CN220894533U - High-resolution radar system with image interference signal shielding function - Google Patents

Abstract

The application relates to a high-resolution radar system with image interference signal shielding, which comprises an antenna transceiver, a correction processor and a shielding unit. The antenna transceiver comprises a first entity antenna array and a second entity antenna array, the antenna transceiver is used for detecting an object and obtaining a target signal from the object, and the first entity antenna array comprises a first antenna and a second antenna; the second physical antenna array comprises a third antenna to a sixth antenna which are sequentially arranged along the same direction. The calibration processor multiplies the position arrangement of the first and second physical antenna arrays to obtain an equivalent antenna array to obtain a target signal, and then corrects the target signal to obtain a definite arrival angle. The shielding unit is used for shielding a virtual mirror image target signal. Therefore, the application can reduce the condition of angle ambiguity, effectively acquire the arrival angle of the target angle, and avoid the problem of misjudgment of the target object due to mirroring by the arrangement of the shielding unit.

Description

High-resolution radar system with image interference signal shielding function

Technical Field

The present application relates to a radar, and more particularly, to a high resolution radar system with image interference signal shielding.

Background

In the prior art, radar is used to detect the position of an object, so as to confirm the object, and the development of radar technology is one of important development technologies, which can accelerate the maturation of automobile autopilot technology, for example. The radar detects an object by using an antenna, and a Uniform linear array (uniformity LINEAR ARRAY, ULA) and a sparse linear array of conventional antenna distribution characteristics (SPARSE LINEAR ARRAY, SLA) are common antenna distribution characteristics, under the condition of detecting multiple targets with a limited number of antenna elements, the intensity of the antenna array is close to the reflected signal of the main wave due to superposition of side lobe signals during SLA distribution, so that more than one target angle is generated to generate erroneous judgment, and ULA distribution is generally adopted, so that the problem of superposition of side lobe signals is avoided by virtue of the low side lobe characteristics of ULA.

In order to meet the requirement of high angular resolution of the antenna, under the condition that the number of antenna units is limited, the ULA distribution can increase the length of the antenna array by increasing the spacing of the antenna units, and the aperture of the antenna array is adjusted to increase the angular resolution of the antenna, however, the antenna spacing of the ULA distribution is larger than half wavelength and the resolvable Angle interval is reduced, so that the radar causes an Angle ambiguity (Ambiguity) in the Angle detection of the target, and the Arrival Angle (AoA) of the target cannot be accurately determined.

Disclosure of utility model

The application aims to solve the problems that the angle of arrival of an object cannot be accurately judged due to the angle ambiguity of the conventional radar and detection distortion is caused by the detection of a virtual mirror image target.

The object does not hinder the presence of other objects. The object of the present application can be derived from the description of the specification, claims, drawings, etc. by a person skilled in the art. Accordingly, the objects of the present application are not limited to the recited objects.

In order to achieve the above-mentioned object, the present application provides a high-resolution radar system with image interference signal shielding, wherein the radar system is disposed on a vehicle body for detecting an object outside the vehicle body, and the radar system comprises an antenna transceiver, a calibration processor and a shielding unit. The antenna transceiver comprises a first entity antenna array and a second entity antenna array, wherein the antenna transceiver is used for detecting an object to transmit and receive signals and obtaining a target signal from the object, the first entity antenna array comprises a first antenna and a second antenna, the distance between the first antenna and the second antenna is 2N times of a unit interval, N is a positive integer, and N is not less than 3; the second entity antenna array comprises a third antenna, a fourth antenna, a fifth antenna and a sixth antenna which are sequentially arranged along the same direction, wherein the distance between the third antenna and the fourth antenna is the unit interval, the distance between the fourth antenna and the fifth antenna is (N-1) times of the unit interval, and the distance between the fifth antenna and the sixth antenna is the unit interval. The calibration processor is coupled to the antenna transceiver, and multiplies the first physical antenna array and the second physical antenna array by the position arrangement of the first physical antenna array to obtain an equivalent antenna array to obtain a target signal, and the calibration processor corrects the target signal to obtain a definite arrival angle. The shielding unit and the antenna transceiver 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.

