JP2002062353A - Radar and calibration method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simply mount a radar to a front face of a vehicle by shortening a depth in the wave radiation direction of the radar to be mounted to the vehicle for detecting a direction of a target. SOLUTION: A bend wave guide of two layers of a planar structure is formed of a conductor fixing plate 2, conductor partition plates 29, 49 and 70 and a slot substrate 1. A transmitting antenna is constituted of slot arrays 61-1 to 61-n and the folding wave guide. Each of two receiving antennas is constituted of slot arrays 21-1 to 21-n, 41-1 to 41-n and the folding wave guide. A transmitting part and two receiving parts are constituted of leakage wave dielectric lines 23, 43 and 63 and a reflecting plate. Waves generated at an oscillation part 69 are emitted from the transmitting part and the transmitting antenna. Reflected waves from the target are received by the first and the second antennas and are detected by a first detection part 27 and a second detection part 47. A position and a velocity of the target are obtained by a control part 3. The direction of the target can be detected by the radar of a planar structure, having short depth.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar apparatus, and more particularly, to a radar apparatus having a reduced depth and attached to the front of a vehicle.
The present invention relates to a radar device for measuring a direction and a relative speed of a target.

[0002]

2. Description of the Related Art Conventionally, there is a radar apparatus that measures the direction of a target by using a plurality of receiving antennas. Among the radar apparatuses of this type, the radar apparatus disclosed in Japanese Patent Application Laid-Open No. 9-33643 employs a lens antenna for an antenna unit. There is also a radar device that employs a horn antenna in the antenna section.

FIG. 10 shows an example of a conventional radar apparatus using a horn antenna for an antenna unit. FIG. 10A is a front view of the radar device. FIG. 10B is a sectional view taken along line AA ′. This radar device includes an antenna unit, a radio unit, a control unit 402, and a fixed plate 401. The antenna unit includes a first receiving antenna 421, a second receiving antenna 461,
A transmission antenna 441 is provided. The radio unit is
Receiving section 423, second receiving section 463, distribution section 443, and oscillating section 4
45 and waveguides 422, 424, 442, 444, 462, 464 connecting each part
It is composed of The wireless unit and the control unit 402 are arranged behind the antenna unit.

[0004] In order to mount the radar device configured as described above on a train, detect an unconnected vehicle at the time of connection, and support the connection operation, measure the azimuth of the vehicle by setting the maximum detection distance to 100 m or more. Is required. To satisfy this condition, an antenna unit having an extremely high gain is required.
For example, if the antenna gain is 25 dBi, the horn length of the antenna section is about 150 mm. Assuming that the thickness of the radio unit and the control unit 402 is 100 mm, the radar device needs to have a depth of about 250 mm in the radiation direction.

FIG. 11 shows an example of a conventional radar apparatus employing a slot element and a fan-shaped waveguide in an antenna section. FIG.
(A) is a top view of a radar device. FIG. 11 (B)
It is AA 'sectional drawing. FIG. 11C is a sectional view taken along the line BB '. In the case of a radar device employing a slot element and a fan-shaped waveguide, the device depth in the radial direction can be shortened, but the aperture area becomes large due to the area of the fan-shaped waveguide and the radio section.

Further, Japanese Patent Application Laid-Open No. 11-214919 and Japanese Patent Application Laid-Open
As disclosed in JP-A-99901 and JP-A-11-317611, there is a radar device in which an antenna device is configured to be thin using a slot array or a folded portion, but this radar device measures the direction of a target object. Can not do it.

When calibrating a radar device that measures the direction of a target, a special device such as a turntable that changes the relative angle between the radar device and the reflector is used to calibrate the relative angle between the reflector and the radar device. And calibrated while detecting the maximum radiation direction of the antenna.

[0008]

However, the conventional radar device has a problem that the depth of the device in the radio wave radiation direction is long and cannot be mounted on the front of the train. For example, when attaching to the front of the train to support the connection operation,
Since it protrudes greatly to the front, it may collide with the connected vehicle during train connection. In order to avoid this, it is necessary to cut out a part of the vehicle, and it has been difficult to attach the vehicle to the front of the vehicle. In a radar device employing a slot array and a fan-shaped waveguide in the antenna section, there is a problem that the depth is short but the aperture area is large.

In a radar apparatus having a plurality of receiving sections, parts having different shapes are used in each of the receiving sections and are assembled by different assembling procedures, so that the number of manufacturing steps and maintenance parts are increased. However, there is a problem that the cost increases. Further, there has been a problem that the characteristics of the individual receiving units differ due to variations in elements used in the individual receiving units and assembly variations occurring during assembly, resulting in a large measurement error.

Further, in the conventional radar apparatus, the directivity cannot be adjusted with the antenna fixed, and adjustment is performed by changing the direction of each antenna apparatus. for that reason,
It is necessary to provide a complicated angle adjustment mechanism, and there is a problem that the size is increased and the cost is increased. When calibrating,
Since calibration is performed while detecting the maximum radiation direction of the antenna by measuring at a large number of angles, a special device such as a turntable is required, and there has been a problem that a great deal of cost and man-hours are required.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned conventional problems and to provide a radar apparatus which can be calibrated easily with a simple structure having a short depth and can measure the direction of a target.

[0012]

In order to solve the above-mentioned problems, the present invention provides a fixed conductor plate, a partition conductor plate, and a dielectric slot which form a folded waveguide by being arranged in parallel with a gap therebetween to form a folded waveguide. A plane including: a substrate; an antenna unit formed by a partition conductor plate and a dielectric slot substrate; a radio unit formed in a gap between the fixed conductor plate and the partition conductor plate; and a control unit that controls the radio unit. A slot array is provided on a dielectric slot substrate of a radar device having a structure, and a transmitting antenna that emits a transmission radio wave toward a target, a first receiving antenna that receives a reflected radio wave from the target, and a target A second receiving antenna for receiving a reflected radio wave from an object is provided on the same plane, an oscillating unit for generating a transmitting radio wave on the radio unit, a transmitting unit for transmitting the transmitting radio wave to the transmitting antenna, and a first receiving antenna. First receiving power A first receiving unit for receiving a first detection unit for detecting a mixture of a transmission radio wave and the first received radio waves,
A second receiving unit for receiving a second received radio wave from the second receiving antenna, a second detecting unit for mixing and detecting the second received radio wave and the transmitted radio wave, a transmitting unit and a first A distribution unit that distributes the signal to the detection unit and the second detection unit;
Oscillation control means for controlling the oscillation section, reception control means for controlling the first detection section and the second detection section, and the distance to the target based on the detection signals from the first and second detection sections. A configuration is provided in which a measuring means for determining the direction is provided. With this configuration, the radar device can be made thinner, and can be easily mounted on the front of the vehicle.

Further, the first and second receivers have the same circuit configuration, and the first detector and the second detector have the same circuit configuration. With this configuration, the number of manufacturing steps can be reduced, the number of maintenance parts can be reduced, and the maintenance cost can be reduced.

