CN219512394U - Radar system for detecting angle of full plane - Google Patents

Abstract

The utility model relates to a radar system for detecting an angle of a whole plane, which is arranged on an outer surface of a vehicle body and is used for detecting an object outside the vehicle body, and comprises an antenna receiving and transmitting unit, a shielding unit and a vector sensor. The antenna receiving and transmitting unit is provided with a first antenna receiving and transmitting substrate and a second antenna receiving and transmitting substrate, each end of the first antenna receiving and transmitting substrate and each end of the second antenna receiving and transmitting substrate are fixedly connected through an included angle, the shielding unit is used for shielding a reflected signal of a virtual mirror image target, the vector sensor is coupled with the antenna receiving and transmitting unit, the vector sensor obtains a relative speed and a relative angle of an object relative to the antenna receiving and transmitting unit in a section time, the vector sensor comprises a millimeter wave sensing module, and the millimeter wave sensing module is used for confirming whether the relative angle is ninety degrees when the relative speed is zero. Therefore, the utility model can achieve the effects of improving the angle of radar detection and the accuracy of radar detection angle.

Description

Radar system for detecting angle of full plane

Technical Field

The present utility model relates to a radar system, and more particularly to a radar system for detecting an angle of a full plane.

Background

In order to improve the safety of driving, parking and opening the door after parking, operators apply radar to the field of automobile detection equipment, for example: blind spot detection assistance systems (Blind Spot Detection, BSD), lane change assistance systems (Lane Change Assistance, LCA), lane shift assistance systems (Lane Departure Warning, LDW), rear vehicle assistance systems (Rear Cross Traffic Alert, RCTA), lane shift assistance systems (Front CollisionWarning, FCW), door opening warning assistance systems (Door Opean Waring, DOW), automatic emergency brake assistance systems (Autonomous Emergency Braking, AEB) and the like.

The radar detection principle is that electromagnetic waves are emitted from the periphery of an automobile, after the electromagnetic waves strike an object, a reflected wave is formed, the reflected wave is reflected along a source path of the emitted electromagnetic waves, the reflected wave is received through the radar, the reflected wave is transmitted back to the radar in time, frequency and angle, and the radar can detect the distance of the object and the position of the object.

However, the current radar specification is limited, the detection angle is quite limited, and the problem that dead angles are not detected and are missed often occurs. On the other hand, the environment of the automobile where the radar detection is actually used is very complex, and the radar system receives other radar reflection signals from the actual target as well as other radar reflection signals reflected by the target, but the radar reflection signals with different radar transmission paths are commonly called multipath signals because other reflection objects relay. In this case, the radar system may sense an actual target having the same angle as the original transmission angle, and may sense a virtual mirror target having a different angle, and since the radar transmission path taken by the mirror target is different from the radar transmission path of the actual target, the radar system may generate a problem of judgment distortion for the position and angle of the actual target, that is, the radar system may misuse the mirror target as the actual target, or use both the mirror target and the actual target as the actual object, thereby generating a problem of misjudgment.

Disclosure of Invention

The utility model aims to solve the problems of insufficient radar detection angle and detection distortion caused by the detection of a virtual mirror image target in the past.

The object does not prevent the presence of other objects. The object of the present utility model can be derived from the description of the specification, claims, drawings, and the like by those skilled in the art, and is also included in the object of the present utility model. Accordingly, the objects of the present utility model are not limited to the recited objects.

In order to achieve the above object, the present utility model provides a radar system for detecting an angle of a whole plane, which is disposed on an outer surface of a vehicle body for detecting an object outside the vehicle body, and comprises an antenna transceiver unit, a shielding unit and a vector sensor. The antenna receiving and transmitting unit is provided with a first antenna receiving and transmitting substrate and a second antenna receiving and transmitting substrate, each end of the first antenna receiving and transmitting substrate and each end of the second antenna receiving and transmitting substrate are fixedly connected through an included angle, the shielding unit and the antenna receiving and transmitting unit are arranged on the same side surface of the vehicle body, and the shielding unit is used for shielding a reflection signal of a virtual mirror image target. The vector sensor is coupled to the antenna transceiver unit, and the vector sensor obtains a relative speed and a relative angle of the object relative to the antenna transceiver unit in a section of time, and the vector sensor includes a millimeter wave sensing module for determining whether the relative angle is ninety degrees when the relative speed is zero.