In a preferred embodiment, the radar system includes a first equivalent antenna group having a plurality of first antenna units arranged at equal intervals and a second equivalent antenna group having a plurality of second antenna units arranged at equal intervals, the target signal includes a first spectrum information from the first equivalent antenna group and a second spectrum information from the second equivalent antenna group, and the calibration processor obtains a precise phase difference according to the first spectrum information and the second spectrum information after calibration, and further obtains the definite arrival angle by using the precise phase difference.

In a preferred embodiment, the correction processor has a correction module and an accurate phase module, and the correction processor inputs a blurred phase difference obtained from the first spectrum information and the second spectrum information into the correction module to obtain a correction number, and inputs the correction number into the accurate phase module to obtain an accurate phase difference.

In a preferred embodiment, the unit interval ∈1/2λ is the wavelength of the transmitted signal.

In a preferred embodiment, the radar system has an antenna transceiver plane, the antenna transceiver is disposed on the antenna transceiver plane, and the antenna transceiver has an antenna center.

In a preferred embodiment, the antenna transceiver has a vertical distance h from the outer surface of the vehicle body, and the shielding unit has a vertical height hb from the outer surface of the vehicle body, which satisfies the following condition: 0< hb/h <0.4.

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

In a preferred embodiment, the antenna center is more than 40cm from the ground.

In a preferred embodiment, the antenna center is at a vertical distance of less than or equal to 6.5cm from the exterior surface of the vehicle body.

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

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

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

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

Therefore, the application obtains the equivalent antenna array through the specific position arrangement of the first entity antenna array and the second entity antenna array, and the equivalent antenna array can improve the accuracy of obtaining the arrival angle of the target signal. In addition, the shielding unit can prevent the detection of the reflected signal of a virtual mirror image target, thereby improving the accuracy of radar detection.

Drawings

FIG. 1 is a block diagram of a radar system according to a preferred embodiment of the present application.

Fig. 2 is a diagram illustrating an array arrangement and distribution of physical antennas according to a preferred embodiment of the present application.

Fig. 3 is a schematic diagram of an array arrangement of equivalent antennas according to a preferred embodiment of the present application.

Fig. 4 is a schematic diagram of equivalent antenna group spectrum according to a preferred embodiment of the present application.

Fig. 5 is a schematic diagram of a radar system implementation of a preferred embodiment of the present application.

Fig. 6 is a schematic diagram of a radar system according to a preferred embodiment of the application.

Detailed Description

For the convenience of description of the central idea of the present application represented in the column of the above application, it will be expressed in terms of specific embodiments. Various objects in the embodiments are drawn to scale, size, deformation or displacement as appropriate for the description, and not to scale for the actual components, as previously described.

Exemplary embodiments of the present application are described in detail below with reference to the accompanying drawings and are not intended to limit the technical principles of the present application to the specifically disclosed embodiments, but the scope of the present application is limited only by the claims, covering alternatives, modifications, and equivalents.

Referring to fig. 1 to 6, the present application provides a high-resolution radar system 100 with image interference signal shielding, wherein the radar system 100 is disposed on a vehicle body 1 for detecting an object 2 outside the vehicle body 1, and the radar system 100 comprises an antenna transceiver 10, a calibration processor 20 and a shielding unit 30.

In the embodiment of the present application, the antenna transceiver 10 includes a first physical antenna array 11 and a second physical antenna array 12, and the antenna transceiver 10 is configured to detect the object 2 for transmitting and receiving signals, and obtain a target signal 13 from the object 2.

In this embodiment, the first physical antenna array 11 is a transmitting antenna, the second physical antenna array 12 is a receiving antenna, and the user can perform the exchange configuration of the transmitting antenna or the receiving antenna on the first physical antenna array 11 and the second physical antenna array 12 according to the requirement, in other words, the first physical antenna array 11 can be set as the receiving antenna, and the second physical antenna array 12 can be set as the transmitting antenna, which is not limited thereto.

Referring to fig. 2, in the present application, the first physical antenna array 11 may be extended at equal intervals by multiple, but has 4 antennas, 6 antennas, etc., and the second physical antenna array 12 may be extended at equal intervals by multiple, but has 8 antennas, 12 antennas, etc., but is not limited thereto.