Further, an antenna formed by a fixed conductor plate, a partition conductor plate, and a dielectric slot substrate which form a folded waveguide by being stacked and arranged in parallel with a gap therebetween, and an antenna formed by the partition conductor plate and the dielectric slot substrate A slot array in a dielectric slot substrate of a radar device having a planar structure including a unit, a radio unit formed in a gap between the fixed conductor plate and the partition conductor plate, and a control unit for controlling the radio unit; A transmitting antenna that emits a transmission radio wave toward the target, a first reception antenna that receives a reflection radio wave from the target, and a second reception antenna that receives a reflection radio wave from the target. A transmitting unit that transmits a transmitting radio wave to a transmitting antenna, a first receiving unit that receives a first receiving radio wave from a first receiving antenna, a second receiving unit that transmits a transmitting radio wave to a transmitting antenna, No. from antenna A second receiving unit for receiving the received radio wave, a switching unit for alternately connecting the first receiving unit and the second receiving unit, a detecting unit for mixing and detecting the received radio wave and the transmitted radio wave from the switching unit; Providing a distribution unit that distributes the transmission radio wave from the oscillation unit to the transmission unit and the detection unit, the control unit, an oscillation control unit that controls the oscillation unit, a reception control unit that controls the detection unit and the switching unit, Measurement means for obtaining the distance and direction of the target based on the detection signal from the detection unit is provided. With this configuration, it is possible to reduce measurement errors due to variations in elements used in individual receiving units and variations that occur during assembly.

[0015] Further, the transmitting section is provided with a leaky dielectric line for transmitting a transmission radio wave, the first receiving section is provided with a leaky dielectric line for receiving a receiving radio wave, and the second receiving section is provided with a leaking dielectric line. A receiving leaky dielectric line was provided. With this configuration, the radar device can be made thinner, and can be easily mounted on the front of the vehicle.

Further, a means for adjusting the directivity by mechanically changing the angle of the folded waveguide is provided in the antenna section. With this configuration, the directivity of the antenna can be adjusted with a simple mechanism, and the size and cost can be reduced.

Further, the folded waveguide is a fan-shaped waveguide having two or more folded portions and parallel to the slot array. With this configuration, the opening area of the radar device can be reduced.

The control unit includes a first receiving antenna and a second receiving antenna.
Storage means for storing the directional characteristics of the receiving antenna, means for determining the received power difference between the first receiving antenna and the second receiving antenna, and comparing the gain difference and the received power difference calculated from the directional characteristics stored in the storing means And a means for detecting the direction of the target based on the comparison result. With this configuration, it is possible to detect the direction of the target even with a thin radar device.

Further, the method for calibrating a radar apparatus having a direction detecting means and a directivity adjusting means is described in which a reflected wave from a reflector is received by a first receiving antenna and a second receiving antenna to obtain received power, and is stored. The direction of the reflector is measured by comparing the directional characteristics of the first receiving antenna and the second receiving antenna with the received power, and the first receiving antenna and the second receiving antenna are measured so that the measurement result matches the actual direction of the reflector. (2) The directivity of the receiving antenna is adjusted. With this configuration, calibration can be performed with extremely few man-hours without using a special device such as a turntable, without measuring at many angles.

Further, the method for calibrating a radar apparatus having a direction detecting means is described in that the reception power is obtained by receiving a reflected wave from a reflector, and the directional characteristics of the first reception antenna and the second reception antenna stored and the reception power are stored. The direction of the reflector is measured by comparing with the electric power, and the stored directional characteristic data is adjusted so that the measurement result matches the actual direction of the reflector. With this configuration, calibration can be performed with extremely few man-hours without using a special device such as a turntable, without measuring at many angles.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to FIGS.

(First Embodiment) In a first embodiment of the present invention, a two-layer folded waveguide having a planar structure is formed by a conductor fixing plate, a conductor partition plate and a slot substrate. This is a radar device having a planar structure in which one transmitting antenna and two receiving antennas are respectively formed by a slot array and a folded waveguide, and a transmitting unit and two receiving units are formed by a leaky dielectric line and a reflector.

FIG. 1 is a diagram showing a basic configuration of a radar apparatus according to the first embodiment of the present invention. FIG. 1 (A)
FIG. 3 is a front view of the radar device viewed from the X direction. FIG.
(B) is a side view (AA section) seen from the -Y direction. FIG. 1C is an internal structure diagram (BB) viewed from the X direction.
Cross section).

The radar device shown in FIG. 1 has an antenna unit,
It comprises a radio section, a fixed plate 2 made of a conductor, and a control section 3. The antenna unit includes a first receiving antenna, a second receiving antenna, and a transmitting antenna. The first receiving antenna includes a slot substrate 1 formed of a dielectric substrate, n radiating slot elements 21-1 to 21-n formed in the slot substrate 1, and a folded waveguide having a folded portion 22. Have been. The second receiving antenna includes a slot substrate 1 formed of a dielectric substrate, n radiation slot elements 41-1 to 41-n formed in the slot substrate 1, and a folded waveguide having a folded portion 42. It is configured. The transmitting antenna includes a slot substrate 1 formed of a dielectric substrate, n radiating slot elements 61-1 to 61-n formed in the slot substrate 1, and a folded portion.
And a folded waveguide having 62.

The radio section includes an oscillating section 69, a distribution section 67, a transmitting section, a first receiving section, a second receiving section, a first detecting section 27,
Second detector 47 and non-radiative dielectric line 2 connecting each part
6, 28, 46, 48, 66, and 68. The transmitting section is composed of a leaky dielectric line 63 partially buried in a recess provided in the fixed plate 2, a reflector 64, and a leaky dielectric line 63 penetrating through the reflector 64 and a non-radiative dielectric. Feeding line 65 connecting line 66
And a partition plate 70 formed of a conductor. First
The receiving section is composed of a leaky dielectric line 23 partially buried in a recess provided in the fixed plate 2, a reflector 24, a leaky dielectric line 23 penetrating through the reflector 24, and a nonradiative dielectric It comprises a feed line 25 connecting the line 26 and a partition plate 29 formed of a conductor. The second receiving unit includes a leaky dielectric line 43 partially embedded in a concave portion provided in the fixed plate 2 and a reflecting plate 44.
, A feed line 45 that penetrates through the reflector 44 and connects the leaky dielectric line 43 and the non-radiative dielectric line 46, and a partition plate 49 formed of a conductor. The number of the receiving unit, the detecting unit, and the receiving antenna unit is two each, but may be three or more.

The control section 3 comprises a first detection section 27 and a second detection section 47.
Oscillation control means for controlling the oscillation section, reception control means for controlling the first detection section and the second detection section, and the distance and direction of the target based on the detection signal. And the measuring means to be sought.

The radar apparatus shown in FIG. 1 uses a nonradiative dielectric line for the radio unit, a slot array and a folded waveguide for the antenna unit, and a leaky dielectric line for the transmission unit and the reception unit. The radar device has a thin structure and is easily attached to the front of the vehicle by arranging the radio unit in parallel with the plane of the antenna unit.