In a preferred embodiment, the first antenna transceiver substrate and the second antenna transceiver substrate are respectively provided with at least four receiving antennas and a receiving antenna center, and the first antenna transceiver substrate and the second antenna transceiver substrate are respectively provided with at least one transmitting antenna.

In a preferred embodiment, the ratio of the separation distances between the receiving antennas is sequentially 1 from the outer surface to the outer surface: 3:2.

in a preferred embodiment, the vertical distance between each receiving antenna and the outer surface is h, and the vertical height between the shielding unit and one side of the outer surface is hb, which satisfies the following conditions: 0< hb/h <0.4.

In a preferred embodiment, the distance between the center of the receiving antenna and the ground is greater than 40cm.

In a preferred embodiment, the vertical distance between the center of the receiving antenna and the outer surface is less than or equal to 6.5cm.

In a preferred embodiment, the distance between each receiving antenna and the shielding unit is between 5cm and 70 cm.

In a preferred embodiment, the radar system further comprises a housing having a bottom surface, the bottom surface is attached to the outer surface, and the housing accommodates the antenna transceiver unit and the vector sensor.

In a preferred embodiment, the vertical distance between the center of the receiving antenna and the bottom surface is less than or equal to 2cm.

In a preferred embodiment, the antenna transceiver unit and the shielding unit are located on the same horizontal plane.

In a preferred embodiment, the included angle is between 45 degrees and 135 degrees.

In a preferred embodiment, the average surface roughness of the shielding unit is less than 5cm.

In a preferred embodiment, the object is a stationary object, and the traveling direction of the vehicle body is not collinear with the object.

In a preferred embodiment, the object is a moving object, and the running direction of the vehicle body and the moving direction of the object are parallel and not on the same straight line.

In a preferred embodiment, the radar system further comprises a recording module coupled to the antenna transceiver and the vector sensor, wherein the recording module is used for recording instantaneous values of the relative speed and the relative angle in a section time, the vector sensor obtains a driving signal processing module of the vehicle body opposite to the object from the recording module, and the driving signal processing module is compared with the millimeter wave sensing module to confirm the accuracy of the detection angle of the antenna transceiver.

Therefore, the utility model uses the first antenna receiving and transmitting substrate and the second antenna receiving and transmitting substrate to be fixedly connected so as to achieve the effect of increasing the detection angle, and the shielding unit can prevent the problem of distortion caused by detecting the reflection signal of a virtual mirror image target.

Drawings

The utility model is described in further detail below with reference to the attached drawings and detailed description:

FIG. 1 is a block diagram of a preferred embodiment of the present utility model.

Fig. 2 is a schematic diagram of an antenna transceiver unit according to a preferred embodiment of the utility model.

FIG. 3 is a schematic view of a preferred embodiment of the present utility model.

Fig. 4 is a schematic diagram of the implementation of the first preferred embodiment of the present utility model.

Fig. 5 is a schematic diagram showing the implementation of the second preferred embodiment of the present utility model.

Fig. 6 is a schematic diagram of the implementation of the third preferred embodiment of the present utility model.

Reference numerals illustrate:

100 radar system 1 vehicle body

1a external surface 2 object

3 mirror image target 4 refractive surface

10 antenna receiving and transmitting unit 11 first antenna receiving and transmitting substrate

12 second antenna receiving/transmitting substrate 11a,12a antenna receiving/transmitting plane

111,121 receiving antennas 112,122 transmitting antennas

20 shielding unit 30 vector sensor

31 millimeter wave sensing module 32 driving signal processing module

33 recording module 40 casing

41 floor F1 direction of travel

F2 moving direction F3 detecting direction

S1 target transmitting path S2 mirror image target path

S3, S3a sub-paths D1, D2, D3 spacing distance

A is the vertical distance of the center h, ha and hb of the receiving antenna

Relative angle to relative speed

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present utility model. It will be apparent, however, to one skilled in the art that the present utility model may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present utility model with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity of the drawing, the parts relevant to the present utility model are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.

It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

In addition, in the description of the present utility model, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following description will explain the specific embodiments of the present utility model with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the utility model, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.