In the embodiment of the present application, the first physical antenna array 11 may include a first antenna 111 and a second antenna 112, and the second physical antenna array 12 may include a third antenna 121, a fourth antenna 122, a fifth antenna 123 and a sixth antenna 124 sequentially arranged along the same direction.

Next, the spacing between the first antenna 111 and the second antenna 112 is 2N times the unit interval d; the spacing between the third antenna 121 and the fourth antenna 122 is a unit spacing d, the spacing between the fourth antenna 122 and the fifth antenna 123 is (N-1) times the unit spacing d, and the spacing between the fifth antenna 123 and the sixth antenna 124 is a unit spacing d. In a preferred embodiment of the application, the unit interval d > 1/2λ, λ is the wavelength of the transmitted signal, N is a positive integer, and N > 3. In the present embodiment, n=4, which is not limited to this.

Referring to fig. 2 and 3, the calibration processor 20 is coupled to the antenna transceiver 10, the calibration processor 20 multiplies the first physical antenna array 11 and the second physical antenna array 12 to obtain an equivalent antenna array 21 to obtain the target signal 13, and the calibration processor 20 corrects the target signal 13 to obtain a definite arrival angle.

In the embodiment of the present application, the equivalent antenna array 21 is defined as a combination between antennas. Next, the equivalent antenna array 21 is formed by multiplying the first antenna 111 by the third antenna 121, the fourth antenna 122, the fifth antenna 123 and the sixth antenna 124 to generate an array with the same positions and distributions as the third antenna 121, the fourth antenna 122, the fifth antenna 123 and the sixth antenna 124; the second antenna 112 multiplies the third antenna 121, the fourth antenna 122, the fifth antenna 123 and the sixth antenna 124 to generate another array with the same distribution as the third antenna 121, the fourth antenna 122, the fifth antenna 123 and the sixth antenna 124, but the array is shifted by 2N times the unit interval d and the distance f is the same as the spacing between the first antenna 111 and the second antenna 112 compared with the third antenna 121, which is not limited thereto. Finally, the two sets of arrays are combined to form the equivalent antenna array 21.

It should be emphasized that the angular resolution of a conventional ULA antenna array is determined by the antenna array aperture, so it is assumed that increasing the angular resolution of the antenna array is achieved by increasing the number of antennas to increase the antenna array. However, since the size of the general hardware is fixed, the load-bearing antenna cannot be set without limitation, and at this time, a longer equivalent antenna array 21 can be obtained by combining antennas, so as to achieve the effect of improving the aperture of the antenna array and further improving the angular resolution.

Referring to fig. 3, in a preferred embodiment of the present application, the radar system 100 may include a first equivalent antenna group a and a second equivalent antenna group B, wherein the first equivalent antenna group a has a plurality of equally spaced first antenna units a, and the second equivalent antenna group B has a plurality of equally spaced second antenna units B.

In a preferred embodiment of the present application, the second equivalent antenna group B can be shifted by a unit interval d with respect to the first equivalent antenna group a, such that each first antenna unit a and each second antenna unit B are staggered and arranged at intervals along the same direction, and the spacing between any two adjacent first antenna units a and the spacing between any two adjacent second antenna units B are both N times the unit interval d, which is not limited thereto. The present application can divide the original equivalent antenna array 21 into two ULA arrays of the first equivalent antenna group a and the second equivalent antenna group B. In the embodiment of the application, the unit interval d is not less than 1/2λ, where λ is the wavelength of the emission signal, and is not limited thereto.

Referring to fig. 4, the target signal 13 includes a first spectrum information 131 from the first equivalent antenna group a and a second spectrum information 132 from the second equivalent antenna group B. The horizontal axis of the first spectral information 131 and the second spectral information 132 is frequency (rad/sample), the vertical axis is intensity (dB), the first spectral information 131 is from the spectral variation of the first equivalent antenna group a, and the second spectral information 132 is from the spectral variation of the second equivalent antenna group B. The correction processor 20 performs a post-correction operation according to the first spectrum information 131 and the second spectrum information 132 to obtain a precise phase difference Δθ, and obtains a definite arrival angle of the target signal 13 by using the precise phase difference Δθ.