The operation of the radar apparatus according to the first embodiment of the present invention configured as described above will be described. A control signal is input from the control unit 3 to the oscillation unit 69. In the oscillation section 69,
A radio wave having a frequency based on the input control signal is generated.
The radio wave output from the oscillating unit 69 is a non-radiative dielectric line 68
To the distribution unit 67 via The radio wave is distributed to the first detection unit 27 via the non-radiative dielectric line 28 in the distribution unit 67, distributed to the second detection unit 47 via the non-radiative dielectric line 48, and transmitted to the non-radiative dielectric line 66. To the feed line 65 via
Be distributed.

In the power supply line 65, the radio wave passes through a hole provided in the reflection plate 64 and enters the leaky dielectric line 63. In the leaky dielectric line 63, the radio wave propagates on the line,
It is radiated to the space formed by 70 and the fixing plate 2. Partition plate 70
The radio waves radiated into the space formed by the fixed plate 2 and the fixed plate 2 are reflected by the folded portion 62 into the space formed by the slot substrate 1 and the partition plate 70, and passed through the slot elements 61-1 to 61-n. Radiated into space.

The radio wave radiated from the transmitting antenna is reflected on the target. Part of the reflected wave is received by the first receiving antenna and the second receiving antenna. The radio wave incident on the slot elements 21-1 to 21-n of the first receiving antenna propagates in the space formed by the slot substrate 1 and the partition plate 29, and is turned back at the turn-back portion 22. The light propagates through the space formed by the partition plate 29 and the fixed plate 2 and enters the leaky dielectric line 23. The radio wave incident on the leaky dielectric line 23 propagates through the feed line 25. In the feed line 25, the light passes through a hole provided in the reflection plate 24 and enters the first detection unit 27 via the non-radiative dielectric line 26. In the first detection unit, a transmission radio wave is input from the distribution unit 67 through the non-radiative dielectric line. By mixing and detecting these, a baseband signal is output. The baseband signal is input to the control unit 3. Also in the second receiving antenna, the second receiving unit and the second detecting unit, the first receiving antenna and the first
The same operation as that of the receiver and the first detector is performed. The two baseband signals are signal-processed by the control unit 3, and the position and speed of the target are calculated.

The size of the radar device according to the first embodiment will be described. As an example, the thickness of a 60 GHz radar device is calculated. The height of the space formed by the partition plates 29, 49, 70 and the fixed plate 2 is less than half a wavelength, that is,
Must be less than 2.5mm. The height of the folded portion 22 also needs to be one wavelength or less, that is, 5 mm or less in order to reduce the loss. In addition, the partition plates 29, 49, 70 and the slot substrate 1
Is optimally about 1 mm in terms of strength and weight.
Is optimally about 5 mm. Adding these thicknesses,
The depth of the device will be less than 15mm. Compared to the device depth (250 mm) when a horn antenna is used for the antenna device, the depth is about 6%.

As described above, in the first embodiment of the present invention, a radar device is formed by forming a two-layer folded waveguide having a planar structure with a conductor fixing plate, a conductor partition plate, and a slot substrate. 1
Since one transmitting antenna and two receiving antennas are each composed of a slot array and a folded waveguide, and the transmitting part and two receiving parts are composed of a leaky dielectric line and a reflector, the radar device can be made thin. , Can be easily attached to the front of the vehicle.

(Second Embodiment) A second embodiment of the present invention relates to a radar in which components of two receiving antennas, two receiving units, and two detecting units are shared and arranged symmetrically. Device.

FIG. 2 is a diagram showing a basic configuration of a radar apparatus according to a second embodiment of the present invention. FIG. 2 (A)
FIG. 3 is a front view of the radar device viewed from the X direction. FIG.
(B) is a side view (AA section) seen from the -Y direction. FIG. 2C is an internal structure diagram (BB) viewed from the X direction.
Cross section). In FIG. 2, components denoted by the same reference numerals as those in FIG. 1 perform the same operations.

In the radar device shown in FIG. 2, leaky dielectric lines 33, 53, reflectors 34, 54, feeder lines 35, 55, first and second detectors 37, 57, non-radiative dielectric lines 36, 56 The non-radiative dielectric lines 38 and 58 are the same components and are symmetrically arranged. The leaky dielectric lines 33 and 53 perform the same operation as the leaky dielectric lines 23 and 43 shown in FIG.
The reflectors 34, 54 perform the same operation as the reflectors 24, 44 shown in FIG. The power supply lines 35 and 55 perform the same operation as the power supply lines 25 and 45 shown in FIG. First,
The two detectors 37 and 57 perform the same operation as the first and second detectors 27 and 47 shown in FIG. Non-radiative dielectric line 3
6, 38, 56, 58 are the non-radiative dielectric lines 26, 28, shown in FIG.
It performs the same operation as 46 and 48.

In the radar device shown in FIG. 2, the components of the first antenna unit and the second antenna unit are all common, the components of the first reception unit and the second reception unit are all common, and the first detection unit and the second detection unit are common. The components of the detection unit are all common, and are arranged symmetrically, thereby simplifying the assembly and reducing the number of manufacturing steps and maintenance costs. 22 types of parts have been reduced to 16 types. The procedure for assembling each antenna, each receiving unit, and each detecting unit was the same and simplified.

As described above, in the second embodiment of the present invention, the radar device has two receiving antennas, two receiving units, and two detecting units, each having a common component and arranged symmetrically. Therefore, manufacturing man-hours and maintenance costs can be reduced.

(Third Embodiment) A third embodiment of the present invention is a radar device in which the outputs of two receiving antennas are switched by a switch and a single detecting unit performs a detection process.

FIG. 3 is a diagram showing a basic configuration of a radar apparatus according to the third embodiment of the present invention. FIG. 3 (A)
FIG. 3 is a front view of the radar device viewed from the X direction. FIG.
(B) is a side view (AA section) seen from the -Y direction. FIG. 3C is an internal structure diagram (BB) viewed from the X direction.
Cross section).

The radar device shown in FIG. 3 has an antenna unit,
It comprises a radio unit, a fixed plate 102 formed of a conductor, and a control unit 103. The antenna unit includes a first receiving antenna, a second receiving antenna, and a transmitting antenna. The first receiving antenna is a slot substrate formed of a dielectric substrate
It comprises a radiating waveguide 101 having a fold portion 122, n radiating slot elements 121-1 to 121-n formed in a slot substrate 101, and a fold portion 122. The second receiving antenna includes: a slot substrate 101 formed of a dielectric substrate; n radiating slot elements 141-1 to 141-n formed in the slot substrate 101;
And two folded waveguides. The transmitting antenna includes a slot substrate 101 formed of a dielectric substrate and n radiating slot elements 161-1 formed on the slot substrate 101.
161 -n and a folded waveguide having a folded portion 162.

