CN217181203U - Multi-mode radar system with road edge detection function - Google Patents

Abstract

The utility model relates to a multimode radar system with curb is listened, it locates the automobile body outer peripheral edge of vehicle, this application contains transmitting module and is equipped with long range antenna and short range antenna, and long range antenna is equipped with long range operating frequency and produces long range radar beam and surveys high detection range, and short range antenna is equipped with short range operating frequency section and produces short range radar beam and surveys low detection range; the receiving module receives the reflected long-range radar wave beam and the reflected short-range radar wave beam; the central processing module is provided with a dynamic direction judging unit, the dynamic direction judging unit adopts a long-distance antenna in a long-distance mode, adopts a short-distance antenna in a short-distance mode and adopts the long-distance antenna and the short-distance antenna in a mixed mode according to the dynamic direction of the vehicle, and the central processing module carries out road edge obstacle detection according to the mode adopted by the dynamic direction judging unit. The utility model discloses except can listen to the object around the vehicle, also can listen the object at the vehicle side to avoid vehicle and object to produce the collision.

Description

Multi-mode radar system with road edge detection function

Technical Field

The utility model relates to a radar system specifically indicates a multimode radar system with curb is listened.

Background

The car backing radar and the driving Blind Spot Detection (BSD) are one of the common car driving safety aids in the market, and mainly include at least one antenna module emitting at least one transmitting signal, which reflects a reflected signal back to the antenna module when encountering an object to detect the distance between the car and the object or the approaching/separating speed, and prompts the driver with sound or light to avoid collision accidents. Among them, the general antenna module is usually installed at a bumper behind the vehicle for rear warning.

In addition, the radar system installed on the vehicle can only detect obstacles in the forward and backward directions, however, for example, when the vehicle is driven to stop at the roadside, the radar system cannot effectively detect the road edge condition of the side of the vehicle, and therefore, if there is an obstacle located at a dead angle of the side of the vehicle, the possibility of collision is easily caused. Furthermore, the general antenna module is usually installed at the head or tail of the vehicle body, and the longitudinal detection range of the general antenna module on the vertical plane is small, so that the general antenna module cannot detect the side of the vehicle body or an obstacle lower than the height of the vehicle body, and the side or the bottom of the vehicle body is easily collided with the obstacle.

Disclosure of Invention

To solve the above problem, the present invention provides a multi-modal radar system with road edge detection, which can detect the objects around the vehicle and also can detect the objects beside the vehicle to avoid the collision between the vehicle and the objects.

An embodiment of the utility model provides a multimode radar system with curb is listened, this multimode radar system with curb is listened sets up in the automobile body outer peripheral edges of vehicle, contains a transmitting module, transmitting module includes a long range antenna and a short range antenna, the long range antenna is equipped with a long range operating frequency and produces a long range radar beam, the short range antenna is equipped with a short range operating frequency section and produces a short range radar beam, and the long range antenna is equipped with a high detection scope, the short range antenna is equipped with a low detection scope, the high detection scope is higher than the detection scope of low detection scope in the detection interval of perpendicular ground direction;

a receiving module that receives the reflected long range radar beam and the reflected short range radar beam; and

the central processing module is coupled with the transmitting module and the receiving module, and is provided with a dynamic direction judging unit, the dynamic direction judging unit selects a long-distance mode, a short-distance mode or a mixed mode according to the dynamic direction of the vehicle, the long-distance mode adopts the long-distance antenna, the short-distance mode adopts the short-distance antenna, the mixed mode simultaneously adopts the long-distance antenna and the short-distance antenna, and the central processing module detects road edge obstacles according to the mode adopted by the dynamic direction judging unit.

In another embodiment of the present application, the behavior determination unit defaults to a speed threshold, the behavior determination unit detects a traveling speed of the vehicle, compares the traveling speed with the speed threshold, and if the traveling speed is higher than the speed threshold, adopts the long-distance mode;

the travel speed is lower than the speed threshold value, and the short-distance mode is adopted;

and when the traveling speed is lower than the speed threshold value and a reverse signal or a parking signal is received, adopting the mixing mode.

