includes two or more parallel straight lines, the second group of straight lines G2 includes two or more parallel straight lines that intersect at right angles with the first group of straight lines G1, and the third group of straight lines G3 includes two or more parallel straight lines that intersect at right angles with both the first group of straight lines G1 and the second group of straight lines G2.

[0190] This section explains the effects of placing antennas in a three-dimensional space. Normally, when an antenna is placed on a two-dimensional plane, its radiation and reception directionality is limited mainly to directions within the plane. However, by placing the antenna in three-dimensional space, radiation and reception in various directions become possible, significantly improving the performance of the antenna system.

[0191] The main benefit of a three-dimensional arrangement is increased coverage. In a two-dimensional arrangement, antennas are primarily effective in transmitting and receiving signals only in directions parallel to the plane in which they are installed. In contrast, a three-dimensional arrangement of antennas allows them to transmit and receive signals in various directions, not just parallel to the plane. This allows for wide-area coverage in all directions, which is particularly useful in complex environments or when signals need to be captured from multiple directions.

[0192] Furthermore, the multidirectionality of the antennas due to the three-dimensional arrangement improves signal redundancy. This means that even if one antenna fails, the reliability of the entire system can be maintained by using signals from other directions. It also mitigates interference from different directions, maintaining overall communication quality.

[0193] The above description of the radar device according to the third embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0194] 4. Fourth Embodiment of the Present Technology (Radar Device Example 4) A configuration example of an antenna according to an embodiment of the present technology will be described with reference to Fig. 51. Fig. 51 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology.

[0195] As shown in Figure 51A, multiple antennas are arranged in a straight line. The center distance between adjacent antennas is the same, d1. In this way, the antennas may be arranged in a straight line at equal intervals.

[0196] By arranging antennas in a straight line and with equal spacing, they create a uniform and predictable beam pattern. This allows for the signal to be focused or strengthened in a specific direction, improving the efficiency of signal transmission to the target receiver. It also allows for uniform management of interference between the signals radiated from each antenna, resulting in clearer signal reception overall. Equal spacing also makes it easier to maintain phase consistency, resulting in improved performance of the entire antenna array.

[0197] Alternatively, as shown in Figure 51B, the antennas may be arranged in a line at uneven intervals. When the antennas are arranged in a line, there is at least one combination in which the center distance between adjacent antennas is different. For example, if the center distance between an antenna I and its adjacent antenna I+1 is d, i and the distance between antenna i and antenna i+1, which is another adjacent antenna combination, is d j If the distance between these i and d j may be different.

[0198] This arrangement is particularly useful in designs such as minimum redundancy arrays and nested arrays. A minimum redundancy array aims to minimize redundancy to maximize the diversity of signals that can be received while using the same number of antennas. A nested array, on the other hand, improves signal detection over a wide area by combining smaller subarrays in a nested fashion.

[0199] This uneven spacing allows for fewer antennas than an evenly spaced arrangement, so the number of components such as amplifiers and phase shifters can be reduced while still achieving the same level of resolution as an evenly spaced arrangement.

[0200] Configuration examples in the case where antennas are arranged two-dimensionally will be described with reference to Fig. 52 to Fig. 57. Fig. 52 to Fig. 57 are schematic diagrams showing configuration examples of antennas according to an embodiment of the present technology.

[0201] First, the configuration example shown in Fig. 52 will be described. In this configuration example, the antennas are arranged in three rows. In the top row, antennas A11 to A1n are lined up in a straight line from left to right. In the middle row, antennas A21 to A2n are lined up in a similar manner. And in the bottom row, antennas A31 to A3n are lined up in a similar manner. The entire antenna array forms a two-dimensional grid (matrix) configuration.

[0202] In each row, the antennas are arranged at equal intervals d x1 The three rows are also aligned vertically, with equal spacing dy1 are arranged in

[0203] Next, the configuration example shown in FIG. 53 will be described. In this configuration example, the antennas are also arranged in three rows. In the top row, antennas A11 to A1n are arranged in a straight line from left to right. In the middle row, antennas A21 to A2n are arranged in a straight line from left to right, and are arranged offset in the horizontal direction compared to the antennas in the top and bottom rows. In the bottom row, antennas A31 to A3n are also arranged in a straight line, similar to the top row. The antennas are arranged in a triangular shape. When three adjacent antennas form a triangle, if the triangle is rotated, all the triangles have the same shape.

[0204] In each row, the antennas are arranged at equal intervals d a1 In the vertical direction, the center distance between adjacent antennas may be different. In this configuration example, the center distance between antenna A21 and antenna A31 is d b1 The center distance between antenna A21 and antenna A32 is d c1 It is as follows.

[0205] As shown in Figures 54 and 55, some antennas may be missing. In the configuration example shown in Figures 54 and 55, four antennas are arranged in a line in the center row, with the center antenna missing. In this arrangement, there is no antenna that should be in the center, so the two antenna groups at both ends are aligned in a line, but the center is blank. This missing antenna is due to the antenna not being excited or not being physically located in the first place.