The radio section includes a first receiving section, a second receiving section,
Detection unit 137, oscillation unit 169, distribution unit 167, switching unit 127
And non-radiative dielectric lines 126, 128, 130, 14 connecting each part
6,166,168. The first receiving section includes a leaky dielectric line 123 partially buried in a recess provided in the fixed plate 2, a reflector 124, and a leaky dielectric line 123 penetrating through the reflector 124. It is composed of a feed line 125 connecting the dielectric line 126 and a partition plate 129 formed of a conductor. The second receiving section includes a leaky dielectric line 143 partially buried in a recess provided in the fixed plate 2, a reflector 144, and a leaky dielectric line 143 penetrating through the reflector 144. It comprises a feed line 145 connecting the dielectric line 146 and a partition plate 149 formed of a conductor. The transmitting unit is a leaky dielectric line 163 arranged such that a part thereof is embedded in a recess provided in the fixed plate 2.
And the reflector 164 and the leaky dielectric line 16 passing through the reflector 164.
3 and a feed line 165 connecting the non-radiative dielectric line 166;
And a partition plate 170 formed of a conductor. Although the number of receiving antenna units and the number of receiving units are two each, it may be three or more.

The control unit 103 is connected to the switching unit 127, the detection unit 137, and the oscillation unit 169. The oscillation control unit controls the oscillation unit 169, and the reception control unit controls the detection unit 137 and the switching unit 127. Measuring means for determining the distance and direction of the target based on the detection signal.

In the radar apparatus shown in FIG. 3, the outputs of a plurality of receiving antennas are switched by a switch and detected by a single detecting section, so that variations in elements constituting the detecting section and assembly variations generated during assembling occur. The purpose is to eliminate the variation in the characteristics of the detection unit which is affected and to reduce the measurement error.

The operation of the radar apparatus according to the third embodiment of the present invention configured as described above will be described. Control unit
A control signal is input from 103 to the oscillation section 169. The oscillating unit 169 generates a radio wave having a frequency based on the input control signal. The radio wave output from the oscillator 169 propagates to the distributor 167 via the non-radiative dielectric line 168. Radio waves are distributed
At 167, the detection unit 13 via the non-radiative dielectric line 130
7 and feed line via non-radiative dielectric line 166
Distributed to 165. From the feed line 165 to the leaky dielectric line 163
And is radiated to the space formed by the partition plate 170 and the fixed plate 2. The radiated radio wave is reflected by the folded portion 162 into the space formed by the slot board 101 and the partition plate 170,
Radiated from the slot elements 161-1 to 161-n into space.

The radio wave radiated from the transmitting antenna is reflected on the target. Some of them are the first receiving antenna and the second receiving antenna.
Received by the receiving antenna. The radio waves incident on the slot elements 121-1 to 121-n of the first receiving antenna are
Propagating in the space formed by 1 and the partition plate 129, and from the folded portion 122, propagates through the space formed by the partition plate 129 and the fixed plate 102,
The light enters the leaky dielectric line 123. The light propagates from the leaky dielectric line 123 to the feed line 125, further propagates through the non-radiative dielectric line 126, and enters the switching unit 127. The second antenna unit and the second receiving unit also perform the same operation as the first antenna unit. The radio wave enters the switching unit 127 via the non-radiative dielectric line 146. The switching unit 127 switches the received radio wave according to the control signal from the control unit 3, guides the received radio wave to the detection unit 137 via the non-radiative dielectric line 128, and outputs the non-radiative dielectric line 13 from the distribution unit 167.
The baseband signal is output by mixing and detecting the transmitted radio wave input via the “0”. The baseband signal is signal-processed by the control unit 3 to calculate the position and speed of the target.

A description will be given of a measurement error due to the influence of component variation and the like. In the case of the detection unit of the radar device in the 60 GHz band, the gain deviation of the detection unit is about 3 dB due to the positional relationship between the active element, the substrate, and the non-radiative dielectric line used inside the detection unit 137. When the detection unit gain decreases by 3 dB, the baseband output also decreases by 3 dB, and an error occurs in the measurement result. However, such errors do not occur by detecting and demodulating radio waves received by a plurality of antennas using the same detector.

As described above, in the third embodiment of the present invention, the radar device is configured so that the outputs of the two receiving antennas are switched by the switches and the detection process is performed by one detection unit. And measurement errors due to variations during assembly can be reduced.

(Fourth Embodiment) A fourth embodiment of the present invention is a radar device having a fan-shaped waveguide having two folded portions.

FIG. 4 is a diagram showing a basic configuration of a radar device according to a fourth embodiment of the present invention. FIG. 4 (A)
FIG. 3 is a front view of the radar device viewed from the X direction. FIG.
(B) is a side view (AA section) seen from the -Y direction. FIG. 4C is an internal structure diagram (CC) viewed from the X direction.
Cross section). FIG. 4D is an internal structure diagram (BB cross section) viewed from the X direction. In FIG. 4, components denoted by the same reference numerals as those in FIG. 1 perform the same operations.

The radar device shown in FIG. 4 has a small antenna opening surface and is small in size, and is composed of an antenna unit, a radio unit, a fixed plate 202 formed of a conductor, and a control unit 3. I have. The antenna unit includes a first receiving antenna, a second receiving antenna, and a transmitting antenna. The first receiving antenna includes a slot substrate 1 formed of a dielectric substrate, n radiating slot elements 21-1 to 21-n formed in the slot substrate 1, a first folded portion 222, and a first fan-shaped waveguide. Tube223
, A second folded portion 224, and a second fan-shaped waveguide 225.

The second receiving antenna includes a slot substrate 1 formed of a dielectric substrate, n radiating slot elements 41-1 to 41-n formed in the slot substrate 1, a first folded portion 242,
The first fan-shaped waveguide 243, the second folded portion 244, and the second fan-shaped waveguide 245 are provided. The transmission antenna includes a slot substrate 1 formed of a dielectric substrate, n radiating slot elements 61-1 to 61-n formed in the slot substrate 1, a first folded portion 262, and a first sector waveguide. 263, a second folded portion 264, and a second fan-shaped waveguide 265.

The radio section includes a first receiving section 226 and a second receiving section 2
46, a transmission unit 266, a first detection unit 228, and a second detection unit 248.
Oscillating section 69, distributing section 268, and non-radiative dielectric lines 227, 229, 247, 249, 267, 68 connecting each section.

The operation of the radar apparatus according to the fourth embodiment of the present invention configured as described above will be described. Oscillator
The radio wave output from 69 is transmitted to the distribution unit 268 by the non-radiative dielectric line 68. In the distribution unit 268, the signal is distributed to the first detection unit 228 via the non-radiative dielectric line 229,
The signal is distributed to the second detector 248 via the non-radiative dielectric line 249, and distributed to the transmitter 266 by the non-radiative dielectric line 267. The radio wave transmitted from the transmission unit 266 is transmitted to the second fan-shaped waveguide 2
The light propagates through 65, is reflected at the turning part 264, and enters the first sector waveguide 263. Propagating through the first sector waveguide 263, the first
The radio wave reflected by the turning section 262 is transmitted to the slot element 261-1.
~ 261-n and emitted into space.