In another embodiment of the present application, the short-range operating frequency band has a plurality of short-range operating frequencies, and the short-range antenna transmits the short-range radar beam at different angles according to different short-range operating frequencies.

In another embodiment of the present application, the short-range antenna is a leaky-wave antenna, and has a feeding end and a rear end far away from the feeding end, and the short-range antenna inputs a signal from the feeding end.

In another embodiment of the present application, the short-range antenna includes an antenna layer, an intermediate layer, a bottom layer, and a plurality of conductive posts, the intermediate layer is between the antenna layer and the bottom layer, the antenna layer with be equipped with a first dielectric layer between the intermediate layer, the intermediate layer with be equipped with a second dielectric layer between the bottom layer, wherein the antenna layer is equipped with a plurality of first slotted holes, a plurality of first slotted holes are certainly feed end toward a major axis direction of rear end extends and the interval sets up, just it runs through to lead electrical pillar first dielectric layer with electric connection the antenna layer with the intermediate layer, it follows to lead electrical pillar the major axis direction encloses to establish around first slotted hole.

In another embodiment of the present application, the middle layer is provided with a second slot relatively close to the rear end, at a position different from the first slot.

In another embodiment of this application, it includes two straightways and a tail section to lead electrical pillar, two straightways are located first slotted hole with second slotted hole both sides are followed the major axis direction toward the rear end is the parallel extension establish, just two straightways in the rear end with the tail section links up in the vertical direction.

In another embodiment of the present application, the distance between the second slot and the conductive post of the tail section is 1/2 λ.

In another embodiment of the present application, when the dynamic direction determining unit adopts the hybrid mode, the short-range antenna switches the short-range operating frequency in a time-sequential manner, changes the transmitting angle of the short-range radar beam, and expands the low detection range.

In another embodiment of the present application, the motion direction determining unit is electrically connected to a controller area network of the vehicle to obtain the vehicle file position signal for determining parking or backing.

In another embodiment of the present application, the long-range antenna is a microstrip antenna, the transmitting module is provided with a plurality of long-range antennas, and the long-range antennas are connected in parallel to form at least one long-range antenna array.

In another embodiment of the present application, the long-range operating frequency is fixed after setting.

In another embodiment of the present application, the receiving module is provided with a plurality of receiving antennas, and the receiving antennas are connected in parallel to form a plurality of receiving antenna arrays.

In another embodiment of the present application, the receiving antenna arrays are juxtaposed in a parallel direction, each of the receiving antenna arrays extends in an in-line direction perpendicular to the parallel direction, and a position difference between at least one of the receiving antenna arrays and the other receiving antenna arrays in the in-line direction is relatively ahead or relatively behind.

In another embodiment of the present application, the central processing module further includes an edge determining unit, and the edge determining unit can integrate the long-range radar beam and the short-range radar beam received by the receiving module into an edge condition.

In another embodiment of the present application, the mobile terminal further comprises a selection unit coupled to the motion direction determination unit, wherein the selection unit has a manual mode and an automatic mode;

when the manual mode is used, the user can manually switch the movement judging unit to the long-distance mode, the short-distance mode or the mixed mode;

and when in the automatic mode, the dynamic direction judging unit detects the dynamic direction of the vehicle and automatically switches to the long-distance mode, the short-distance mode or the mixed mode.

The long-distance antenna generates the long-distance radar wave beam to detect the object with the high detection range, and the short-distance antenna generates the short-distance radar wave beam to detect the object with the low detection range, so that the comprehensive object around the vehicle can be accurately detected. In addition, the long-distance antenna and the short-distance antenna are antenna detection components which can be arranged together, thereby achieving the effects of saving the installation working hours and facilitating the installation operation.

Drawings

The above features, technical features, advantages and modes of realisation of the present invention will be further described in the following detailed description of preferred embodiments thereof, which is to be read in conjunction with the accompanying drawings.

Fig. 1 is a schematic view of a radar system according to an embodiment of the present invention installed on a vehicle side, in which detection ranges of a long-range radar beam and a short-range radar beam are shown.