[0206] Next, we will explain the configuration example shown in Figure 56. As shown in Figure 56, this uneven spacing exists when the center-to-center distance between adjacent antennas is not uniform in a rectangular grid arrangement. This can be designed into the antenna array design to achieve specific signal processing requirements or interference avoidance. Specifically, increasing the spacing between some antennas can affect the radiation pattern and receive sensitivity of the entire array.

[0207] Such non-uniform arrangements are used in antenna array designs, such as minimally redundant arrays and nested arrays, to optimize sensitivity in a particular direction or to improve the overall directivity of the array. In particular, they allow for effective coverage of a wide band of signals while minimizing interference.

[0208] Next, a description will be given of the configuration example shown in Fig. 57. As shown in Fig. 57, antennas are arranged to form a triangle, and there is at least one case where the shape of the triangle formed by three adjacent antennas is not identical to the shape of the triangle formed by another three adjacent antennas.

[0209] Such arrangements are used to obtain a particular radiation pattern or to enhance a particular directionality. The non-identical triangular shapes formed by the antennas produce different radiation and reception characteristics. This asymmetry allows the antenna array to improve its ability to receive signals in a variety of environments, particularly in complex signal environments.

[0210] The above description of the radar device according to the fourth embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0211] [5. Fifth Embodiment of the Present Technology (Radar Device Example 5)] A transmitting antenna array, or a transmitting antenna included in the transmitting antenna array, may be surrounded in part or in whole by ground. This will be described with reference to Figures 58 to 62. Figures 58 to 62 are schematic diagrams showing configuration examples of antennas according to an embodiment of the present technology.

[0212] As shown in Figures 58 and 59, an antenna array AA including an antenna A may be surrounded entirely by a ground GND. The ground GND is used to ensure electrical safety and signal integrity. The ground GND is usually made of a highly conductive material and is used to safely drain excess current from electronic devices and antenna systems to the ground. The ground GND effectively shields against electromagnetic interference, preventing external noise and interference from other electronic devices from affecting the antenna. This improves the quality of transmitted and received signals.

[0213] In this configuration example, the entire periphery of the antenna array AA is surrounded by the ground GND, but only a portion of the periphery of the antenna array AA may be surrounded by the ground GND.

[0214] The shape of the ground GND surrounding the antenna is not particularly limited. For example, as shown in Fig. 60, the antenna A included in the antenna array AA may be partially surrounded by the ground GND.

[0215] Alternatively, as shown in FIG. 61, the ground GND may be located inside the antenna array AA.

[0216] Alternatively, as shown in FIG. 62, each of the antennas A included in the antenna array AA may be entirely surrounded by ground GND.

[0217] The above description of the radar device according to the fifth embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0218] [6. Sixth Embodiment of the Present Technology (Radar Device Example 6)] A transmitting antenna array, or a transmitting antenna included in the transmitting antenna array, may be surrounded in part or in whole by a choke structure. This will be described with reference to Figures 63 to 67. Figures 63 to 67 are schematic diagrams showing configuration examples of antennas according to an embodiment of the present technology.

[0219] As shown in Figures 63 and 64, the antenna array AA may be entirely surrounded by a choke structure C. The choke structure C is an electromagnetic interference prevention structure that is arranged around the antenna using a conductive or magnetic material. The choke structure C is primarily used to control electromagnetic radiation from the antenna and external electromagnetic waves that affect the antenna. The choke structure C is designed to absorb or block electromagnetic waves of a specific frequency and limit the propagation of electromagnetic waves.

[0220] In this configuration example, the entire periphery of the antenna array AA is surrounded by the choke structure C, but the periphery of the antenna array may be surrounded by the choke structure C only partially.

[0221] There is no particular limitation on the shape of the choke structure C surrounding the antenna A. For example, as shown in Fig. 65 , the antenna A included in the antenna array AA may have a portion of its periphery surrounded by the choke structure C.

[0222] Alternatively, as shown in FIG. 66, the choke structure C may be located inside the antenna array AA.

[0223] Alternatively, as shown in FIG. 67, each of the antennas A included in the antenna array AA may be entirely surrounded by a choke structure C.

[0224] The above description of the radar device according to the sixth embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0225] [7. Seventh Embodiment of the Present Technology (Radar Device Example 7)] Dummy antennas may be arranged around a transmitting antenna array or a transmitting antenna included in the transmitting antenna array so as to surround part or all of the transmitting antenna. This will be described with reference to Figures 68 and 69. Figures 68 and 69 are schematic diagrams showing configuration examples of antennas according to an embodiment of the present technology.

[0226] As shown in Fig. 68, a dummy antenna D may be arranged inside the antenna array AA. In this configuration example, the dummy antenna D is arranged so as to surround part of the periphery of the antenna A included in the antenna array AA.

[0227] The dummy antenna D does not transmit or receive signals, but is used to equalize the electromagnetic characteristics within the antenna array AA, thereby reducing mutual interference between the excited antennas A and improving overall performance.

[0228] The dummy antenna D can be placed at any position in the antenna array AA and is not treated as an adjacent antenna A. Therefore, there are no specific restrictions on the placement of the dummy antenna D, and it can be freely placed in the optimal position depending on the design of the array. The unpowered dummy antenna D is used to adjust the electromagnetic characteristics between the antennas A.