The radio wave radiated from the transmitting antenna is reflected by the target. Some of them are the first receiving antenna and the second receiving antenna.
Received by the receiving antenna. Radio waves incident on the slot elements 21-1 to 21-n of the first receiving antenna are reflected by the first folded portion 222 and propagate through the first fan-shaped waveguide 223. 2nd folded part 2
24, propagates through the second fan-shaped waveguide 225,
The light enters the receiving unit 226. The light propagates from the first receiver 226 to the non-radiative dielectric line 227 and enters the first detector 228. The transmission radio wave input from the distribution unit 268 via the non-radiative dielectric line 229 is mixed and detected to obtain a baseband signal. The second receiving antenna, the second receiving unit, and the second detecting unit also perform the same operation as the first receiving antenna, the first receiving unit, and the first detecting unit. The two baseband signals are input to the control unit 3 and subjected to signal processing to calculate the position and speed of the target.

The size of the radar device will be described. Consider the length of the radar device in the Z direction (vertical direction). The size of the slot array is 100 mm x 100 mm, and the length of the sector waveguide is 200 mm.
And If there is no turn-back portion, the size of the opening will be 100 mm x 400 mm, adding the length of the circuit portion to 100 mm. When two folded portions are provided, the opening becomes approximately 100 mm × 150 mm, and the opening area can be reduced by 60%. Although an example in which two folded portions are provided has been described, three or more folded portions may be provided.

As described above, in the fourth embodiment of the present invention, the radar device has two folded portions of the fan-shaped waveguide, so that the opening area can be reduced.

(Fifth Embodiment) The fifth embodiment of the present invention relates to a radar apparatus having a swing reflection plate at a folded portion of an antenna.

FIG. 5 is a diagram showing a basic configuration of a radar device according to a fifth embodiment of the present invention. FIG. 6 is a diagram for explaining a swing reflector and a radiation angle. Only the antenna part is extracted. FIG. 5A is a front view of the radar device viewed from the X direction. FIG. 5B is a side view (BB section) viewed from the −Y direction. FIG. 5 (C)
It is an internal structure figure (AA cross section) seen from the X direction. FIG.
(A) is the front view seen from the X direction. FIG. 6 (B)
Is a side view (DD cross section) seen from the -Z direction. In FIGS. 5 and 6, the same reference numerals as in FIG.
The same operation is performed.

The radar devices shown in FIGS. 5 and 6 are miniaturized by controlling the directivity of the antenna with a simple mechanism. The folded portion 231 of the first receiving antenna is provided with a swing reflector 233 and fixing screws 232a and 232b. A turning reflector 273 and fixing screws 272a, 2
72b is provided. The folded portion 251 of the second receiving antenna is provided with a swing reflector 253 and fixing screws 252a and 252b.

The operation of the radar apparatus according to the fifth embodiment of the present invention having the above configuration will be described. The radio wave radiated from the leaky dielectric line 63 of the transmitting antenna propagates in the space formed by the partition plate 70 and the fixed plate 2. Turnback part 27
By the swing reflection plate 273 provided in 1, the light is reflected by the space formed by the slot substrate 1 and the partition plate 70 and turned back. that time,
When the swing reflector 273 is swung by the angle φ, the radio waves from the slot elements 61-1 to 61-n are deflected by the angle 2φ and emitted. The fixing screws 272a and 272b are
Used to maintain the angle of The same operation is performed for the first and second receiving antennas.

The radiation angle when the swing reflector 273 is swung will be described with reference to FIG. When the oscillating reflector 273 is inclined by an angle φ with respect to the incident wave, the reflected wave reflected by the oscillating reflector 273 is inclined by 2φ with respect to the incident wave according to Snell's law. The reflected wave is deflected by 2φ, and the
Then, the light propagates in the space 1 formed by the slot substrate 1 and is emitted from the slot elements 61-1 to 61-n while being deflected by 2φ with respect to the slot substrate 1. As described above, by swinging the swing reflector 273, the antenna directivity can be controlled.

In the case of the transmitting antenna, if the maximum radiation direction of the antenna is different from the desired direction due to assembly variations at the time of manufacture or mounting errors generated during mounting to the vehicle, the fixing screws 272a and 272b are adjusted to swing. By changing the angle of the reflector 273, the directivity of the antenna can be controlled.

As described above, in the fifth embodiment of the present invention, the radar device has a configuration in which the oscillating reflector is provided at the turn-back portion of the antenna. By controlling the characteristics, the size and cost can be reduced.

(Sixth Embodiment) The sixth embodiment of the present invention compares the difference between the reception intensities of the reflected waves at two receiving antennas having different directivities with the directivity data.
This is a radar device that detects the direction of a target.

FIG. 7 is a diagram showing a basic configuration of a radar device according to a sixth embodiment of the present invention. FIG. 7 (A)
FIG. 2 is a diagram illustrating a positional relationship between a radar device and a target, and a directivity of a receiving antenna of the radar device. FIG. 7B is a diagram illustrating a relationship between the angle between the radar device and the target and the difference between the received powers of the first and second receiving antennas.

In FIG. 7, the radar device 301 includes first to first radars.
14 is a radar apparatus according to a fifth embodiment. Storage unit 302
Is storage means which is connected to the radar apparatus 301 and stores in advance the directivity of the first receiving antenna and the second receiving antenna. The target object 303 is an object that reflects radar radio waves. The directivity curve 304 is a curve indicating the directivity of the first receiving antenna. The directivity curve 305 is a curve indicating the directivity of the second receiving antenna. Each directivity pattern is the same except for the maximum sensitivity direction. Let θ be the angle between the radar device and the target. The received power of the first receiving antenna by the reflected wave from the target to G _1. The received power of the second receiving antenna and G _2. The directions of maximum sensitivity of the first receiving antenna and the second receiving antenna are different from each other by Δθ. The relationship between the angle θ and G ₁ -G ₂ is shown in FIG.
The graph shown in FIG.

The operation of the radar apparatus according to the sixth embodiment of the present invention configured as described above will be described. Radio waves radiated from the transmitting antenna are reflected by the target object 303. A part thereof is received by the first receiving antenna and the second receiving antenna. The received power difference G ₁ -G ₂ at that time is obtained.
From the antenna directivity data stored in the storage unit 302,
The relationship between the angle θ and G ₁ -G ₂ as shown in the graph of FIG. 7B is calculated. The direction θ of the target is specified by comparing the received power difference G ₁ -G ₂ with the data in the graph.

As described above, in the sixth embodiment of the present invention, the radar apparatus compares the difference between the reception intensities of the reflected waves at the two receiving antennas having different directivities with the directivity data. Since the direction of the target is detected, the direction of the target can be detected by the thin radar device.

(Seventh Embodiment) In a seventh embodiment of the present invention, a reflected wave from a reflector is received by each receiving antenna, and the reception intensity is compared with the directional characteristic storage data to determine the intensity of the reflector. This is a method for calibrating a radar device that measures the direction and adjusts the directivity of each receiving antenna so that the measurement result matches the actual direction of the reflector.

FIG. 8 is a diagram showing a method of calibrating a radar device according to the seventh embodiment of the present invention. FIG. 8 (A)
FIG. 3 is a diagram showing a positional relationship between a radar device and a reflector. FIG. 8B is a diagram illustrating the directivity before calibration and the directivity after calibration of each receiving antenna of the radar device. In FIG.
Those denoted by the same reference numerals as those in FIG. 7 perform the same operations.