Fig. 2 is a block diagram of a radar system according to an embodiment of the present application.

Fig. 3 is a schematic view of a configuration of a radar system according to an embodiment of the present disclosure on a substrate.

Fig. 4 is a schematic plan view of a short-range antenna according to an embodiment of the present application.

The short range antenna is shown in cross-section in fig. 5 and 4 as seen at section line 5-5.

Fig. 6 is an antenna pattern diagram of a short range radar beam of the radar system of the embodiment of the present application.

Fig. 7 is a schematic detection diagram of a road edge determining unit of a radar system according to an embodiment of the present disclosure, which is used to show that the road edge determining unit can determine the shape of the road edge.

Fig. 8 is a schematic detection diagram of a road edge determination unit of a radar system according to an embodiment of the present disclosure, which is used to indicate that the road edge determination unit can determine that a parking space exists on a road side.

The reference numbers illustrate:

100 multimode radar system with road edge detection 200 vehicle

300 road edge 400 stop vehicle

500 parking space 10 transmitting module

11 long-range antenna 12 short-range antenna

121, feed end 122, back end

123 antenna layer 123a first slot

124 intermediate layer 124a second slot

125 bottom layer 126 conductive post

126a straight line segment 126b tail segment

127 first dielectric layer 128 second dielectric layer

20 receiving module 21 receiving antenna

30 central processing module 31 motion direction judging unit

32 road edge judging unit 33 selecting unit

40 long range antenna array 50 receive antenna array

P is the parallel direction of the printed circuit board X

Y is LB in straight line direction and long-distance radar wave beam

SB short range radar beam R1 high detection range

R2 Low detection Range S1 first feedback Signal

S2 pitch angle of the second feedback signal theta

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will refer to the accompanying drawings to describe specific embodiments of the present invention. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.

Referring to fig. 1 to 8, a multi-modal radar system 100 with road edge detection according to the present invention is disposed at an outer periphery of a vehicle body of a vehicle 200, and in the present embodiment, is disposed at a junction between a rear side and a side of the vehicle 200, so that side and rear range detection can be performed simultaneously. The present application includes a transmitting module 10, a receiving module 20 and a central processing module 30. In the present embodiment, the transmitting module 10, the receiving module 20 and the central processing module 30 are disposed on a printed circuit board P, and the transmitting module 10 and the receiving module 20 are electrically connected to the central processing module 30 on the printed circuit board P.

The transmitter module 10 is provided with a long-range antenna 11 and a short-range antenna 12. The long-distance antenna 11 is provided with a long-distance operation frequency to generate a long-distance radar beam LB (Long range radar beam), and the long-distance antenna 11 is provided with a high detection range R1; the short-range antenna 12 has a short-range operating frequency band to generate a short-range radar beam SB (short range radar beam), and the short-range antenna 12 has a low detection range R2. As shown in fig. 1, the detection region of the high detection range R1 in the vertical direction is higher than the detection region of the low detection range R2.

In the present embodiment, the long-range operating frequency is set to 77GHz, and the long-range operating frequency is fixed after being set, where the foregoing does not mean that the long-range operating frequency can only be a fixed frequency, but means that the long-range operating frequency can also be reset, for example, the aforesaid 77GHz is reset to 76GHz or 78 GHz; the short-range operating frequency band has a plurality of short-range operating frequencies, the short-range antenna 12 emits short-range radar beams SB of different angles according to different short-range operating frequencies, wherein the short-range operating frequency ranges from 77GHz to 81GHz, and the antenna patterns of the short-range radar beams SB at different frequencies are shown in fig. 6, and it can be known from fig. 6 that the angles of the radar beams are different at different frequencies, so that the pitch angle θ of the short-range radar beams SB can be adjusted through frequency scanning or user setting to detect the low detection range R2.

