CN111220984A - Ultra-wide-angle vehicle-mounted radar device, vehicle-mounted radar system and automobile - Google Patents
Ultra-wide-angle vehicle-mounted radar device, vehicle-mounted radar system and automobile Download PDFInfo
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- CN111220984A CN111220984A CN202010064645.7A CN202010064645A CN111220984A CN 111220984 A CN111220984 A CN 111220984A CN 202010064645 A CN202010064645 A CN 202010064645A CN 111220984 A CN111220984 A CN 111220984A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses an ultra-wide-angle vehicle-mounted radar device, a vehicle-mounted radar system and an automobile, and relates to the technical field of driving assistance, wherein the vehicle-mounted radar device comprises: the radar detection device comprises a plurality of groups of antennas, a plurality of sets of sensors and a control unit, wherein each group of antennas comprises a transmitting antenna and a receiving antenna configured with the transmitting antenna, the transmitting antenna is used for transmitting radar waves in a millimeter wave frequency band to detect a target object, and the receiving antenna is used for receiving echoes reflected by the target object to generate a radar image; the antenna comprises a first substrate, a second substrate and a third substrate, wherein the first substrate is provided with a first surface, and a plurality of groups of antennas are arranged on the first surface; a second substrate, which is a V-shaped substrate fixedly connected with the first substrate into a whole; the second substrate is provided with a second surface, and a plurality of groups of antennas are arranged on the second surface; meanwhile, the second surface and the first surface are positioned on two outer sides of the V-shaped substrate, so that the radar waves can cover a visual field of more than 180 degrees. The invention can enable the radar waves of the vehicle-mounted radar device to cover the field of view of more than 180 degrees, meet the requirement of a field with a wider view angle, and the vehicle-mounted radar device has simple structural arrangement.
Description
Technical Field
The invention relates to the technical field of driving assistance, in particular to an ultra-wide-angle vehicle-mounted radar device, a vehicle-mounted radar system and an automobile.
Background
The vehicle-mounted radar is a radar mounted on a vehicle and limited by a field angle FOV of the millimeter wave radar, and the application of the millimeter wave radar on the vehicle is mainly that one millimeter wave radar, namely, an angle radar 4 is mounted at each of four corners of the vehicle 3. Referring to fig. 1, the corner radars 4 are installed at four corners of the vehicle 3, so that the functional requirements of the vehicle on intelligent driving at the present stage can be met, however, the number of radars is large, the arrangement space of the vehicle is limited, and when more radars are installed on the vehicle, more installation parts are also needed, so that the parts are managed and purchased more. Meanwhile, in order to ensure good functions of the vehicle-mounted radar, the mounting requirements of the vehicle-mounted radar need to be strictly observed, and the arrangement difficulty of the vehicle-mounted radar is increased.
Therefore, a detection area of a single millimeter wave radar has a radar detection blind area, and omnibearing detection cannot be provided. To solve this technical problem, chinese granted patent publication No. CN102680976B discloses a vehicle-mounted radar system, which includes: the radar device comprises a processor, a radar transmitter, an antenna and a beam deflecting device, wherein the processor controls the radar transmitter to generate radar waves, the antenna transmits the radar waves, and the beam deflecting device deflects the propagation direction of the radar waves to enable the radar waves to cover at least 180-degree directions, even 360-degree directions.
In the above patent, the vehicle-mounted radar system can cover the field of view in all directions, however, the beam deflector is a metamaterial beam deflector, the structure is complex and various, and the cost is high compared with the conventional millimeter wave radar, it goes without saying that the development of a new structure capable of expanding the detection range of a single millimeter wave radar is necessary, and the cost is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an ultra-wide-angle vehicle-mounted radar device, a vehicle-mounted radar system and an automobile, which can enable the radar waves of the vehicle-mounted radar device to cover a field of view of more than 180 degrees, meet the requirement of a field with a wider viewing angle, and meanwhile, the vehicle-mounted radar device is simple in structural arrangement.