Referring to fig. 1 to 6, the present utility model provides a radar system 100 for detecting a full-plane angle, wherein the radar system 100 is disposed on an outer surface 1a of a vehicle body 1 for detecting an object 2 outside the vehicle body 1, and the radar system 100 comprises an antenna transceiver unit 10, a shielding unit 20 and a vector sensor 30.

Referring to fig. 2, in a preferred embodiment of the present utility model, the antenna transceiver unit 10 has a first antenna transceiver substrate 11 and a second antenna transceiver substrate 12, the first antenna transceiver substrate 11 and the second antenna transceiver substrate 12 have antenna transceiver planes 11a,12a respectively, and the antenna transceiver planes 11a,12a are far away from the outer surface 1a, and in a preferred embodiment of the present utility model, the first antenna transceiver substrate 11 and the second antenna transceiver substrate 12 may be circuit boards. It should be noted that, each end of the first antenna transceiver substrate 11 and each end of the second antenna transceiver substrate 12 are fixedly connected with each other at an included angle, and respectively transmit and receive signals towards two directions of angles outside the vehicle body 1, so that the radar system 100 can transmit and receive signals towards the two directions of angles, and the detection angle of the antenna transceiver unit 10 is increased. It should be noted that the present utility model is not limited to the fixed connection manner of the first antenna transceiver substrate 11 and the second antenna transceiver substrate 12, and the first and second antenna transceiver substrates are not limited to the positional relationship.

In a preferred embodiment of the present utility model, the antenna receiving and transmitting planes 11a,12a are provided with at least four receiving antennas 111,121, the spacing distances D1, D2, D3 between the receiving antennas 111,121 may be equal or unequal, and the antenna receiving and transmitting planes 11a,12a are provided with at least one transmitting antenna 112,122 and a receiving antenna center a. In a preferred embodiment of the present utility model, the ratio of the spacing distances D1, D2, D3 between the receiving antennas 111,121 is 1:3:2, but the utility model is not limited thereto.

In a preferred embodiment of the present utility model, referring to fig. 3, the shielding unit 20 and the antenna transceiver unit 10 are disposed on the same side surface of the vehicle body 1, for example: the shielding unit 20 is disposed on the front, rear, left or right side of the vehicle body 1, and is used for shielding the reflected signal of a virtual mirror image object 3, and in a preferred embodiment of the present utility model, the antenna transceiver unit 10 and the shielding unit 20 are disposed on the same horizontal plane. The vector sensor 30 is coupled to the antenna transceiver 10, the vector sensor 30 obtains a relative speed and a relative angle of the object 2 relative to the antenna transceiver 10 in a section of time, the vector sensor 30 includes a millimeter wave sensing module 31, the millimeter wave sensing module 31 is configured to receive analog signals, and modulate the analog signals into digital signals and a matched Filter (Filter) for determining whether the relative angle is ninety degrees when the relative speed is zero. In a preferred embodiment of the present utility model, millimeter wave sensing module 31 may use read-only memory (ROM) or Random Access Memory (RAM) to store signals. It should be noted that the relative speed represents a relative speed between the vehicle body 1 and the object 2 after the directivity is considered; the relative angle is the angle between the object 2 and the running direction F1 of the vehicle body 1.

In a preferred embodiment of the present utility model, the operating frequency of the vector sensor 30 may be 133MHz, 180MHz, 200MHz, 240MHz or 266MHz. In a preferred embodiment of the present utility model, the vector sensor 30 may be stored using Flash memory (Flash memory), electrically erasable programmable read-only memory (EEPROM), or Random Access Memory (RAM).

Further, during the running or parking process of the vehicle body 1, the antenna transceiver unit 10 transmits signals to a detection range, receives echo signals reflected by the object 2 in the detection range, and the vector sensor 30 obtains the echo signals reflected by the antenna transceiver unit 10, and performs conversion processing on the echo signals, so that the vector sensor 30 further obtains the relative speed and the relative angle.