The transmitting module 10 is provided with a plurality of long-range antennas 11, in the present embodiment, the plurality of long-range antennas 11 are connected in parallel to form at least one long-range antenna array 40, as shown in fig. 3, the transmitting module 10 has twelve long-range antennas 11, and six long-range antennas 11 are taken as one group and connected in parallel to form the long-range antenna array 40, that is, the present embodiment includes two long-range antenna arrays 40, and the two long-range antenna arrays 40 and the short-range antenna 12 in the present embodiment are connected in parallel to the central processing unit 30. Wherein, the long-distance Antenna 11 is a Microstrip Antenna (Microstrip Antenna); the short range antenna 12 is a Leaky Wave antenna (Leaky Wave Antennas).

A receiving module 20 which receives the reflected long range radar beam LB and the reflected short range radar beam SB. As shown in fig. 1 and fig. 2, in the present embodiment, the receiving module 20 receives the reflected long-range radar beam LB and generates a first feedback signal S1, and the central processing module 30 receives the first feedback signal S1 to detect the high detection range R1 and determine whether an object exists in the high detection range R1; the receiving module 20 receives the reflected short-range radar beam SB and generates a second feedback signal S2, and the central processing module 30 receives the second feedback signal S2 to detect the low detection range R2 and determine whether an object is in the low detection range R2. The receiving module 20 can receive the reflected long-range radar beam LB or the reflected short-range radar beam SB separately, and the receiving module 20 can also receive the reflected long-range radar beam LB and the reflected short-range radar beam SB simultaneously.

In the present embodiment, the receiving module 20 has a plurality of receiving antennas 21, and the plurality of receiving antennas 21 are connected in parallel to form a plurality of receiving antenna arrays 50. As shown in fig. 3, the receiving module 20 has eight receiving antennas 21, and each two receiving antennas 21 form a group to form four receiving antenna arrays 50, and the four receiving antenna arrays 50 are electrically connected to the central processing module 30 in this embodiment. The receiving antenna arrays 50 are arranged in parallel in a parallel direction X, and the receiving antennas 21 extend in a straight direction Y perpendicular to the parallel direction X. In addition, the two long-range antenna arrays 40 and the short-range antenna 12 are also arranged in parallel along the parallel direction X. Among the four receiving antenna arrays 50, the receiving antenna array 50 farthest from the transmitter module 10 and the other three receiving antenna arrays 50 have a position difference along the in-line direction Y and are relatively lower (as shown in fig. 3), but the present application is not limited to the position difference being relatively later, and can also be a position difference being relatively upper, so that the system can generate a vertical recognition degree.

In summary, the receiving antenna array 50 farthest from the transmitting module 10 and the other three receiving antenna arrays 50 have a position difference along the in-line direction Y, and a spacing distance D (as shown in fig. 3) is provided between any two adjacent receiving antenna arrays 50, so that the receiving antenna array 50 and the two long-distance antenna arrays 40 form a vertical equivalent antenna to generate a longitudinal detection function in the height direction. Preferably, the separation distance D is between 0.5 λ and 2.5 λ.

Referring to fig. 4 and fig. 5, in the present embodiment, the short-range antenna 12 has a feeding end 121 and a back end 122, the back end 122 is far away from the feeding end 121, and the short-range antenna 12 inputs a signal from the feeding end 121 and transmits energy to the back end 122. The short-range antenna 12 further includes an antenna layer 123, an intermediate layer 124, a bottom layer 125, and a plurality of conductive pillars 126, wherein the antenna layer 123 is disposed above the bottom layer 125, the intermediate layer 124 is disposed between the antenna layer 123 and the bottom layer 125, a first dielectric layer 127 is disposed between the antenna layer 123 and the intermediate layer 124, a second dielectric layer 128 is disposed between the intermediate layer 124 and the bottom layer 125, and the second dielectric layer 128 is made of FR-4 glass fiber.

In this embodiment, the antenna layer 123 has a plurality of first slots 123a, the first slots 123a extend from the feeding end 121 to a long axis direction of the rear end 122 and are disposed at intervals, the long axis direction is the same as the vertical direction Y, the conductive pillar 126 penetrates through the first dielectric layer 127 to electrically connect the antenna layer 123 and the intermediate layer 124, and the conductive pillar 126 surrounds the first slots 123a along the vertical direction Y. The middle layer 124 has a second slot 124a, and the second slot 124a is different from the first slot 123a and is relatively close to the rear end 122. The middle layer 124 has a second slot 124a, so that when the energy is transmitted to the rear end 122, the opening of the second slot 124a guides the energy to the second dielectric layer 128, so as to achieve the effect of quickly leaking the energy from the second dielectric layer 128, thereby avoiding the problem of signal interference caused by residual energy reflection.