In a preferred embodiment of the present application, the calibration processor 20 further has a calibration module 22 and an accurate phase module 23, and the calibration processor 20 inputs a blur phase difference obtained from the first spectrum information 131 and the second spectrum information 132 into the calibration module 22 to obtain a calibration number. The correction number is further inputted into the precise phase module 23 to obtain a precise phase difference Δθ, which is obtained by dividing the signal intensity of the first equivalent antenna group a represented by S _A (phi) and the signal intensity of the second equivalent antenna group B represented by S _B (phi)To represent the blurred phase difference. In this embodiment, an AWR1843 chip Texas Instruments may be used, and the chip includes an I/Q correction module and Decimation filter, and the correction number is obtained from the information of the first spectrum information 131 and the second spectrum information 132 corresponding to the correction module 22; in addition, the ARM Cortex R4F chip in the chip corresponds to the precise phase module 23, and can obtain precise phase difference by correction number.

In a preferred embodiment of the present application, the spacing between the first antenna elements a of the first equivalent antenna group a and the spacing between the second antenna elements B of the second equivalent antenna group B is ∈1/2λ, where λ is the wavelength of the transmitted signal. Therefore, the object 2 exceeding the antenna angle detection range will perform the same as the object 2 within the angle range. That is, the phase change amount Φ obtained by the first spectrum information 131 and the second spectrum information 132 should be actually the phase change amount Φ plus the correction number multiplied by 360 degrees, so that the phase change amount Φ is blurred, and thus, the precise phase difference Δθ can be obtained through the processing of the precise phase module 23.

For example, assuming that the actual arrival angle of the object 2 is 46 degrees and the multiple N of the unit interval d is 4, the correction processor 20 first obtains the blur phase difference from the first spectrum information 131 and the second spectrum information 1320.7632 Pi because of the influence of noise caused by fuzzy phase difference input/>And the angle of arrival 49.7471 degrees is not accurate. Therefore, the correction processor 20 inputs the blur phase difference into the correction module 22 to obtain a correction number of 1, and then inputs the correction number into the precise phase module 23 to obtain a precise phase difference Δθ of 0.7188 pi. Finally, the correction processor 20 inputs arcsind (Δθ) the precise phase difference Δθ to determine that the definite angle of arrival is 45.9555 degrees, which is more accurate than the angle of arrival obtained by the blurred phase difference.

It should be emphasized that the structure of the physical antenna array must conform to a specific pitch and arrangement mode, so that the calibration processor 20 can perform corresponding arrival angles and determine the processing after receiving the signals.

On the other hand, when the radar system 100 actually detects, the problem of interference detection of the mirror image target 3 occurs, for example, please refer to fig. 5, in which the radar system 100 transmits a signal to the outside of the vehicle body 1, 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, and the object 2 may be a person, an object, or the vehicle body 1. At the same time, the radar signal is also emitted in different directions, and other emitted signals are along the mirror image target path S2 to the refraction surface 4, and are reflected back to the radar system 100 after being collided by the refraction surface 4 along a sub-path S3a, and the radar system 100 can erroneously detect the sub-path S3b from the refraction surface 4 to the mirror image target 3. 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, where the mirror target 3 interferes with the angle detected by the radar system 100, resulting in detection distortion. Therefore, referring to fig. 6, in an embodiment of the application, the shielding unit 30 is used for shielding the reflected signal of a virtual mirror target 3, thereby avoiding the radar detection distortion.

In a preferred embodiment of the present application, the radar system 100 has an antenna receiving plane 40, the antenna transceiver 10 is disposed on the antenna receiving plane 40, and the antenna transceiver 10 has an antenna center P.