[0229] Dummy antennas D are also placed around the periphery of the antenna array AA to reduce interference from outside the antenna array AA and to adjust the radiation pattern of the entire antenna array AA, thereby improving the overall performance of the antenna array AA.

[0230] In this configuration example, the dummy antenna D is arranged so as to surround a part of the periphery of the antenna A, but the dummy antenna D may be arranged so as to surround the entire periphery of the antenna.

[0231] In addition, in this configuration example, the antenna A and the dummy antenna D are arranged in a square, but the antenna A and the dummy antenna D do not have to be arranged in the same manner. For example, the antenna A may be arranged in a square, and the dummy antenna D may be arranged in a triangular.

[0232] Alternatively, as shown in FIG. 69, a dummy antenna D may be arranged so as to surround the entire periphery of the antenna array AA.

[0233] In this configuration example, the dummy antenna D is arranged so as to surround the entire periphery of the antenna array AA, but the dummy antenna D may also be arranged so as to surround only a portion of the periphery of the antenna array AA.

[0234] Although not shown in the figure, a dummy antenna D may be arranged so as to surround the entire periphery of the antenna array AA, and the dummy antenna D may also be arranged inside the antenna array AA.

[0235] The above description of the radar device according to the seventh embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0236] 8. Eighth Embodiment of the Present Technology (Eighth Example of Radar Device) A configuration example of a radar device according to an embodiment of the present technology will be described with reference to Fig. 70. Fig. 70 is a schematic diagram showing a configuration example of an antenna according to an embodiment of the present technology.

[0237] As shown in Figure 70, a transmitting antenna array TXA and a receiving antenna array RXA are arranged on a substrate. The transmitting antenna array TXA is located at the top of the figure, and the receiving antenna array RXA is located at the bottom. Each transmitting antenna TX in the transmitting antenna array TXA is composed of two transmitting antenna elements. The transmitting antennas TX are evenly spaced at intervals of one wavelength (1λ) and use a standing wave antenna made of connected rectangular patches. Each transmitting antenna TX has half the gain and a half-power angle twice that of the receiving antenna RX, ensuring a wide radiation pattern and field of view.

[0238] On the other hand, each receiving antenna RX in the receiving antenna array RXA is composed of four receiving antenna elements. The receiving antennas RX are densely arranged at intervals of 0.5 wavelengths (0.5λ), which provides high resolution and sensitivity.

[0239] In this embodiment, only the transmitting antenna TX is subarrayed. Two adjacent transmitting antennas TX are considered to be one subarray. In this case, the number of transmitting antenna elements constituting this subarray and the number of receiving antenna elements constituting the receiving antenna RX are each four, which matches. This configuration makes it possible to construct a distortion-free rectangular virtual antenna placement area, allowing for flexible determination of antenna placement positions.

[0240] In conventional antenna array designs, when the same type of antenna is used for both transmitting and receiving, the antenna spacing must be increased to avoid mutual interference between the antennas. If this spacing is greater than two wavelengths, the antenna layout area inevitably increases, thereby limiting the field of view of the antenna array. This limited field of view reduces the range that the antenna can cover, potentially limiting the system's functionality.

[0241] In addition, in environments where widening the antenna spacing is not possible or when there are design constraints, the antennas may be placed at an angle, but this brings with it additional technical challenges such as increased installation space and complicated wiring.

[0242] As shown in Figure 70, this embodiment employs different designs for the transmitting antenna TX and the receiving antenna RX. For the transmitting antenna TX, antennas with a large half-power angle and small gain are selected to provide a wide radiation pattern, and they are arranged at intervals of one wavelength. On the other hand, the receiving antennas RX are densely arranged at intervals of 0.5 wavelengths to obtain high resolution and sensitivity. This approach widens the field of view and effectively solves the antenna spacing problem.

[0243] The above description of the radar device according to the eighth embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0244] [9. Ninth embodiment of the present technology (radar device example 9)] The antenna includes one or more transmission lines and one or more antenna elements. In addition, it may include various components such as delay lines, parasitic elements, reflectors, grounds, through-holes, etc. These components are important for improving the functionality of the antenna and adapting it to specific requirements.

[0245] For example, delay lines are used to adjust signal timing, parasitic elements contribute to the formation of the radiation pattern and frequency characteristics, reflectors are used to improve the antenna's radiation directionality, ground planes stabilize the antenna's performance, and through-holes are used to adjust the distribution of electromagnetic waves. These elements increase the degree of freedom when configuring an antenna, allowing it to be customized to suit specific applications.

[0246] The configuration of the antenna is not particularly limited, but configuration examples will be described with reference to Figures 71 to 81. Figures 71 to 81 are schematic diagrams showing configuration examples of antennas according to an embodiment of the present technology.

[0247] Figures 71 and 72 show examples of the configuration of an antenna that transmits and receives linearly polarized waves. The antennas shown in Figures 71A to 71C are antennas that use a rectangular antenna element E1.

[0248] The antenna shown in Figure 71A is a microstrip antenna with a rectangular antenna element E1 connected to a transmission line E2. This antenna is easy to manufacture due to its simple structure and provides high gain in a relatively small size.