As shown in fig. 4 and 5, the conductive pillar 126 includes two straight line segments 126a and a tail segment 126b on the short-range antenna 12, the two straight line segments 126a extend in parallel from the first slot 123a and the second slot 124a along the vertical direction Y to the rear end 122, and the two straight line segments 126a are connected to the rear end 122 by the tail segment 126b in the vertical direction. Preferably, the distance between the second slot 124a and the conductive post 126 of the tail section 126b is 1/2 λ, but not limited thereto. Preferably, the first slot 123a and the second slot 124a of the present embodiment are both long, and the length of the second slot 124a of the present embodiment is 1.1mm, and the width thereof is 0.1mm, but not limited to the length and the width thereof.

The central processing module 30 is coupled to the transmitting module 10 and the receiving module 20, the central processing module 30 has a motion direction determining unit 31, and the central processing module 30 detects the road-edge obstacle according to a mode adopted by the motion direction determining unit 31. The behavior determination unit 31 selects a long-range mode, a short-range mode, or a hybrid mode according to the behavior of the vehicle 200, where the long-range mode employs the long-range antenna 11, the short-range mode employs the short-range antenna 12, and the hybrid mode employs both the long-range antenna 11 and the short-range antenna 12.

In this embodiment, the behavior determination unit 31 defaults to a speed threshold, the behavior determination unit 31 may compare a traveling speed of the vehicle 200 with the speed threshold, and if the traveling speed is higher than the speed threshold, the behavior determination unit 31 adopts the long-distance mode; if the traveling speed is lower than the speed threshold, the behavior determination unit 31 adopts a short-distance mode; if the moving speed is lower than the speed threshold and the moving direction determining unit 31 receives a reverse signal or a stop signal, the moving direction determining unit 31 adopts the hybrid mode. When the motion direction determining unit 31 adopts the hybrid mode, the short-range antenna 12 switches the short-range operating frequency in a time-sequential manner, so as to change the transmitting angle of the short-range radar beam SB, thereby expanding the low detection range R2. The motion direction determining unit 31 is electrically connected to a Controller Area Network (CAN) of the vehicle 200, so as to obtain a file position signal of the vehicle 200 to determine whether to stop or reverse.

In the present embodiment, the cpu 30 further includes an edge determining unit 32 and a selecting unit 33. The road edge determination unit 32 can integrate the long range radar beam LB and the short range radar beam SB received by the receiving module 20 into a road edge condition. More specifically, as shown in fig. 1 and 7, when the vehicle 200 is in a traveling state, the road edge determining unit 32 can draw a rough road edge shape of a road edge 300 and an object position of a road edge according to the long range radar beam LB and the short range radar beam SB received by the receiving module 20, so as to avoid the vehicle 200 from hitting the road edge of the road edge or the object.

Further, as shown in fig. 8, two stopped vehicles 400 are parked at the roadside, and a parking space 500 is provided between the two stopped vehicles 400, since the vehicle 200 to be roadside-parked decelerates at the roadside, stops, and intends to reverse in cooperation with a steering wheel, the moving direction determination unit 31 can determine that the vehicle 200 will be roadside-parked and switch to the hybrid mode, at this time, the detection range of the short range antenna 12 is low, the stopped vehicle 400 may not be detected, and at most, only the tire of the stopped vehicle 400 can be detected, and the determination of the roadside obstacle cannot be made. Therefore, the two stopped vehicles 400 can be clearly detected in the detection range of the higher position by the long-range antenna 11 used simultaneously in the hybrid mode. Furthermore, the short-range antenna 12 can further detect the road edge 300 during the roadside parking of the vehicle 200, so as to prevent the vehicle 200 from colliding with the road edge 300 or an obstacle (not shown) protruding from the road edge during the reversing into the parking space 500. Therefore, the road edge determination unit 32 can draw a dotted line on the graph of fig. 8 according to the long-range radar beam LB received by the receiving module 20, and the road edge determination unit 32 can draw a solid line on the graph of fig. 8 according to the short-range radar beam SB, so as to determine the road edge state for driving to determine the roadside parking; further, the judgment method of the environmental condition may be performed in an automatic driving assistance system or a parking assistance system.