In a preferred embodiment of the present application, the radar system 100 further has a housing 50, the housing 50 has a bottom surface 51, the bottom surface 51 can be attached to the outer surface 1a of the vehicle body 1, and the housing 50 accommodates the antenna transceiver 10 and the calibration processor 20, in other words, the antenna transceiver 10 and the calibration processor 20 can be integrated by the housing 50, or the antenna transceiver 10 and the calibration processor 20 can be separately disposed, which is not limited thereto. In a preferred embodiment of the present application, the vertical distance ha between the antenna center P and the bottom surface 51 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 application, a vertical distance h of the antenna transceiver 10 with respect to the outer surface 1a of the vehicle body 1, and a vertical distance hb of the shielding unit 30 with respect to the outer surface 1a side of the vehicle body 1 satisfy the following conditions: 0< hb/h <0.4. Thus, the shielding unit 30 can more effectively shield the reflected signal of the virtual mirror image target 3, so as to avoid the problem of detection distortion of the radar system 100.

In a preferred embodiment of the present application, the distance between the antenna transceiver 10 and the shielding unit 30 is between 5cm and 70cm, and if the distance between the antenna transceiver 10 and the shielding unit 30 is lower than 5cm, the antenna transceiver 10 is affected to detect the object 2 outside the vehicle body 1; if the distance between the antenna transceiver 10 and the shielding unit 30 is greater than 70cm, the shielding unit 30 cannot effectively shield the reflected signal of the image object 3. In a preferred embodiment of the present application, the shielding unit 30 can further use a surface treatment to increase the characteristics of the reflected signal of the shielding unit 30, so as to more effectively reflect the reflected signal of the mirror image target 3.

In a preferred embodiment of the present application, the distance between the antenna center P 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, and can be mounted on the vehicle body 1 of a separate vehicle or a connected vehicle.

In a preferred embodiment of the present application, the vertical distance ha between the antenna center P and the outer surface 1a of the vehicle body 1 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 application, the average surface roughness of the shielding unit 30 is less than 5cm, and the shielding unit 30 can increase the reflection characteristic of the shielding unit 30 by the irregular surface, so as to improve the effect of the shielding unit 30 for shielding the reflected signal of the mirror image target 3.

In a preferred embodiment of the present application, the shielding unit 30 and the antenna transceiver 10 are disposed on the same side surface of the vehicle body 1, for example: the shielding unit 30 may be disposed on the front, rear, left or right side surfaces of the vehicle body 1, that is, the shielding unit 30 is used to shield the mirror image targets 3 on different side surfaces of the vehicle body 1 from reflecting signals, and in a preferred embodiment of the present application, the antenna transceiver 10 and the shielding unit 30 are disposed on the same horizontal plane.

In summary, the present application has the following effects:

1. The application obtains the target signal 13 by multiplying the position arrangement of the first entity antenna array 11 and the second entity antenna array 12 by the correction processor 20 to obtain an equivalent antenna array 21, and can improve the aperture of the antenna array under the condition of limited number of antenna units, thereby achieving the effect of increasing the angular resolution of the antenna.

2. The correction module 22 and the precise phase module 23 of the correction processor 20 are used for calculating the precise phase difference delta theta generated by the first frequency spectrum information 131 and the second frequency spectrum information 132, so that the problem of angle ambiguity can be avoided under the condition that the antenna unit distance is larger than half wavelength, and the effect of obtaining the definite arrival angle of the target signal 13 can be achieved.

3. The application can shield the reflected signal of a virtual mirror image target 3 through the shielding unit 30, that is, the shielding unit 30 can reduce the chance that the antenna transceiver 10 receives the reflected signal of the mirror image target 3, thereby achieving the effect of preventing radar detection distortion.

4. The antenna transceiver 10 and the shielding unit 30 are configured on the same horizontal plane, so that the reflection signal reflected by the mirror image target 3 can be shielded greatly, in other words, the shielding unit 30 can shield most of the reflection signals reflected by multiple paths, and the effect of preventing radar detection distortion can be achieved.

The efficacy does not interfere with the presence of other efficacy. Those skilled in the art who have the benefit of this disclosure from this description, claims, drawings, and the like are also included in the present application. Thus, the efficacy of the present application is not limited to the recited efficacy.