To achieve the above object, in a first aspect, an embodiment of the present invention provides an ultra-wide angle vehicle-mounted radar apparatus, including:
the radar detection device comprises a plurality of groups of antennas, a radar detection unit and a control unit, wherein each group of antennas comprises a transmitting antenna and a receiving antenna configured with the transmitting antenna, the transmitting antenna is used for transmitting radar waves in a millimeter wave frequency band to detect a target object, and the receiving antenna is used for receiving echoes reflected by the target object to generate a radar image;
the antenna comprises a first substrate, a second substrate and a third substrate, wherein the first substrate is provided with a first surface, and a plurality of groups of antennas are arranged on the first surface;
a second substrate, which is a V-shaped substrate fixedly connected with the first substrate into a whole; the second substrate is provided with a second surface, and a plurality of groups of antennas are arranged on the second surface; at the same time, the user can select the desired position,
the second surface and the first surface are positioned on two outer sides of the V-shaped substrate, so that the radar waves can cover a visual field of more than 180 degrees.
On the basis of the technical scheme, the included angle of the V-shaped substrate is larger than 0 degree and smaller than 80 degrees.
On the basis of the technical scheme, the included angle of the V-shaped substrate is 90 degrees.
In a second aspect, an embodiment of the present invention further provides an ultra-wide angle vehicle-mounted radar system, where the vehicle-mounted radar system includes:
the vehicle-mounted radar device described above;
and the processor is connected with all the groups of antennas and used for controlling all the groups of antennas to emit radar waves in a millimeter wave frequency band so as to detect a target object and receiving echoes reflected by the target object so as to generate a radar image.
On the basis of the above technical solution, the processor is further configured to select a part of the antennas from the antennas on the first surface or the antennas on the second surface to detect a region where the fields of view of the antennas on the first surface and the antennas on the second surface coincide.
On the basis of the technical scheme, the processor is a vehicle-mounted computer terminal.
In a third aspect, an embodiment of the present invention further provides an automobile, where the automobile is equipped with the ultra-wide-angle vehicle-mounted radar system, and the vehicle-mounted radar system is configured to detect a target object around the automobile and generate a radar image.
On the basis of the technical scheme, the automobile is provided with two vehicle-mounted radar devices.
On the basis of the technical scheme, the two vehicle-mounted radar devices are respectively arranged in the middle of the front end and the middle of the rear end of the automobile.
On the basis of the technical scheme, the two vehicle-mounted radar devices are fixedly connected with the automobile through a mounting bracket.
Compared with the prior art, the invention has the advantages that:
(1) the invention can enable the radar waves of the vehicle-mounted radar device to cover the visual field of more than 180 degrees, meet the requirement of a wider visual field and has simple structural arrangement. The vehicle-mounted radar device is characterized in that two substrates are fixedly connected into a V-shaped substrate, an antenna is arranged on each substrate, the conventional two substrates with the antennas are spliced together, the field angle of a single radar can be enlarged, the FOV (field of view) requirement of the field angle is determined according to the included angle of the V-shaped substrates, and the safety performance of vehicle driving is improved.
(2) In the invention, on the premise of having the same ultra-wide angle (more than 180 degrees), the single vehicle-mounted radar device provided by the invention can replace two conventional angle radars at the front end of the vehicle, reduce the arrangement number of the radars on the vehicle, reduce the number of fixed supports for mounting the radars, occupy less radar arrangement space and is beneficial to reducing the quality of the whole vehicle.
Drawings
FIG. 1 is a schematic diagram of a prior art mounting of corner radars at four corners of a vehicle;
FIG. 2 is a schematic structural diagram of an ultra-wide-angle radar device mounted on a vehicle according to an embodiment of the present invention;
FIG. 3 is an enlarged view of A in FIG. 2;
FIG. 4 is a schematic diagram of the distribution of radar devices on a vehicle according to an embodiment of the present invention;
in the figure: 1. a first substrate; 11. a first side; 2 a second substrate; 21. a second face; 3, vehicles; 4. an angle radar.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Example 1
Referring to fig. 2 to 3, an embodiment of the present invention provides an ultra-wide angle vehicle-mounted radar apparatus, including:
the radar detection device comprises a plurality of groups of antennas, a radar detection unit and a control unit, wherein each group of antennas comprises a transmitting antenna and a receiving antenna configured with the transmitting antenna, the transmitting antenna is used for transmitting radar waves in a millimeter wave frequency band to detect a target object, and the receiving antenna is used for receiving echoes reflected by the target object to generate a radar image;
the antenna comprises a first substrate 1, a second substrate and a third substrate, wherein the first substrate is provided with a first surface 11, and a plurality of groups of antennas are arranged on the first surface 11;
a second substrate 2, which is a V-shaped substrate fixedly connected with the first substrate 1; the second substrate 2 is provided with a second surface 21, and the second surface 21 is provided with a plurality of groups of antennas; at the same time, the user can select the desired position,
the second surface 21 and the first surface 11 are located on two outer sides of the V-shaped substrate, so that the radar wave can cover a field of view exceeding 180 °.