Accordingly, the selection unit 33 is coupled to the movement direction determination unit 31, and the selection unit 33 has a manual mode and an automatic mode, when the selection unit 33 is in the manual mode, the user can manually switch the movement direction determination unit 31 to the long-distance mode, the short-distance mode or the hybrid mode; when the selection unit 33 is in the automatic mode, the behavior determination unit 31 automatically detects the behavior of the vehicle 200 to automatically switch to the long-distance mode, the short-distance mode, or the hybrid mode.

Thus, the present application has the following advantages:

1. the present application can detect the object with the high detection range R1 by generating the long range radar beam LB by the long range antenna 11, and can detect the object with the low detection range R2 by generating the short range radar beam SB by the short range antenna 12, so as to achieve the accurate detection of the global object around the vehicle 200. In addition, the long-range antenna 11 and the short-range antenna 12 are both antenna detection components, so that they can be wired together, thereby achieving the effects of saving the installation time and facilitating the installation operation.

2. The automatic mode of the motion direction determining unit 31 and the selecting unit 33 of the present application allows the vehicle 200 to select a suitable detection mode according to the state of the vehicle 200 itself, so that the present application can maintain a detection state with high efficiency and high accuracy.

3. The vertical equivalent antenna formed by the long-distance antenna array 40 and the receiving antenna array 50 can perform a vertical detection function in the height direction, so that the vertical equivalent antenna can detect the vertical height of an object in the vertical direction to accurately detect the height of the object, and further judge whether the detected object has a threat, namely, avoid the false misjudgment of the height of the object to cause false surprise.

4. The road edge determination unit 32 of the present application can detect the road edge condition of the road edge when the vehicle 200 is running, so as to prevent the vehicle 200 from hitting the road edge of the road edge or an object; or the road edge state can be confirmed for driving to judge the roadside parking; further, the judgment method of the environmental condition may be performed in an automatic driving assistance system or a parking assistance system.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (16)

1. A multimode radar system with curb is listened, this multimode radar system with curb is listened sets up in the automobile body outer peripheral edge of vehicle, its characterized in that includes:

a transmitting module, including a long-range antenna and a short-range antenna, wherein the long-range antenna is provided with a long-range operating frequency to generate a long-range radar beam, the short-range antenna is provided with a short-range operating frequency band to generate a short-range radar beam, the long-range antenna is provided with a high detection range, the short-range antenna is provided with a low detection range, and the high detection range is higher in a detection interval perpendicular to a ground direction than in the low detection range;

a receiving module that receives the reflected long range radar beam and the reflected short range radar beam; and

the central processing module is coupled with the transmitting module and the receiving module, and is provided with a dynamic direction judging unit, the dynamic direction judging unit selects a long-distance mode, a short-distance mode or a mixed mode according to the dynamic direction of the vehicle, the long-distance mode adopts the long-distance antenna, the short-distance mode adopts the short-distance antenna, the mixed mode simultaneously adopts the long-distance antenna and the short-distance antenna, and the central processing module detects road edge obstacles according to the mode adopted by the dynamic direction judging unit.

2. The multimodal radar system with road edge detection as claimed in claim 1, wherein:

the dynamic direction judging unit defaults to have a speed threshold value, detects the traveling speed of the vehicle and compares the traveling speed with the speed threshold value, and if the traveling speed is higher than the speed threshold value, the long-distance mode is adopted;

the travel speed is lower than the speed threshold value, and the short-distance mode is adopted;

and when the traveling speed is lower than the speed threshold value and a reverse signal or a parking signal is received, adopting the mixing mode.