Symbol description

100 Radar system 1 vehicle body

1A external surface 2 object

3 Mirror image target 4 refractive surface

10 Antenna transceiver 11 first physical antenna array

111 First antenna 112 second antenna

12 Second entity antenna array 121 third antenna

122, Fourth antenna 123, fifth antenna

124 Sixth antenna 13 target signal

131 First spectral information 132 second spectral information

20, Correction processor 21, equivalent antenna array

22 Correction module 23 accurate phase module

30 Shielding unit 40 antenna receiving and transmitting plane

50, Case 51, bottom surface

A is a first equivalent antenna group B is a second equivalent antenna group

P is the antenna center S1 is the target transmitting path

S2 mirror target path S3a, S3b sub path

A first antenna unit b, a second antenna unit

D is the unit interval h, ha, hb is the vertical distance

Δθ, precise phase difference.

Claims (13)

1. A high-resolution radar system with image interference signal shielding, which is arranged on a vehicle body and used for detecting an object outside the vehicle body, comprises:

The antenna transceiver comprises a first entity antenna array and a second entity antenna array, wherein the antenna transceiver is used for detecting the object to transmit and receive signals and obtaining a target signal from the object, the first entity antenna array comprises a first antenna and a second antenna, the distance between the first antenna and the second antenna is 2N times of a unit interval, N is a positive integer, and N is not less than 3; the second entity antenna array comprises a third antenna, a fourth antenna, a fifth antenna and a sixth antenna which are sequentially arranged along the same direction, wherein the distance between the third antenna and the fourth antenna is the unit interval, the distance between the fourth antenna and the fifth antenna is (N-1) times of the unit interval, and the distance between the fifth antenna and the sixth antenna is the unit interval;

The correction processor is coupled with the antenna transceiver, and the correction processor multiplies the position arrangement of the first entity antenna array and the second entity antenna array to obtain an equivalent antenna array to obtain the target signal, and the correction processor corrects the target signal to obtain a definite arrival angle; and

And the shielding unit is arranged on the same side surface of the vehicle body as the antenna transceiver and is used for shielding a reflection signal of a virtual mirror image target.

2. The system of claim 1, wherein the radar system comprises a first equivalent antenna set having a plurality of equally spaced first antenna units and a second equivalent antenna set having a plurality of equally spaced second antenna units, the target signal comprises a first spectrum information from the first equivalent antenna set and a second spectrum information from the second equivalent antenna set, the calibration processor is configured to obtain a precise phase difference according to the first spectrum information and the second spectrum information, and further obtain the precise arrival angle by using the precise phase difference.

3. The system of claim 2, wherein the calibration processor has a calibration module and an accurate phase module, and inputs a blurred phase difference obtained from the first spectral information and the second spectral information to the calibration module to obtain a calibration number, and inputs the calibration number to the accurate phase module to obtain the accurate phase difference.

4. The high-resolution radar system with image-disturbance signal masking according to claim 2, wherein the unit interval ∈1/2λ, λ is the wavelength of the transmitted signal.

5. The high resolution radar system with image rejection signal shielding according to claim 1, wherein the radar system has an antenna transceiver plane, the antenna transceiver is disposed on the antenna transceiver plane, the antenna transceiver has an antenna center.

6. The high-resolution radar system with image signal masking according to claim 5, wherein the antenna transceiver has a vertical distance h from the outer surface of the vehicle body, and the masking unit has a vertical height hb from the outer surface of the vehicle body, which satisfies the following condition: 0< hb/h <0.4.

7. The high resolution radar system with image reject signal according to claim 5, wherein the antenna transceiver is spaced from the reject unit by a distance between 5cm and 70 cm.

8. The high resolution radar system with image noise masking according to claim 5, wherein the antenna center is more than 40cm from the ground.

9. The high resolution radar system with image noise masking according to claim 5, wherein the vertical distance between the antenna center and the outer surface of the vehicle body is less than or equal to 6.5cm.

10. The system of claim 5, further comprising a housing having a bottom surface, the bottom surface being disposed on the outer surface of the vehicle body, the housing containing the antenna transceiver and the calibration processor.

11. The high resolution radar system with image noise masking according to claim 10, wherein the antenna center is less than or equal to 2cm from the bottom surface.

12. The high resolution radar system according to claim 1, wherein the antenna transceiver and the shielding unit are located in the same horizontal plane.

13. The high resolution radar system with image disturbance signal masking according to claim 1, wherein the average surface roughness of the masking unit is less than 5cm.