[0249] The antenna shown in Figure 71B is a standing wave antenna in which multiple rectangular antenna elements E1 are connected in a row, and this antenna has a structure in which multiple rectangular antenna elements E1 are connected in a row and a specific resonance mode is used to obtain high directivity and gain.

[0250] The antenna shown in Figure 71C is a traveling-wave antenna in which multiple rectangular antenna elements E1 are connected. This antenna is arranged so that the connected antenna elements E1 form a traveling wave. Traveling-wave antennas enable advanced beam steering and beam forming by precisely controlling the phase and amplitude of the signal, making them very effective in dynamic communication environments.

[0251] Fig. 71D is a schematic cross-sectional view of the antenna shown in Fig. 71A to Fig. 71C. A substrate (dielectric) E3 is sandwiched between the antenna element E1, the transmission line E2, and the ground GND.

[0252] The antenna shown in FIGS. 72A to 72C is an antenna to which a circular antenna element E1 is applied.

[0253] The antenna shown in Figure 72A is a microstrip antenna in which a circular antenna element E1 is connected to a transmission line E2.

[0254] The antenna shown in FIG. 72B is a standing wave antenna in which multiple circular antenna elements E1 are connected together.

[0255] The antenna shown in FIG. 72C is a traveling wave antenna in which multiple circular antenna elements E1 are connected together.

[0256] 73 and 74 show examples of the configuration of an antenna that transmits and receives circularly polarized waves.

[0257] The antenna shown in Figure 73A is a microstrip antenna in which a rectangular antenna element E1 equipped with a perturbation element is connected to a transmission line E2.

[0258] The antenna shown in FIG. 73B is a standing wave type antenna in which multiple rectangular antenna elements E1 equipped with perturbation elements are connected.

[0259] The antenna shown in FIG. 73C is a traveling wave antenna in which multiple rectangular antenna elements E1 equipped with perturbation elements are connected.

[0260] FIG. 73D is a schematic cross-sectional view of the antenna shown in FIGS. 73A to 73C.

[0261] The antenna shown in Figures 74A to 74C is an antenna that employs a circular antenna element E1 equipped with a perturbation element.

[0262] The antenna shown in Figure 74A is a microstrip antenna in which a circular antenna element E1 with a perturbation element is connected to a transmission line E2.

[0263] The antenna shown in FIG. 74B is a standing wave type antenna in which multiple circular antenna elements E1 equipped with perturbation elements are connected.

[0264] The antenna shown in Figure 74C is a traveling wave antenna in which multiple circular antenna elements E1 equipped with perturbation elements are connected.

[0265] The antenna shown in Figures 75A to 75C is a dipole antenna. A dipole antenna is composed of multiple metal rods of equal length, which function as antenna elements E1. Power is fed to this antenna element E1 by connecting it to a transmission line E2. Although not shown, a reflector that reflects signals may be placed behind the antenna. This allows the reflector to reflect the radiated signal forward, improving gain and directivity.

[0266] The antenna shown in Figures 76A and 76B is a loop antenna. The loop antenna is made of a metal loop, which functions as an antenna element E1. A transmission line E2 is connected to this antenna element E1 to feed power. Although not shown, a reflector that reflects signals may be placed behind the antenna. This allows the reflector to reflect the radiated signal forward, improving gain and directivity.

[0267] Figures 77A and 77B show other configurations of the antenna. As shown in Figure 77A, a planar antenna element E1 may be connected to a transmission line E2. As shown in Figure 77B, a rod-shaped antenna element E1 may be connected to a transmission line E2.

[0268] The antenna shown in Figures 78A to 78C is a slot antenna. A slot antenna has a structure in which a slot (cut) E1 is formed in a metal plate E4, and this slot E1 functions as an antenna element. This slot antenna efficiently radiates surface waves and can be designed in a planar manner.

[0269] The slot antenna shown in Fig. 78A has one slot E1 extending in the left-right direction of the figure, while the slot antenna shown in Fig. 78B has two slots E1 extending in the left-right direction of the figure.

[0270] The slot antenna uses a waveguide or a coaxial cable as a transmission line E2, and radiates electromagnetic waves through the slot E1. The shape and size of the slot E1 are designed to control the radiation direction and pattern.

[0271] Fig. 78C is a schematic cross-sectional view of the antenna shown in Fig. 78A and Fig. 78B. A substrate (dielectric) E3 is sandwiched between a metal plate E4 and ground GND. A transmission line E2 is disposed inside the substrate E3.

[0272] The antennas shown in Figures 79A and 79B are waveguide slot antennas. A waveguide slot antenna is an antenna in which multiple slots E1 are provided in the side wall E4 of a waveguide. The slot antenna shown in Figure 79A has one slot E1 extending in the vertical direction of the figure. The slot antenna shown in Figure 79B has two slots E1 extending in the vertical direction of the figure. The waveform radiated from the slot E1, which functions as an antenna element, can provide high gain in a certain direction.

[0273] The sidewall E4 of the waveguide is provided with a plurality of through-holes E5. The through-holes E5 are small holes used to adjust the distribution of electromagnetic waves within the waveguide, thereby optimizing the radiation pattern and efficiency of the antenna.