In FIG. 8A, the radar device 306
This is a radar apparatus including means for adjusting directivity and means for detecting the direction of a target. The reflector 307 is a reflective object for calibration that reflects radar radio waves at a specified intensity, and the angle between the radar device surface and the direction of the reflector is ψ.

In FIG. 8B, the directivity curve 308 is
It is a graph which shows the directivity of the 1st receiving antenna of a calibration target value. The directivity curve 309 is a graph showing the directivity of the first receiving antenna before calibration. The directivity curve 310 is a graph showing the directivity of the second reception antenna at the calibration target value.
The directivity curve 311 is a graph showing the directivity of the second receiving antenna before calibration. The power received by the first receiving antenna before calibration from the reflector at the angle 校正 is defined as G ₃ ′. Similarly, assume that the reception power of the second reception antenna is G ₄ ′. The calibration target value of power to be received by the first receiving antenna from the reflector at an angle ψ to G _3. Similarly the calibration target value of the received power of the second receiving antenna and G _4. Is referred to as [psi 'another angle received power becomes G _3.

A method for calibrating a radar apparatus according to the seventh embodiment of the present invention, which is configured as described above, will be described. The radio wave radiated from the transmitting antenna is reflected by the reflector 307. A part thereof is received by the first receiving antenna and the second receiving antenna. The reception power is G ₃ ′, G ₄ ′. From the antenna directivity data stored in the storage unit 302,
The target values G ₃ and G ₄ of the reception power from the reflector in the direction are calculated. The received powers G ₃ ′ and G ₄ ′ are compared with the target values G ₃ and G ₄ , respectively. When G ₃ and G ₃ ′ and G ₄ and G ₄ ′ are different, G ₃
And G ₃ ′, G ₄ ′ and G ₄ ′ have the same value, and the maximum sensitivity direction of the receiving antenna of the radar device is adjusted.

[0074] However, in another angle [psi ', the received power of the first receiving antenna, a value of the same G ₃ as for the angle [psi. To distinguish between ψ and ψ ', slightly change the direction of maximum sensitivity of the receiving antenna and observe the change in received power. That is, when the maximum sensitivity direction of the receiving antenna is slightly changed in the direction of the reflector, the one that increases the reception power is selected. Discriminating in the same manner also in G ₄ of the second receiving antenna.

As described above, in the seventh embodiment of the present invention, the method for calibrating a radar apparatus is described in which the reflected wave from the reflector is received by each receiving antenna, and the received intensity is compared with the directional characteristic storage data. The direction of the reflector is measured by using the antenna, and the directivity of each receiving antenna is adjusted so that the measurement result agrees with the actual direction of the reflector. The radar device can be calibrated with extremely few man-hours without measuring at an angle.

(Eighth Embodiment) In an eighth embodiment of the present invention, the reflected wave from the reflector is received by each receiving antenna, and the reception intensity is compared with the directional characteristic data to determine the direction of the reflector. Is measured, and the directional characteristic data is adjusted so that the measurement result matches the actual direction of the reflector.

FIG. 9 is a diagram showing a method of calibrating a radar device according to the eighth embodiment of the present invention. FIG. 9 (A)
FIG. 3 is a diagram showing a positional relationship between a radar device and a reflector. FIG. 9B shows the directivity of each receiving antenna of the radar device,
It is a figure which shows the directional characteristic data before and after calibration. FIG.
In FIG. 7, components denoted by the same reference numerals as those in FIG. 7 perform the same operations.

In FIG. 9A, the radar device 312
This is a radar apparatus not provided with a means for adjusting directivity. Let ρ be the angle between the radar device and the reflector. FIG. 9 (B)
In, the directivity curve 313 is a graph of the directivity characteristic data of the first receiving antenna before calibration stored in the storage unit. The directivity curve 314 is a graph showing the directivity of the first receiving antenna. The directivity curve 315 is a graph of the directivity characteristic data of the second receiving antenna before calibration stored in the storage unit. The directivity curve 316 is a graph showing the directivity of the second receiving antenna. The value stored in the storage unit as a received power of the first receiving antenna when receiving a reflected wave from the reflector at an angle ρ and G _5. The actual received power of the first receiving antenna is assumed to be G ₅ ′. The value stored in the storage unit as the received power of the second receiving antenna when the reflected wave from the reflector at the angle ρ is received is G ₆ . The actual received power of the second receiving antenna is defined as G ₆ ′. Another angle values stored in the storage unit as a received power of the first receiving antenna is G ₅ and [rho '.

A procedure of a method for calibrating a radar apparatus according to the eighth embodiment of the present invention configured as described above will be described. The radio wave radiated from the transmitting antenna is reflected by the reflector 307. A part thereof is received by the first receiving antenna and the second receiving antenna. Actual received powers of the first receiving antenna and the second receiving antenna are denoted by G ₅ ′ and G ₆ ′, respectively. Based on the antenna directivity data stored in the storage unit 302, the expected received power G ₅ from the reflector in the ρ direction,
To calculate the G _6. The actual received power G ₅ ′, G ₆ ′ is compared with the expected received power G ₅ , G ₆ . When G ₅ and G ₅ ′ and G ₆ and G ₆ ′ are different, the directional characteristic data of the first receiving antenna and the directional characteristic data of the second receiving antenna stored in the storage unit are corrected. That is, G ₅ and G ₅ ′ are equal, and G ₆
And the angle information of the directional characteristic data of the first receiving antenna and the directional characteristic data of the second receiving antenna stored in the storage unit so that G and G ₆ ′ become equal.

However, at another angle ρ ′,
Since the expected received power of the first reception antenna becomes G _5, [rho
And ρ 'must be distinguished. Therefore, on the storage device, the angle is slightly changed in the direction of the maximum sensitivity to be ρ + Δρ, and the one that increases the reception power is selected. For even G ₆ of the second receiving antenna, discriminates in a similar manner.

As described above, in the eighth embodiment of the present invention, the method of calibrating a radar apparatus is described in that the reflected wave from the reflector is received by each receiving antenna and the received intensity is compared with the directional characteristic data. The direction of the reflector is measured, and the directional characteristic data is adjusted so that the measurement result and the actual direction of the reflector match.Therefore, measurement is performed at multiple angles without using a special device such as a turntable. The calibration of the radar device can be performed with very few man-hours without performing.

[0082]

As is apparent from the above description, according to the present invention, a fixed conductor plate, a partition conductor plate, a dielectric slot substrate, and a partition, which are arranged in parallel with a gap therebetween to form a folded waveguide, are provided. A radar device having a planar structure including an antenna unit formed by a conductor plate and a dielectric slot substrate, a radio unit formed in a gap between a fixed conductor plate and a partitioning conductor plate, and a control unit that controls the radio unit. A slot array is provided on the dielectric slot substrate, and a transmitting antenna that emits a transmitting radio wave toward the target, a first receiving antenna that receives a reflected radio wave from the target, and a reflection from the target are provided on the antenna unit. A second receiving antenna for receiving radio waves is provided on the same plane, an oscillating unit for generating a transmitting radio wave in a radio unit, a transmitting unit for transmitting a transmitting radio wave to the transmitting antenna, and a first receiving antenna from the first receiving antenna.
A first receiver for receiving the received radio wave, a first detector for mixing and detecting the first received radio wave and the transmitted radio wave, a second receiver for receiving the second received radio wave from the second receiving antenna, Second
A second detector for mixing and detecting the received radio wave and the transmitted radio wave, and a distributor for distributing the radio wave from the oscillating unit to the transmitter, the first detector, and the second detector. Oscillation control means for controlling the oscillation section, reception control means for controlling the first detection section and the second detection section, and the distance to the target based on the detection signals from the first and second detection sections. Since the configuration is provided with the measurement means for determining the direction, the radar device can be made thinner, and the effect of being easily attached to the front of the vehicle can be obtained.