The working principle of the embodiment of the invention is as follows:
the first surface 11 of the first substrate 1 is provided with a plurality of groups of antennas, the second surface 21 of the second substrate 2 is provided with a plurality of groups of antennas, the transmitting antennas and the receiving antennas which are paired with the transmitting antennas are positioned on the same substrate, the first substrate 1 and the second substrate 2 are fixedly connected to form a V-shaped substrate of an integral structure, ideally, the antennas on the first substrate 1 can detect the view field of 180 degrees, after the first substrate 1 and the second substrate 2 are fixedly connected to form the V-shaped substrate, the detectable view fields of the antennas on the two substrates are combined, and therefore, the antennas on the V-shaped substrate can jointly detect the target object with the view field range exceeding 180 degrees. Conventionally, the antennas on the first substrate 1 and the antennas on the second substrate 2 can detect the visual field range of about 160 °, and therefore, the antennas on the V-shaped substrates can jointly detect the target object with the visual field range exceeding 180 ° by setting the included angle of the V-shaped substrates.
Therefore, the vehicle-mounted radar device is characterized in that the two substrates are fixedly connected into the V-shaped substrate, the antennas are arranged on each substrate, the conventional two substrates with the antennas are spliced together, the field angle of a single radar can be enlarged, the FOV (field of view) requirement is determined according to the included angle of the V-shaped substrate, and the safety performance of vehicle driving is improved.
Example 2
The basic contents are the same as example 1, except that:
preferably, the included angle of the V-shaped substrate is greater than 0 ° and less than 180 °. The included angle refers to an inner included angle of the V-shaped substrate. In this embodiment, in a theoretical state, the angle of view FOV of the antenna on the V-shaped substrate is equal to 360 ° minus the angle, and the angle of view FOV of the antenna on the first substrate 1 and the angle of view FOV of the antenna on the second substrate 2 are both equal to 180 °.
Referring to fig. 3, in particular, the included angle of the V-shaped substrate is 90 °. The field angle FOV of the antenna on the V-shaped substrate is 270 °. Therefore, the actual requirement of the field angle FOV of the vehicle-mounted radar device is met by setting the proper included angle of the V-shaped substrate, and the implementation method is simple and does not generate obvious additional production cost.
Example 3
The embodiment of the invention provides an ultra-wide-angle vehicle-mounted radar system, which comprises:
the vehicle-mounted radar apparatus as in embodiment 1 or 2 described above; the vehicle-mounted radar device comprises a first substrate 1, a second substrate 2 and a plurality of groups of antennas, wherein each group of antennas comprises a transmitting antenna and a receiving antenna configured with the transmitting antenna, the transmitting antenna is used for transmitting radar waves in a millimeter wave frequency band to detect a target object, and the receiving antenna is used for receiving echoes reflected by the target object to generate a radar image; the first substrate 1 is provided with a first surface 11, and a plurality of groups of antennas are arranged on the first surface 11; the second substrate 2 is fixedly connected with the first substrate 1 to form an integrated V-shaped substrate; the second substrate 2 is provided with a second surface 21, and the second surface 21 is provided with a plurality of groups of antennas; meanwhile, the second surface 21 and the first surface 11 are positioned on two outer sides of the V-shaped substrate, so that the radar waves can cover a visual field of more than 180 degrees;
and the processor is connected with all the groups of antennas and used for controlling all the groups of antennas to emit radar waves in a millimeter wave frequency band so as to detect a target object and receiving echoes reflected by the target object so as to generate a radar image.
Further, the processor is further configured to select a part of the antennas from the antennas on the first side 11 or the antennas on the second side 21 to detect an area where the antennas on the first side 11 and the antennas on the second side 21 overlap in view.