In a preferred embodiment of the present utility model, the vector sensor 30 can be actively calibrated by physical adjustment, for example: the detection angle of the antenna transceiver unit 10 is changed by means of mechanical adjustment in such a way that the gyroscope or the servo motor is matched with the movable support, so that the relative angle is the correct detection angle. It should be noted that, the vector sensor 30 and the millimeter wave sensing module 31 can be used for correcting and detecting the angle detected by the antenna transceiver unit 10, and performing subsequent processing in real time, so as to avoid the error of the antenna transceiver unit 10 when being mounted on the vehicle body 1 or the collision of external force, so that the detection reference axis of the antenna transceiver unit 10 is offset to cause abnormal detection, thereby obtaining a correct detection value and ensuring the safety during driving and stopping.

In a preferred embodiment of the present utility model, the radar system 100 further has a housing 40, the housing 40 has a bottom surface 41, the bottom surface 41 is adhered to the outer surface 1a of the vehicle body 1, and the housing 40 accommodates the antenna transceiver unit 10 and the vector sensor 30, in other words, the antenna transceiver unit 10 and the vector sensor 30 may be integrated by the housing 40, or the antenna transceiver unit 10 and the vector sensor 30 may be separately disposed, which is not limited in the present utility model. In a preferred embodiment of the present utility model, the vertical distance ha between the center a of the receiving antenna and the bottom surface 41 is less than or equal to 2cm, so as to avoid the excessive detection error of the radar system 100 when the radar system 100 actually detects.

In a preferred embodiment of the present utility model, the vertical distance ha between the center a of the receiving antenna and the outer surface 1a is less than or equal to 6.5cm, so that the appearance of the vehicle body 1 can be maintained, the radar system 100 is not too abrupt when being arranged on a vehicle body 1, and the object 2 around the vehicle body 1 can be accurately detected during practical use.

In a preferred embodiment of the present utility model, the distance between the center of the receiving antenna A and the ground is greater than 40cm, so that the radar system 100 can be disposed on the vehicle body 1 at a distance from the ground, for example, on the vehicle body 1 of a separate vehicle or a connected vehicle.

In a preferred embodiment of the present utility model, the vertical distance h of each receiving antenna 111,121 relative to the outer surface 1a, the vertical distance hb of the shielding unit 20 relative to the outer surface 1a side, satisfies the following condition: 0< hb/h <0.4. Therefore, the shielding unit 20 can more effectively shield the reflected signal of the virtual image target 3, so as to avoid the problem of detection distortion of the radar system 100.

In a preferred embodiment of the present utility model, the distance between each receiving antenna 111,121 and the shielding unit 20 is between 5cm and 70cm, and it is assumed that the distance between each receiving antenna 111,121 and the shielding unit 20 is lower than 5cm, which affects the antenna transceiver unit 10 to detect the object 2 outside the vehicle body 1; assuming that the distance between each receiving antenna 111,121 and the shielding unit 20 is larger than 70cm, the shielding unit 20 cannot effectively shield the reflected signal of the image target 3. In a preferred embodiment of the present utility model, the shielding unit 20 can further use a surface treatment to increase the characteristic of the reflected signal of the shielding unit 20, so as to more effectively reflect the reflected signal of the mirror image target 3.

In a preferred embodiment of the present utility model, the included angle between the first antenna transceiver substrate 11 and each end of the second antenna transceiver substrate 12 is between 45 degrees and 135 degrees, the first antenna transceiver substrate 11 and the second antenna transceiver substrate 12 are in a non-coplanar state for increasing the detection angle of the radar system 100, that is, the radar system 100 can detect an angle range within 180 degrees or greater than 180 degrees, and the present utility model can adjust the included angle according to the actual use situation to change the detection angle of the radar system 100, so the present utility model is not limited thereto. In a preferred embodiment of the present utility model, the included angles between the first antenna transceiver substrate 11 and each end of the second antenna transceiver substrate 12 may be 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130 degrees, etc.

In a preferred embodiment of the present utility model, the average surface roughness of the shielding unit 20 is less than 5cm, and the shielding unit 20 can increase the reflection characteristic of the shielding unit 20 by irregular surface, so as to improve the effect of the shielding unit 20 for shielding the reflected signal of the mirror image target 3.