Further, since the first and second receivers have the same circuit configuration and the first and second detectors have the same circuit configuration, the number of manufacturing steps can be reduced, and maintenance parts can be reduced. This has the effect of reducing maintenance costs.

Further, an antenna formed by a fixed conductor plate, a partition conductor plate, and a dielectric slot substrate, and a partition conductor plate and a dielectric slot substrate, which are folded and arranged in parallel with a gap to form a folded waveguide. A slot array in a dielectric slot substrate of a radar device having a planar structure including a unit, a radio unit formed in a gap between the fixed conductor plate and the partition conductor plate, and a control unit for controlling the radio unit; A transmitting antenna that emits a transmission radio wave toward the target, a first reception antenna that receives a reflection radio wave from the target, and a second reception antenna that receives a reflection radio wave from the target. A transmitting unit that transmits a transmitting radio wave to a transmitting antenna, a first receiving unit that receives a first receiving radio wave from a first receiving antenna, a second receiving unit that transmits a transmitting radio wave to a transmitting antenna, No. from antenna A second receiving unit for receiving the received radio wave, a switching unit for alternately connecting the first receiving unit and the second receiving unit, a detecting unit for mixing and detecting the received radio wave and the transmitted radio wave from the switching unit; Providing a distribution unit that distributes the transmission radio wave from the oscillation unit to the transmission unit and the detection unit, the control unit, an oscillation control unit that controls the oscillation unit, a reception control unit that controls the detection unit and the switching unit, Since measurement means for obtaining the distance and direction of the target based on the detection signal from the detection unit are provided, it is possible to reduce measurement errors due to variations in elements used in individual reception units and variations occurring during assembly. The effect is obtained.

Further, the transmitting section is provided with a leaky dielectric line for transmitting a transmission radio wave, the first receiving section is provided with a leaky dielectric line for receiving a receiving radio wave, and the second receiving section is configured to transmit the receiving radio wave. Since the leaky dielectric line for reception is provided, it is possible to obtain an effect that the radar device can be made thin and easy to mount on the front of the vehicle.

Also, since means for adjusting the directivity by mechanically changing the angle of the folded waveguide is provided in the antenna section, the directivity of the antenna can be adjusted with a simple mechanism, and the size and cost can be reduced. The effect is obtained.

Further, since the folded waveguide is a fan-shaped waveguide having two or more folded portions and parallel to the slot array, the effect of reducing the aperture area of the radar device can be obtained.

Also, the control unit includes a first receiving antenna and a second receiving antenna.
Storage means for storing the directional characteristics of the receiving antenna, means for determining the received power difference between the first receiving antenna and the second receiving antenna, and comparing the gain difference and the received power difference calculated from the directional characteristics stored in the storing means And means for detecting the direction of the target based on the comparison result, so that the effect of being able to detect the direction of the target even with a thin radar device is obtained.

Further, the method for calibrating a radar apparatus having a direction detecting means and a directivity adjusting means is described in which a reflected wave from a reflector is received by a first receiving antenna and a second receiving antenna to obtain received power and stored. The direction of the reflector is measured by comparing the directional characteristics of the first receiving antenna and the second receiving antenna with the received power, and the first receiving antenna and the second receiving antenna are measured so that the measurement result matches the actual direction of the reflector. (2) Because the configuration of adjusting the directivity of the receiving antenna is used, there is no need to use a special device such as a turntable, and measurement is not performed at many angles.
The effect that calibration can be performed with a very small number of steps can be obtained.

The method for calibrating a radar apparatus having a direction detecting means is described in that the reflected wave from the reflector is received to obtain the received power, the directional characteristics of the stored first receiving antenna and the second receiving antenna and the receiving power are obtained. Compared with the power, the direction of the reflector is measured, and the stored directional characteristic data is adjusted so that the measurement result matches the actual direction of the reflector. An effect is obtained that calibration can be performed with a very small number of man-hours without using a device and without measuring at many angles.

[Brief description of the drawings]

FIG. 1A is a front view, FIG. 1B is a cross-sectional view taken along line AA ′, and FIG. 1C is a cross-sectional view taken along line BB ′, showing a configuration of a radar apparatus according to a first embodiment of the present invention;

FIG. 2A is a front view, FIG. 2B is a cross-sectional view along AA ′, and FIG. 2C is a cross-sectional view of a radar device according to a second embodiment of the present invention.
B 'sectional view,

FIG. 3A is a front view, FIG. 3B is a cross-sectional view along AA ′, and FIG. 3C is a cross-sectional view of a radar apparatus according to a third embodiment of the present invention.
B 'sectional view,

FIG. 4A is a front view, FIG. 4B is a cross-sectional view along AA ′, and FIG. 4C is a cross-sectional view of a radar apparatus according to a fourth embodiment of the present invention.
B ′ sectional view and (D) CC ′ sectional view,

5A is a front view, FIG. 5B is a cross-sectional view taken along line AA ′, and FIG. 5C is a cross-sectional view of a radar device according to a fifth embodiment of the present invention.
B 'sectional view,

FIG. 6 is a diagram illustrating a swing reflector and a radiation angle of a radar device according to a fifth embodiment of the present invention;

FIG. 7 is a diagram showing (A) the position of a target and the directivity of a receiving antenna of the radar apparatus according to the sixth embodiment of the present invention, and (B) the difference between the received power of the first and second receiving antennas and the target. Diagram showing the relationship with the angle of the object,

FIG. 8 is a diagram illustrating (A) a position of a reflector and (B) a diagram illustrating directivity of each antenna in a method of calibrating a radar device according to a seventh embodiment of the present invention;

FIG. 9 is a diagram showing (A) a position of a reflector and (B) a diagram showing directivity of each antenna in a method of calibrating a radar device according to an eighth embodiment of the present invention;

FIG. 10 is a configuration diagram of a conventional horn antenna type radar device,

FIG. 11 is a configuration diagram of a radar apparatus employing a conventional slot element and a fan-shaped waveguide.