In this embodiment, as shown in fig. 2, the antennas on the first substrate 1 and the antennas on the second substrate 2 have a partially overlapped view range, so that the processor selects a partial antenna from the antennas on the first surface 11 or the antennas on the second surface 21 to detect a region where the antennas on the first surface 11 and the antennas on the second surface 21 overlap each other, so as to avoid that the antennas on the first substrate 1 and the antennas on the second substrate 2 detect a region where the views overlap each other, and avoid that radar waves of the antennas on the first substrate 1 and the antennas on the second substrate 2 interfere with each other.
Specifically, the processor is a vehicle-mounted computer terminal. The vehicle-mounted computer terminal can be used for conveniently controlling the vehicle-mounted radar device to detect the target object to be detected.
Example 4
An embodiment of the present invention further provides an automobile, wherein the automobile is provided with the ultra-wide-angle vehicle-mounted radar system according to embodiment 3, and the vehicle-mounted radar system is configured to detect a target object around the automobile and generate a radar image.
Further, the vehicle-mounted radar system includes:
the vehicle-mounted radar apparatus as in embodiment 1 or 2 described above; the vehicle-mounted radar device comprises a first substrate 1, a second substrate 2 and a plurality of groups of antennas, wherein each group of antennas comprises a transmitting antenna and a receiving antenna configured with the transmitting antenna, the transmitting antenna is used for transmitting radar waves in a millimeter wave frequency band to detect a target object, and the receiving antenna is used for receiving echoes reflected by the target object to generate a radar image; the first substrate 1 is provided with a first surface 11, and a plurality of groups of antennas are arranged on the first surface 11; the second substrate 2 is fixedly connected with the first substrate 1 to form an integrated V-shaped substrate; the second substrate 2 is provided with a second surface 21, and the second surface 21 is provided with a plurality of groups of antennas; meanwhile, the second surface 21 and the first surface 11 are positioned on two outer sides of the V-shaped substrate, so that the radar waves can cover a visual field of more than 180 degrees;
a processor connected with all the groups of antennas and used for controlling all the groups of antennas to emit radar waves in a millimeter wave frequency band to detect a target object and receiving echoes reflected by the target object to generate a radar image
In this embodiment, on the premise of having the same ultra-wide angle (exceeding 180 °), the single vehicle-mounted radar apparatus provided in this embodiment can replace two conventional angle radars at the front end of the vehicle, reduce the number of radars arranged on the vehicle, occupy less radar arrangement space, and is beneficial to reducing the quality of the entire vehicle.
Example 5
The basic contents are the same as example 4, except that:
referring to fig. 4, two vehicle-mounted radar devices are further mounted on the automobile.
Specifically, the two vehicle-mounted radar devices are respectively arranged in the middle of the front end and the middle of the rear end of the automobile. Meanwhile, the top of the V-shaped substrate in the vehicle-mounted radar device faces the front or the rear of the vehicle, and if the V-shaped substrate is arranged at the front end of the vehicle, the top of the V-shaped substrate faces the front of the vehicle, and if the V-shaped substrate is arranged at the rear end of the vehicle, the top of the V-shaped substrate faces the rear of the vehicle.
Furthermore, the two vehicle-mounted radar devices are fixedly connected with the automobile through a mounting bracket. Because the quantity of on-vehicle radar installation reduces, consequently, this embodiment still can reduce the fixed bolster quantity of installation radar, reduction in production cost.
In the prior art, the four corners of the automobile are respectively provided with the corner radar, and by using the vehicle-mounted radar system provided by the invention, the target objects around the automobile can be detected by the four corner radars only by mounting two vehicle-mounted radar devices on the automobile.
The present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. An ultra-wide-angle vehicle-mounted radar apparatus, comprising:
the radar detection device comprises a plurality of groups of antennas, a radar detection unit and a control unit, wherein each group of antennas comprises a transmitting antenna and a receiving antenna configured with the transmitting antenna, the transmitting antenna is used for transmitting radar waves in a millimeter wave frequency band to detect a target object, and the receiving antenna is used for receiving echoes reflected by the target object to generate a radar image;
the antenna comprises a first substrate (1) and a second substrate, wherein the first substrate is provided with a first surface (11), and a plurality of groups of antennas are arranged on the first surface (11);
a second substrate (2) which is a V-shaped substrate fixedly connected with the first substrate (1) into a whole; the second substrate (2) is provided with a second surface (21), and a plurality of groups of antennas are arranged on the second surface (21); at the same time, the user can select the desired position,
the second surface (21) and the first surface (11) are positioned on two outer sides of the V-shaped substrate, so that the radar waves can cover a visual field of more than 180 degrees.