[0274] The antenna shown in Figures 80A and 80B is a horn antenna. A horn antenna has a horn shape, and the horn itself functions as an antenna element, efficiently radiating electromagnetic waves over a wide range of frequencies. In a horn antenna design, a through hole E5 may be used to realize the horn antenna on the substrate.

[0275] Fig. 80B is a schematic cross-sectional view of the antenna shown in Fig. 80A. A substrate (dielectric) E3 is sandwiched between multiple grounds GND. A through-hole E5 is disposed inside the substrate E3.

[0276] The antenna shown in Figures 81A and 81B is a Vivaldi antenna. A Vivaldi antenna is an antenna in which a tapered slot E1 formed in a metal plate E4 functions as an antenna element. The shape of this slot E1 determines the radiation characteristics.

[0277] FIG. 81B is a schematic cross-sectional view of the antenna shown in FIG. 81A.

[0278] The above description of the radar device according to the ninth embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0279] 10. Tenth Embodiment of the Present Technology (Tenth Example of Radar Device) The present technology provides a radar device including a receive antenna array including two or more receive antennas, and a subarray signal generation unit that generates subarray receive signals based on signals received by the receive antennas, wherein the receive antenna array has first receive subarrays and second receive subarrays that each include one or more of the receive antennas, a placement area of ​​the first receive subarray and a placement area of ​​the second receive subarray overlap partially or entirely, each of the first receive subarray and the second receive subarray receives signals in a division system, and the subarray signal generation unit has a first subarray signal generation unit that generates a first subarray receive signal based on signals received by the receive antennas that constitute the first receive subarray, and a second subarray signal generation unit that generates a second subarray receive signal based on signals received by the receive antennas that constitute the second receive subarray.

[0280] This technology allows for the configuration of subarrays in the receiving antenna as well, and for signal processing. While the previous description has focused on the configuration and control of subarrays in the transmitting antenna, the same concept can be applied to the receiving side.

[0281] An example of configuring a subarray in a receiving antenna will be described with reference to Fig. 82. Fig. 82 is a block diagram showing a configuration example of a radar device 101 according to an embodiment of the present technology.

[0282] 82, the radar device 101 includes a receiving antenna array including two or more receiving antennas RX, and a subarray signal generator 341 that generates subarray receiving signals based on signals received by the receiving antennas RX. The other components are the same as those shown in FIG. 13, and therefore description thereof will be omitted.

[0283] Although not shown in this figure, the receive antenna array has a first receive subarray and a second receive subarray, each including one or more receive antennas. Each of the first receive subarray and the second receive subarray receives signals using a division method. The layout area of ​​the first receive subarray and the layout area of ​​the second receive subarray overlap in part or in whole. The layout areas of the subarrays are as described above.

[0284] The signal processing unit 34 has a subarray signal generating unit 341. When a signal is received from a subarray of the receiving antenna, the signal can be input to the subarray signal generating unit 341 to generate a received signal corresponding to each subarray. The subarray signal generating unit 341 performs specific signal processing for each subarray based on the received signal.

[0285] This processing separates the received signals from each subarray and extracts information based on them. Specifically, the subarray signal generator 341 generates a first subarray received signal based on signals received by the receive antennas that make up the first receive subarray. The subarray signal generator 341 also generates a second subarray received signal based on signals received by the receive antennas that make up the second receive subarray.

[0286] The processing of the subarray signal generation unit 341 will be described with reference to Fig. 83. Fig. 83 is a schematic diagram showing an example of the processing of the subarray signal generation unit 341 according to an embodiment of the present technology.

[0287] FIG. 83 shows the received signals r1 to r2 from the multiple receiving antennas that make up the subarray. n The received signals r1 to r n contains the complex weights w1 to w n These weights have the effect of changing both the amplitude and phase of the signal, and play an important role in signal processing. Each received signal is weighted and then combined to produce the received signal r sub It forms 1.

[0288] Specifically, the received signals r1 to r nFor each of the complex weights w1 to w2 of the different signals, n For example, a weight w is assigned to the received signal r1, and a weight w is assigned to the received signal r2. Based on the weighting assigned to each subarray, the signals from each receive antenna are summed to produce an overall subarray received signal r sub 1 is formed.

[0289] It should be noted that the total number of receive antennas may be greater than n, i.e., not all receive antennas may be utilized.

[0290] The above description of the radar device according to the tenth embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0291] [11. Eleventh Embodiment of the Present Technology (Eleventh Example of Radar Device)] The present technology provides a radar device including a virtual signal generation unit that generates virtual antennas based on received signals, wherein two or more of the virtual antennas configure a virtual antenna array, wherein the virtual antenna array has a first virtual subarray and a second virtual subarray that each include one or more of the virtual antennas, wherein a placement area of ​​the first virtual subarray and a placement area of ​​the second virtual subarray overlap partially or entirely, and wherein each of the first virtual subarray and the second virtual subarray is generated based on a signal received using a division method.

[0292] In this technology, subarrays can also be configured in virtual antennas and used for signal processing.

[0293] An example of configuring a subarray in a virtual antenna will be described with reference to Fig. 84. Fig. 84 is a block diagram showing an example of the configuration of a radar device 102 according to an embodiment of the present technology.