Referring to fig. 4, the radar system 100 transmits a signal to the outside of the vehicle body 1, and the transmitted signal is reflected back to the radar system 100 along the original target transmitting path S1 after striking an object 2 along the target transmitting path S1, wherein the object 2 may be a person, an object, or the vehicle body 1. At the same time, other transmitted signals travel along the mirrored target path S2 to a refractive surface 4, from which refractive surface 4 the reflected signal travels along a sub-path S3 to impinge on the vehicle body 1 and reflect back toward the radar system 100. In other words, the radar system 100 transmits a signal to receive the reflected wave reflected by the multiple paths, and detects a virtual mirror target 3, and the mirror target 3 may cause erroneous judgment of the radar system 100, resulting in detection distortion. The present utility model can be used to shield the reflected signal of the mirror image target 3 by the shielding unit 20, so as to increase the detection accuracy.

Referring to fig. 5 and 6, fig. 5 and 6 are only schematic views and not to scale, in a preferred embodiment of the present utility model, the object 2 may be a stationary object, and the driving direction F1 of the vehicle body 1 and the object 2 may not be in the same line, and at the same time, the vector sensor 30 may capture the relative speed and the relative angle of the object 2 with respect to the antenna transceiver 10 in a period of time. That is, the vector sensor 30 determines the accuracy of the detection angle of the antenna transceiver unit 10 by using a detection method according to whether the vehicle body 1 passes the object 2.

Further, at the moment when the vehicle body 1 passes by the object 2, the direction of the relative velocity is equal to the detection direction F3 perpendicular to the antenna transceiver unit 10, that is, the relative angle is 90 degrees, and in theory, the relative velocity does not have a velocity. Therefore, it is possible to determine whether the detection angle of the antenna transceiver module 10 is correct by utilizing the characteristic.

In a preferred embodiment of the present utility model, the object 2 may be a moving object, the running direction F1 of the vehicle body 1 and the moving direction F2 of the object 2 are parallel and not on the same straight line, and in addition, the detecting mode of the moving object is the same as the detecting mode of the stationary object, which is not described again.

In a preferred embodiment of the present utility model, the vector sensor 30 further has a recording module 33, and the recording module 33 may be a Hard disk (Hard drive), a solid state disk (Solid state drive), a Flash memory (Flash memory), or the like, which is not limited to the present utility model. It should be noted that, the recording module 33 is used to record the instantaneous values of the relative speed and the relative angle in the section time, the vector sensor 30 obtains the driving signal processing module 32 of the vehicle body 1 opposite to the object 2 from the recording module 33, so that the accuracy of the angle detected by the antenna transceiver 10 can be confirmed by comparing the driving signal processing module 32 with the millimeter wave sensing module 31. The driving signal processing module 32 can estimate the value of the relative angle when the relative speed is zero.

In a preferred embodiment of the present utility model, the driving signal processing module 32 may be a digital signal processing module (Digital Signal Processor Module) for providing digital signal processing, input/output interface or storage. In a preferred embodiment of the present utility model, the operating frequency of the driving signal processing module 32 may be 600MHz. In a preferred embodiment of the present utility model, the traffic signal processing module 32 may store radar data using a cache, a Read Only Memory (ROM), a Random Access Memory (RAM), or a Direct Memory Access (DMA).

Further describing a case where the vehicle body 1 does not pass the object 2 (as shown in fig. 5), for example: the vehicle body 1 may have been steered before passing the object 2, or have other conditions. At this time, the present utility model can record the instantaneous values of the relative speed and the relative angle of the object 2 by the vector sensor 30 in a period of time through the recording module 33, so as to establish the driving signal processing module 32 for performing the angle error detection. That is, the present utility model can perform the angle error detection when the vehicle body 1 passes through the object 2 or the vehicle body 1 does not pass through the object 2, which is not limited thereto.

In summary, the present utility model has the following effects:

1. the first antenna transceiver substrate 11 and the second antenna transceiver substrate 12 are fixedly connected at each end with an included angle, so that the angle can be detected in two directions respectively with an included angle, and the effect of increasing the detection angle of the radar system 100 is achieved.

2. The present utility model masks the reflected signal of the virtual image target 3 by the masking unit 20, in other words, the masking unit 20 can reduce the reflected signal of the image target 3 received by the antenna transceiver unit 10, so as to achieve the effect of more accurately detecting the object 2.