2. The ultra-wide angle in-vehicle radar apparatus of claim 1 wherein the V-shaped base plate includes an angle greater than 0 ° and less than 180 °.
3. The ultra-wide angle in-vehicle radar apparatus of claim 2 wherein the V-shaped base plate is angled at 90 °.
4. An ultra-wide angle vehicle radar system, comprising:
a vehicle-mounted radar apparatus according to claim 1 to 3;
and the processor is connected with all the groups of antennas and used for controlling all the groups of antennas to emit radar waves in a millimeter wave frequency band so as to detect a target object and receiving echoes reflected by the target object so as to generate a radar image.
5. The ultra-wide angle vehicle radar system of claim 4 wherein the processor is further configured to select a subset of the antennas from the antennas on the first (11) or second (21) surfaces to detect an area where the antennas on the first (11) and second (21) surfaces coincide.
6. The ultra-wide angle in-vehicle radar system of claim 4 wherein the processor is an in-vehicle computer terminal.
7. An automobile, characterized in that the automobile is provided with the ultra-wide-angle vehicle-mounted radar system according to claim 4, and the vehicle-mounted radar system is used for detecting objects around the automobile and generating radar images.
8. The vehicle of claim 7, wherein two of said onboard radar devices are mounted on said vehicle.
9. The vehicle of claim 8, wherein two of said onboard radar devices are mounted in the front center portion and the rear center portion of the vehicle, respectively.
10. The vehicle of claim 9, wherein both of said onboard radar devices are secured to said vehicle by a mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064645.7A CN111220984A (en) | 2020-01-20 | 2020-01-20 | Ultra-wide-angle vehicle-mounted radar device, vehicle-mounted radar system and automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064645.7A CN111220984A (en) | 2020-01-20 | 2020-01-20 | Ultra-wide-angle vehicle-mounted radar device, vehicle-mounted radar system and automobile |
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| CN111220984A true CN111220984A (en) | 2020-06-02 |
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| CN202010064645.7A Pending CN111220984A (en) | 2020-01-20 | 2020-01-20 | Ultra-wide-angle vehicle-mounted radar device, vehicle-mounted radar system and automobile |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112213726A (en) * | 2020-10-22 | 2021-01-12 | 深圳市道通科技股份有限公司 | Blind area early warning radar and blind area early warning system |
| CN112213720A (en) * | 2020-10-22 | 2021-01-12 | 深圳市道通科技股份有限公司 | Radar detection device and radar detection system |
| CN112497214A (en) * | 2020-11-24 | 2021-03-16 | 广州源创智能装备有限公司 | Anti-collision structure of mobile rescue device |
| CN112882033A (en) * | 2021-03-12 | 2021-06-01 | 合肥楚航科技发展有限公司 | Vehicle and vehicle-mounted radar system |
| CN113745842A (en) * | 2021-08-23 | 2021-12-03 | 东风汽车集团股份有限公司 | Metamaterial wave-absorbing structure applied to millimeter wave radar and vehicle antenna thereof |
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| CN209417285U (en) * | 2018-12-28 | 2019-09-20 | 北醒（北京）光子科技有限公司 | A kind of more radar splicing constructions |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112882033A (en) * | 2021-03-12 | 2021-06-01 | 合肥楚航科技发展有限公司 | Vehicle and vehicle-mounted radar system |
| CN113745842A (en) * | 2021-08-23 | 2021-12-03 | 东风汽车集团股份有限公司 | Metamaterial wave-absorbing structure applied to millimeter wave radar and vehicle antenna thereof |
| CN113745842B (en) * | 2021-08-23 | 2023-12-26 | 东风汽车集团股份有限公司 | Metamaterial wave-absorbing structure applied to millimeter wave radar and vehicle antenna thereof |
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