[0294] 84, the radar device 102 includes a virtual signal generator 342 that generates a virtual antenna based on a received signal, and a subarray signal generator 343 that generates a subarray received signal based on the virtual antenna signal. The other components are the same as those shown in FIG. 13, and therefore their description will be omitted.

[0295] Although not shown in this figure, two or more virtual antennas V (see FIG. 8, etc.) constitute a virtual antenna array. The virtual antenna array has a first virtual subarray and a second virtual subarray, each of which includes one or more virtual antennas. The first virtual subarray and the second virtual subarray are each generated based on signals received using a division method. The placement area of ​​the first virtual subarray and the placement area of ​​the second virtual subarray overlap in part or in whole. In the explanation of other embodiments, the overlap of the placement areas of the subarrays was explained, but the same can be said for virtual subarrays.

[0296] The virtual signal generator 342 divides the received signal into signals of a plurality of sections along the time axis. This will be described with reference to Figures 85 and 86. Figures 85 and 86 are schematic diagrams showing an example of processing by the virtual signal generator 342 according to an embodiment of the present technology.

[0297] As shown in Figures 85 and 86, in a radar device, for example, signals from five transmitting antennas TX1 to TX5 are transmitted in time series, and received signals are obtained by the receiving antennas accordingly. In this case, the virtual signal generator 342 divides the received signal into five sections along the time axis and extracts a signal corresponding to one transmitting antenna in each time section. For example, the signal received by the ith receiving antenna is expressed as r i Then, the received signal ri is expressed as a virtual received signal r vir i+1 ~r vir i+5 It is divided into

[0298] This allows the position of a virtual antenna to be virtually defined as a combination of the positions of the transmitting and receiving antennas.The virtual antenna position can be derived using the phase and time position relationship between each transmitting antenna and the corresponding received signal.

[0299] The processing of the subarray signal generation unit 343 will be described with reference to Fig. 87. Fig. 87 is a schematic diagram showing an example of the processing of the subarray signal generation unit 343 according to an embodiment of the present technology.

[0300] FIG. 87 shows a virtual received signal r of a virtual subarray composed of multiple virtual antennas. vir 1~r vir n This virtual received signal r vir 1~r vir n contains the complex weights w1 to w n The weights have the effect of changing both the amplitude and phase of the signal, and play an important role in signal processing. Each virtual received signal is weighted and then combined to produce the virtual received signal r of the sub-array. sub k is formed.

[0301] Specifically, the virtual received signal r vir 1~r vir n For each of the complex weights w1 to w2 of the different signals, n For example, the virtual received signal r vir 1 is given a weight w1. The virtual received signal r vir 2 is given a weight w2. Based on the weighting assigned to each of the subarrays, the signals from each virtual antenna are summed to produce the overall virtual subarray received signal r sub k is formed.

[0302] It should be noted that the total number of virtual antennas may be greater than n, i.e., not all virtual antennas may be utilized.

[0303] The configuration of data processed by the signal processing unit 34 will be described with reference to Fig. 88. Fig. 88 is a table showing an example configuration of data processed by the signal processing unit 34 according to an embodiment of the present technology.

[0304] The signal data that arrives at the signal processing unit 34 is in a state where the signal from the transmitting antenna has already been converted into a received signal, and is written in a form divided corresponding to the virtual antennas.

[0305] Each column in Figure 88A corresponds to the number of a virtual antenna. For example, transmit antennas 1, 2, and 3 combine to function as one subarray, and this and receive antenna 1 form virtual antenna 1. Each cell in the table displays the signal reading after analog-to-digital conversion at a specific time T, which corresponds to a frequency component.

[0306] Each virtual antenna is constructed based on the signals from the combined transmitting and receiving antennas. For example, virtual antenna 1 corresponds to the signal of receiving antenna 1 received from transmitting antennas 1, 2, and 3, and virtual antenna 2 corresponds to the signal of receiving antenna 2 received from transmitting antennas 2, 3, and 4. This is applied to successive subarrays, and finally, transmitting antennas L-2, L-1, and L are combined with receiving antenna N to form virtual antenna P.

[0307] Figure 88A shows a data structure focusing on transmitting antennas, while Figure 88B shows a data structure focusing on receiving antennas, Figure 88C shows a data structure focusing on transmitting and receiving antennas, and Figure 88D shows a data structure focusing on virtual antennas.

[0308] The above description of the radar device according to the eleventh embodiment of the present technology can be applied to other embodiments of the present technology unless there is a particular technical contradiction.

[0309] It should be noted that the embodiments of the present technology are not limited to the above-described embodiments, and various modifications are possible within the scope of the present technology. The specific numerical values, shapes, materials (including compositions), etc. described in each embodiment are merely examples, and the present technology is not limited to these.