3. The multimodal radar system with road edge detection as claimed in claim 1, wherein:

the short-range operating frequency band has a plurality of short-range operating frequencies, and the short-range antenna transmits the short-range radar beams at different angles according to different short-range operating frequencies.

4. The multimodal radar system with road edge detection as claimed in claim 3, wherein:

the short-distance antenna is a leaky-wave antenna and is provided with a feed-in end and a rear end far away from the feed-in end, and signals are input from the feed-in end by the short-distance antenna.

5. The multimodal radar system with road edge detection as claimed in claim 4, wherein:

the short-distance antenna comprises an antenna layer, an intermediate layer, a bottom layer and a plurality of conductive columns, wherein the intermediate layer is arranged between the antenna layer and the bottom layer, a first dielectric layer is arranged between the antenna layer and the intermediate layer, a second dielectric layer is arranged between the intermediate layer and the bottom layer, the antenna layer is provided with a plurality of first slotted holes, the first slotted holes extend from the feed end to the long axis direction of the rear end and are arranged at intervals, the conductive columns penetrate through the first dielectric layer to be electrically connected with the antenna layer and the intermediate layer, and the conductive columns are arranged around the first slotted holes along the long axis direction.

6. The multimodal radar system with road edge detection as claimed in claim 5, wherein:

the middle layer is provided with a second slotted hole relatively close to the rear end at a position different from the first slotted hole.

7. The multimodal radar system with road edge detection as claimed in claim 6, wherein:

the conductive column comprises two straight line segments and a tail segment, the two straight line segments are positioned at two sides of the first slotted hole and the second slotted hole and extend towards the rear end in parallel along the long axis direction, and the two straight line segments are connected with the rear end in the vertical direction through the tail segment.

8. The multimodal radar system with road edge detection as claimed in claim 7, wherein:

the distance between the second slot hole and the conductive column of the tail section is 1/2 lambda.

9. The multimodal radar system with road edge detection as claimed in claim 3, wherein:

when the dynamic direction judging unit adopts the hybrid mode, the short-range antenna switches the short-range operating frequency in a time sequence mode, changes the transmitting angle of the short-range radar beam and enlarges the low detection range.

10. The multimodal radar system with road edge detection as claimed in claim 2, wherein:

the motion direction judging unit is electrically connected to a controller area network of the vehicle to obtain the vehicle file position signal to judge parking or backing.

11. The multimodal radar system with road edge detection as claimed in claim 1, wherein:

the long-distance antenna is a microstrip antenna, the transmitting module is provided with a plurality of long-distance antennas, and the long-distance antennas are connected in parallel to form at least one long-distance antenna array.

12. The multimodal radar system with road edge detection as claimed in claim 1, wherein:

the long-distance operation frequency is fixed after being set.

13. The multimodal radar system with road edge detection as claimed in claim 1, wherein:

the receiving module is provided with a plurality of receiving antennas, and the receiving antennas are connected in parallel to form a plurality of receiving antenna arrays.

14. The multimodal radar system with road edge detection as recited in claim 13, wherein:

the receiving antenna arrays are arranged in parallel along a parallel direction, each receiving antenna array extends along an in-line direction vertical to the parallel direction, and the position difference of at least one receiving antenna array and other receiving antenna arrays along the in-line direction is relatively in front or behind.

15. The multimodal radar system with road edge detection as claimed in claim 1, wherein:

the central processing module further comprises a road edge judging unit, and the road edge judging unit can integrate the long-range radar wave beam and the short-range radar wave beam received by the receiving module into a road edge condition.

16. The multimodal radar system with road edge detection as claimed in claim 1, wherein:

the device also comprises a selection unit which is coupled with the motion direction judgment unit, wherein the selection unit is provided with a manual mode and an automatic mode;

when the manual mode is used, the user can manually switch the movement judging unit to the long-distance mode, the short-distance mode or the mixed mode;

and when in the automatic mode, the dynamic direction judging unit detects the dynamic direction of the vehicle and automatically switches to the long-distance mode, the short-distance mode or the mixed mode.

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