[Explanation of symbols]

 1,101 slot board 2,102,202,401 fixing plate 3,103,402 control unit 21-1 ~ 21-n, 41-1 ~ 41-n radiation slot element 61-1 ~ 61-n, 121-1 ~ 121-n radiation slot Element 141-1 to 141-n, 161-1 to 161-n Radiation slot element 22, 42, 62, 122, 142, 162, 231 Folded part 271,242 Folded part 23, 33, 43, 53, 63, 123, 143 Leakage dielectric line 163 Leakage dielectric line 24 , 34,44,54,64,124,144 reflector 164 reflector 25,35,45,55,65,125,145 feed line 165 feed line 27,37,228 first detector 47,57,248 second detector 137 detector 67,167,268,443 distributor 69,169,445 oscillator 26,28,36,38,46,48,56,58 Non-radiative dielectric line 66,68,126,128,130,146,148 Non-radiative dielectric line 166,168,227,229,247,249 Non-radiative dielectric line 267,269 Non-radiative dielectric line 29,49,70,129,149,170 Partition 127 222,242,262 First folded section 223,243,263 First sector waveguide 224,244,264 Second folded section 225,245,265 Second sector waveguide 226,423 First receiving section 246,463 Second receiving section 266 Transmitting section 233,273,253 Swing reflector 232a, 232b, 272a, 272b, 252a Fixing screw 252b Fixing screw 301, 306, 312 Radar device 302 Storage unit 303 Target object 307 Reflector 304, 305, 308, 309, 310, 311 Directivity curve 313, 314, 315, 316 Directivity curve 421 First receiving antenna 441 Transmitting antenna 461 Second receiving Antenna 422,424,442,444,462,464 Waveguide

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) H01Q 13/20 H01Q 13/20 21/06 21/06 (72) Inventor Hiroshi Saito 2-chome, Hikosancho, Kanazawa-shi, Ishikawa No. 1:45 Inside Matsushita Communication Kanazawa Research Laboratory (72) Inventor Ryuichi Mato 3-1-1 Tsunashima Higashi, Kohoku-ku, Yokohama, Kanagawa Prefecture Inside Matsushita Communication Industrial Co., Ltd. (72) Inventor Masami Makino Yokohama, Kanagawa Prefecture 4-3-1 Tsunashima Higashi, Kohoku-ku Matsushita Communication Industrial Co., Ltd. F term (reference) 5J021 AA02 AB05 FA06 FA32 HA05 HA10 JA10 5J045 AB05 DA04 HA06 MA04 NA07 5J046 AA07 AB08 MA03 MA09 MA10 5J070 AB24 AC01 AC06 AC13 AD05 AD08 AD13 AF03 AH33 AH34 AJ13 AK27 AK40 BF10

Claims (9)

[Claims] 1. A fixed conductor plate, a partition conductor plate, a dielectric slot substrate, and a dielectric slot substrate which form a folded waveguide by forming a folded waveguide by providing a gap therebetween in parallel, are formed of the partition conductor plate and the dielectric slot substrate. An antenna unit, a radio unit formed in a gap between the fixed conductor plate and the partitioning conductor plate, and a control unit for controlling the radio unit. , A slot array, and a transmitting antenna that emits a transmission radio wave toward a target, a first reception antenna that receives a reflection radio wave from the target, and a reflection antenna that receives a reflection radio wave from the target, in the antenna unit. A second receiving antenna that transmits the transmitting radio wave to the radio unit, a transmitting unit that transmits the transmitting radio wave to the transmitting antenna, and a first receiving radio wave from the first receiving antenna. A first receiving unit for receiving, the first receiving unit;
A first detector for mixing and detecting a reception radio wave and the transmission radio wave, a second reception unit for receiving a second reception radio wave from the second reception antenna, and transmitting the second reception radio wave and the transmission radio wave to each other. A second detector for mixing and detecting, and a distributor for distributing a transmission radio wave from the oscillator to the transmitter, the first detector, and the second detector, wherein the control unit includes: An oscillation control unit that controls an oscillation unit; a reception control unit that controls the first detection unit and the second detection unit; and a reception control unit that controls the oscillation based on detection signals from the first detection unit and the second detection unit. A radar device provided with a measuring means for obtaining a distance and a direction of a target. 2. The apparatus according to claim 1, wherein the first receiving section and the second receiving section have the same circuit configuration, and the first detecting section and the second detecting section have the same circuit configuration. 2. The radar device according to 1. 3. A fixed conductor plate, a partition conductor plate, a dielectric slot substrate, and a dielectric slot substrate which form a folded waveguide by forming a folded waveguide by providing a gap therebetween in parallel, are formed by the partition conductor plate and the dielectric slot substrate. An antenna unit, a radio unit formed in a gap between the fixed conductor plate and the partitioning conductor plate, and a control unit for controlling the radio unit. , A slot array, and a transmitting antenna that emits a transmission radio wave toward a target, a first reception antenna that receives a reflection radio wave from the target, and a reflection antenna that receives a reflection radio wave from the target, in the antenna unit. A second receiving antenna for transmitting the transmitting radio wave to the transmitting unit; a transmitting unit for transmitting the transmitting radio wave to the transmitting antenna; a transmitting unit for transmitting the transmitting radio wave to the transmitting antenna;
A first receiving unit that receives a first received radio wave from a receiving antenna, a second receiving unit that receives a second received radio wave from the second receiving antenna, and the first receiving unit and the second receiving unit. A switching unit connected alternately, a detection unit for mixing and detecting the reception radio wave and the transmission radio wave from the switching unit, and a distribution for distributing the transmission radio wave from the oscillation unit to the transmission unit and the detection unit A control unit that controls the oscillation unit, a reception control unit that controls the detection unit and the switching unit, and the target object based on a detection signal from the detection unit. A measuring device for determining a distance and a direction of the radar. 4. The transmitting section is provided with a leaky dielectric line for transmitting the transmission radio wave, the first receiving section is provided with a leaky dielectric line for receiving the reception radio wave, and the second receiving section is provided. The radar device according to any one of claims 1 to 3, further comprising a leaky dielectric line for receiving the received radio wave. 5. The radar device according to claim 4, wherein said antenna unit is provided with a means for adjusting a directivity by mechanically changing an angle of said folded waveguide. 6. The radar according to claim 1, wherein said folded waveguide is a fan-shaped waveguide having two or more folded portions and parallel to said slot array. apparatus. 7. The control unit stores a directional characteristic data of the first reception antenna and the second reception antenna, and obtains a reception power difference between the first reception antenna and the second reception antenna. Means, means for comparing the gain difference calculated from the directional characteristic data stored in the storage means with the received power difference, and means for detecting the direction of the target based on the comparison result. The radar device according to claim 1. 8. A method for calibrating a radar device having a direction detecting means and a directivity adjusting means, wherein a reflected wave from a reflector is received by a first receiving antenna and a second receiving antenna to obtain and store received power. The first receiving antenna and the second
The direction of the reflector is measured by comparing the directional characteristic data of the receiving antenna with the received power, and the directivity of the first receiving antenna and the second receiving antenna is adjusted so that the measurement result matches the actual direction of the reflector. A calibration method for a radar device. 9. A method for calibrating a radar apparatus having a direction detecting means, wherein a reflected wave from a reflector is received to determine a received power, and the stored directional characteristic data of the first receiving antenna and the second receiving antenna are stored. A method for calibrating a radar apparatus, comprising: measuring a direction of a reflector by comparing with received power; and adjusting stored directional characteristic data so that a measurement result coincides with an actual direction of the reflector. .