[0310] The present technology may also have the following configurations. [1] A radar device including a transmitting antenna array including two or more transmitting antennas, wherein the transmitting antenna array has a first transmitting subarray and a second transmitting subarray, each including one or more transmitting antennas, wherein a placement area of ​​the first transmitting subarray and a placement area of ​​the second transmitting subarray overlap partially or entirely, and wherein each of the first transmitting subarray and the second transmitting subarray transmits signals in a divisional manner. [2] The radar device according to [1], wherein the placement areas of the first transmitting subarray and the second transmitting subarray have the same shape. [3] The radar device according to [1] or [2], wherein the transmitting antenna array further has a third transmitting subarray including one or more transmitting antennas, wherein a placement area of ​​the second transmitting subarray and a placement area of ​​the third transmitting subarray overlap partially or entirely, and wherein each of the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray transmit signals in a divisional manner. [4] The radar device according to [3], wherein the arrangement region of the first transmitting subarray and the arrangement region of the third transmitting subarray overlap partially or entirely. [5] The radar device according to [3] or [4], wherein the shapes of the arrangement regions of two or more of the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray are the same. [6] The radar device according to any one of [3] to [5], wherein the shapes of the arrangement regions of the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray are the same. [7] The radar device according to any one of [3] to [6], wherein the transmitting antennas are arranged linearly side by side. [8] The radar device according to [7], wherein the transmitting antennas are arranged linearly at equal intervals. [9] The radar device according to [7] or [8], wherein the arrangement patterns of the transmitting antennas to be excited are the same in the first transmitting subarray and the second transmitting subarray.

[10] The radar device according to [9], wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the second transmitting subarray and the third transmitting subarray.

[11] The radar device according to any one of [3] to

[10] , wherein the transmitting antennas are arranged at intersections of three or more lines that intersect with each other.

[12] The radar device according to

[11] , wherein the transmitting antenna array is formed by a first group of lines and a second group of lines each having a different direction, and the transmitting antennas are arranged at one or more intersections formed by the first group of lines and the second group of lines, the first group of lines including two or more parallel lines, and the second group of lines including two or more parallel lines that are perpendicular to the first group of lines.

[13] The radar device according to

[12] , wherein the transmitting antennas are arranged at all intersections formed by the first group of lines and the second group of lines.

[14] The radar device according to

[12] or

[13] , wherein the lines included in the first group of lines are arranged at equal intervals.

[15] The radar device according to

[14] , wherein the straight lines included in the second group of straight lines are arranged at equal intervals.

[16] The radar device according to any one of

[11] to

[15] , wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the first transmitting subarray and the second transmitting subarray.

[17] The radar device according to

[16] , wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the second transmitting subarray and the third transmitting subarray.

[18] The radar device according to any one of

[11] to

[17] , wherein the transmitting antenna array is formed by a first group of lines, a second group of lines, and a third group of lines each having a different direction, the first group of lines including two or more parallel lines, the second group of lines including two or more parallel lines in a direction different from that of the first group of lines, and the third group of lines including two or more parallel lines in a direction different from that of the first group of lines and the second group of lines, and the transmitting antenna is disposed at an intersection formed by the first group of lines, the second group of lines, and the third group of lines.

[19] The radar device according to

[18] , wherein the three or more lines included in the first group of lines are arranged at equal intervals.

[20] The radar device according to

[19] , wherein the transmitting antennas are arranged on all intersections formed by the first group of straight lines, the second group of straight lines, and the third group of straight lines.

[21] The radar device according to

[19] or

[20] , wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the first transmitting subarray and the second transmitting subarray.

[22] The radar device according to

[21] , wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the second transmitting subarray and the third transmitting subarray.

[23] The radar device according to any one of

[19] to

[22] , wherein the spacing between the lines included in the first group of straight lines is the same as the spacing between the lines included in the second group of straight lines.

[24] The radar device according to

[23] , wherein the spacing between the lines included in the second group of straight lines is the same as the spacing between the lines included in the third group of straight lines.

[25] The radar device according to any one of [1] to

[24] , wherein the transmitting antenna array or the transmitting antennas included in the transmitting antenna array are surrounded by ground partially or entirely.

[26] The radar device according to any one of [1] to

[25] , wherein the transmitting antenna array or the transmitting antennas included in the transmitting antenna array are surrounded by a choke structure partially or entirely.

[27] The radar device according to any one of [1] to

[26] , wherein dummy antennas are arranged around the transmitting antenna array or the transmitting antennas included in the transmitting antenna array so as to surround them partially or entirely.

[28] The radar device according to any one of [1] to

[27] , wherein the division method is a time division method.

[29] A radar device comprising: a receiving antenna array including two or more receiving antennas; and a subarray signal generation unit that generates subarray receiving signals based on signals received by the receiving antennas, wherein the receiving antenna array has a first receiving subarray and a second receiving subarray that each include one or more of the receiving antennas, wherein the arrangement area of ​​the first receiving subarray and the arrangement area of ​​the second receiving subarray overlap partially or entirely, wherein each of the first receiving subarray and the second receiving subarray receives signals using a division method, and wherein the subarray signal generation unit generates a first subarray receiving signal based on signals received by the receiving antennas that constitute the first receiving subarray, and generates a second subarray receiving signal based on signals received by the receiving antennas that constitute the second receiving subarray.