3. The utility model compares the millimeter wave sensing module 31 with the driving signal processing module 32, can rapidly and accurately judge whether the angle detected by the antenna transceiver unit 10 is wrong, and achieves the effect of judging the accuracy of the angle detected by the antenna transceiver unit 10 in real time.

4. The utility model can not only rapidly and accurately judge the correctness of the detection angle of the antenna transceiver unit 10, but also correct the detection angle of the antenna transceiver unit 10 by the vector sensor 30, and perform subsequent processing in real time, thereby preventing the antenna transceiver unit 10 from detecting abnormality caused by the deviation of the detection reference axis, achieving the effect of obtaining correct detection value and ensuring the driving safety.

5. The vector sensor 30 can be used for detecting a stationary object 2 or a moving object 2 as long as the running direction F1 of the vehicle body 1 is parallel to the moving direction F2 of the object 2 and is not on the same straight line, and can perform angle error detection to achieve the effect of improving the accuracy of detection values.

6. The present utility model records the instantaneous values of the relative speed and the relative angle of the object 2 by the recording module 33 in a period of time, establishes the driving signal processing module 32, and performs the angle error detection by the driving signal processing module 32, so that the effect of improving the accuracy of the detection value can be achieved.

The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model, which are intended to be comprehended within the scope of the present utility model.

Claims (14)

1. A radar system for detecting an angle of a full plane, the radar system being disposed on an outer surface of a vehicle body for detecting an object outside the vehicle body, the radar system characterized in that: comprises the steps of (a) a step of,

the antenna receiving and transmitting unit is provided with a first antenna receiving and transmitting substrate and a second antenna receiving and transmitting substrate, and each end of the first antenna receiving and transmitting substrate and each end of the second antenna receiving and transmitting substrate are fixedly connected with each other through an included angle;

the shielding unit and the antenna receiving and transmitting unit are arranged on the same side surface of the vehicle body, and the shielding unit is used for shielding a reflection signal of a virtual mirror image target; and

the vector sensor is coupled with the antenna transceiver unit, acquires a relative speed and a relative angle of the object relative to the antenna transceiver unit in a section of time, and comprises a millimeter wave sensing module for confirming whether the relative angle is ninety degrees when the relative speed is zero.

2. The radar system of claim 1, wherein:

the first antenna receiving and transmitting substrate and the second antenna receiving and transmitting substrate are respectively provided with at least four receiving antennas and a receiving antenna center, and the first antenna receiving and transmitting substrate and the second antenna receiving and transmitting substrate are respectively provided with at least one transmitting antenna.

3. The radar system of claim 2, wherein:

the ratio of the separation distances among the receiving antennas is sequentially 1 from the outer surface to the outer surface: 3:2.

4. the radar system of claim 2, wherein:

the vertical distance of each receiving antenna relative to the outer surface is h, the vertical height of the shielding unit relative to one side of the outer surface is hb, and the following conditions are satisfied: 0< hb/h <0.4.

5. The radar system of claim 2, wherein:

the distance between the center of the receiving antenna and the ground is greater than 40cm.

6. The radar system of claim 2, wherein:

the vertical distance between the center of the receiving antenna and the outer surface is less than or equal to 6.5cm.

7. The radar system of claim 2, wherein:

the distance between each receiving antenna and the shielding unit is between 5cm and 70 cm.

8. The radar system of claim 2, wherein:

the radar system further comprises a housing, the housing is provided with a bottom surface, the bottom surface is attached to the outer surface, and the housing accommodates the antenna transceiver unit and the vector sensor.

9. The radar system of claim 8, wherein:

the vertical distance between the center of the receiving antenna and the bottom surface is less than or equal to 2cm.

10. The radar system of claim 1, wherein:

the antenna receiving and transmitting unit and the shielding unit are positioned on the same horizontal plane.

11. The radar system of claim 1, wherein:

the included angle is between 45 degrees and 135 degrees.

12. The radar system of claim 1, wherein:

the shielding unit has an average surface roughness of less than 5cm.

13. The radar system of claim 1, wherein:

the object is a stationary object, and the running direction of the vehicle body and the object are not in the same straight line.

14. The radar system of claim 1, wherein:

the object is a moving object, and the running direction of the vehicle body and the moving direction of the object are parallel to each other and are not in the same straight line.