[30] A radar device comprising a virtual signal generation unit that generates a virtual antenna based on a received signal, wherein two or more of the virtual antennas form a virtual antenna array, wherein the virtual antenna array has a first virtual subarray and a second virtual subarray each including one or more of the virtual antennas, wherein a placement area of ​​the first virtual subarray and a placement area of ​​the second virtual subarray overlap in part or in whole, and wherein each of the first virtual subarray and the second virtual subarray is generated based on a signal received using a division method.

[0311] 31 Calculation unit 34 Signal processing unit 100 Radar device 101 Radar device 102 Radar device 341 Subarray signal generation unit 342 Virtual received signal generation unit 342 Virtual signal generation unit 343 Subarray signal generation unit A Antenna AA Antenna array C Choke structure D Dummy antenna G1 First group of lines G2 Second group of lines G3 Third group of lines GND Ground RX Receiving antenna RXA Receiving antenna array TX Transmitting antenna TXA Transmitting antenna array V Virtual antenna

Claims

1. A radar device comprising a transmitting antenna array including two or more transmitting antennas, wherein the transmitting antenna array has a first transmitting subarray and a second transmitting subarray, each of which includes one or more transmitting antennas, wherein the arrangement area of ​​the first transmitting subarray and the arrangement area of ​​the second transmitting subarray overlap in part or in whole, and wherein each of the first transmitting subarray and the second transmitting subarray transmits signals in a divisional manner.

2. The radar device according to claim 1, wherein the first transmitting subarray and the second transmitting subarray have the same shape in their respective arrangement areas.

3. The radar device according to claim 1, wherein the transmitting antenna array further includes a third transmitting subarray including one or more transmitting antennas, the arrangement area of ​​the second transmitting subarray and the arrangement area of ​​the third transmitting subarray overlap in part or in whole, and the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray each transmit signals in a divisional manner.

4. The radar device according to claim 3, wherein the layout area of ​​the first transmitting subarray and the layout area of ​​the third transmitting subarray overlap in part or in whole.

5. The radar device according to claim 3, wherein the shapes of the arrangement areas of two or more of the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray are the same.

6. The radar device according to claim 3, wherein the first transmitting subarray, the second transmitting subarray, and the third transmitting subarray have the same shape in their respective arrangement areas.

7. The radar device according to claim 3, wherein the transmitting antennas are arranged in a straight line.

8. The radar device according to claim 7, wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the first transmitting subarray and the second transmitting subarray.

9. The radar device according to claim 7, wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the second transmitting subarray and the third transmitting subarray.

10. The radar device according to claim 3, wherein the transmitting antenna is arranged at an intersection of three or more straight lines that intersect with each other.

11. The radar device according to claim 10, wherein the transmitting antenna array is formed by a first group of straight lines and a second group of straight lines each having a different direction, the transmitting antenna is disposed on one or more intersections formed by the first group of straight lines and the second group of straight lines, the first group of straight lines includes two or more parallel straight lines, and the second group of straight lines includes two or more parallel straight lines that are perpendicular to the first group of straight lines.

12. The radar device according to claim 10, wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the first transmitting subarray and the second transmitting subarray.

13. The radar device according to claim 12, wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the second transmitting subarray and the third transmitting subarray.

14. The radar device according to claim 10, wherein the transmitting antenna array is formed by a first group of straight lines, a second group of straight lines, and a third group of straight lines, each of which has a different direction; the first group of straight lines includes two or more parallel straight lines; the second group of straight lines includes two or more parallel straight lines in a direction different from that of the first group of straight lines; and the third group of straight lines includes two or more parallel straight lines in a direction different from that of the first group of straight lines and the second group of straight lines; and the transmitting antenna is disposed at an intersection formed by the first group of straight lines, the second group of straight lines, and the third group of straight lines.

15. The radar device according to claim 14, wherein the three or more straight lines included in the first group of straight lines are arranged at equal intervals.

16. The radar device according to claim 15, wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the first transmitting subarray and the second transmitting subarray.

17. The radar device according to claim 16, wherein the arrangement pattern of the transmitting antennas to be excited is the same in each of the second transmitting subarray and the third transmitting subarray.

18. The radar device according to claim 1, wherein the division method is a time division method.

19. A radar device comprising: a receiving antenna array including two or more receiving antennas; and a subarray signal generation unit that generates subarray receiving signals based on signals received by the receiving antennas, wherein the receiving antenna array has a first receiving subarray and a second receiving subarray, each including one or more of the receiving antennas, the arrangement area of ​​the first receiving subarray and the arrangement area of ​​the second receiving subarray overlap partially or entirely, each of the first receiving subarray and the second receiving subarray receives signals using a division method, and the subarray signal generation unit generates a first subarray receiving signal based on signals received by the receiving antennas that constitute the first receiving subarray, and generates a second subarray receiving signal based on signals received by the receiving antennas that constitute the second receiving subarray.

20. A radar device comprising a virtual signal generation unit that generates virtual antennas based on received signals, wherein two or more of the virtual antennas form a virtual antenna array, wherein the virtual antenna array has a first virtual subarray and a second virtual subarray, each of which includes one or more of the virtual antennas, wherein the layout area of ​​the first virtual subarray and the layout area of ​​the second virtual subarray overlap in part or in whole, and wherein the first virtual subarray and the second virtual subarray are each generated based on signals received using a division method.

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