WO2022044914A1 - Vehicular radar system and vehicle - Google Patents

Vehicular radar system and vehicle Download PDF

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Publication number
WO2022044914A1
WO2022044914A1 PCT/JP2021/030189 JP2021030189W WO2022044914A1 WO 2022044914 A1 WO2022044914 A1 WO 2022044914A1 JP 2021030189 W JP2021030189 W JP 2021030189W WO 2022044914 A1 WO2022044914 A1 WO 2022044914A1
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WIPO (PCT)
Prior art keywords
radar
vehicle
reflector
radio waves
radar system
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PCT/JP2021/030189
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French (fr)
Japanese (ja)
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洸成 菊池
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株式会社小糸製作所
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Priority to JP2022544494A priority Critical patent/JPWO2022044914A1/ja
Publication of WO2022044914A1 publication Critical patent/WO2022044914A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
    • H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
    • H01Q19/18—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces having two or more spaced reflecting surfaces
    • H01Q19/185—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces having two or more spaced reflecting surfaces wherein the surfaces are plane

Definitions

  • This disclosure relates to a vehicle radar system and a vehicle equipped with the vehicle radar system.
  • Vehicles that can run in automatic driving mode are equipped with multiple sensors that acquire data indicating the surrounding environment of the vehicle, such as millimeter-wave radar, cameras, and LiDAR units.
  • sensors that acquire data indicating the surrounding environment of the vehicle, such as millimeter-wave radar, cameras, and LiDAR units.
  • a long-distance millimeter-wave radar for monitoring a region in front of a vehicle is mounted on the vehicle.
  • the long-distance millimeter-wave radar is arranged in the center of the vehicle in the left-right direction in order to reliably detect an object such as another vehicle existing in the front region of the vehicle. For this reason, long-range millimeter-wave radars are located behind vehicle emblems and around vehicle license plates. On the other hand, depending on the type of vehicle, it may not be possible to secure sufficient space for arranging the long-range millimeter-wave radar behind the emblem. Further, when the long-distance millimeter-wave radar is arranged around the license plate, the millimeter-wave radar cannot be hidden from the outside by a front bumper or the like, so that the design of the appearance of the vehicle is deteriorated. In this way, there is room for study on a method for increasing the degree of freedom in the mounting location of the millimeter-wave radar.
  • the vehicle radar system mounted on the vehicle is A first radar configured to acquire data indicating the surrounding environment of the vehicle by emitting radio waves toward the front of the vehicle, and A first reflector that faces the first radar and is configured to reflect radio waves emitted from the first radar. A second reflector configured to reflect radio waves reflected by the first reflector toward the front of the vehicle is provided.
  • the path of the radio wave emitted from the first radar can be changed by the first reflector and the second reflector, so that the degree of freedom of the mounting location of the first radar can be increased. Become. In this way, it is possible to provide a vehicle radar system capable of increasing the degree of freedom in the mounting location of the radar mounted on the vehicle.
  • a vehicle equipped with the above-mentioned vehicle radar system may be provided.
  • a radar system for a vehicle and a vehicle capable of increasing the degree of freedom in the mounting location of the radar mounted on the vehicle.
  • the "left-right direction”, “front-back direction”, and “vertical direction” of the vehicle 1 may be appropriately referred to. These directions are relative directions set for the vehicle 1 shown in FIG.
  • the "left-right direction” is a direction including the “left direction” and the “right direction”.
  • the “front-back direction” is a direction including the "forward direction” and the "rear direction”.
  • the vertical direction is not shown in FIG. 2, the vertical direction is a direction orthogonal to the horizontal direction and the front-back direction.
  • the vertical direction of the first radar 2 and the second radar 6 mounted on the vehicle 1 is parallel to the vertical direction of the vehicle 1.
  • the horizontal direction of the first radar 2 and the second radar 6 is a direction orthogonal to the vertical direction.
  • FIG. 1 is a schematic diagram showing an example of a radar system 10. As shown in FIG. 1, the radar system 10 is mounted on the vehicle 1 and includes a first radar 2, a first reflector 3, a second reflector 5, and a second radar 6.
  • the first radar 2, the first reflector 3, the second reflector 5, and the second radar 6 are covered by the front bumper 8 of the vehicle 1 and surrounded by the front bumper 8 and the vehicle body body (not shown). It is arranged in the internal space S. That is, the radar system 10 is concealed from the outside of the vehicle 1 by the front bumper 8.
  • the first radar 2 is, for example, a millimeter wave radar or a microwave radar.
  • the first radar 2 is configured to acquire radar data indicating the surrounding environment of the vehicle 1 by emitting radio waves toward the front of the vehicle 1.
  • the first radar 2 functions as a long-distance radar (forward monitoring radar) capable of acquiring information on an object (another vehicle, a pedestrian, etc.) existing at a position away from the vehicle 1.
  • the detection distance of the first radar 2 is, for example, 200 m or more (specifically, within the range of 200 m to 300 m).
  • the horizontal field of view V1 of the first radar 2 is within the range of ⁇ 5 ° to ⁇ 10 °.
  • the vertical field of view of the first radar 2 is within the range of ⁇ 2 ° to ⁇ 5 °.
  • the first radar 2 receives a transmitting antenna that emits radio waves in the air, a transmitting side RF (radio frequency) circuit that outputs a high frequency signal to the transmitting antenna, and radio waves reflected by an object existing in front of the vehicle 1. It includes a receiving antenna, a receiving side RF circuit that receives a minute high frequency signal from the receiving antenna, and a signal processing circuit that generates radar data.
  • a transmitting side RF radio frequency
  • the first radar 2 is arranged in the internal space S at a position away from the center in the left-right direction of the vehicle 1. Normally, it is preferable that the forward monitoring radar for monitoring the front area of the vehicle 1 is arranged in the center of the vehicle 1 in the left-right direction. On the other hand, in the present embodiment, since the path of the radio wave emitted from the first radar 2 can be changed by using the first reflector 3 and the second reflector 5, the first radar 2 is moved in the left-right direction. It does not need to be placed in the center.
  • the first radar 2 is fixed, for example, by a bracket (not shown) attached to the vehicle body.
  • the first reflector 3 is configured to face the first radar 2 in the front-rear direction of the vehicle 1 and to reflect the radio waves emitted from the first radar 2 toward the second reflector 5. As shown in FIG. 3A, the first reflector 3 has a first reflector 32 and a first radio wave absorber 30.
  • the first reflector 32 is configured to reflect radio waves emitted from the first radar 2 toward the second reflector 5, and is made of, for example, a metal material (gold, silver, copper, iron, etc.). Has been done.
  • the first reflector 32 has an external size such that the radio waves in the field of view V1 among the radio waves emitted from the first radar 2 can be reflected toward the second reflector 5.
  • the external size of the first reflector 32 is the distance between the first radar 2 and the first reflector 3, the horizontal viewing angle of the first radar 2, and the vertical direction of the first radar 2. It is appropriately determined according to the viewing angle of.
  • the first radio wave absorber 30 is configured to absorb the radio waves emitted from the first radar 2.
  • the first radio wave absorber 30 is configured to absorb a side lobe component which is a component outside the field of view V1 among the radio waves emitted from the first radar 2.
  • the first radio wave absorber 30 is provided on the first reflector 32 so as to be along the end portion of the first reflector 32.
  • the first radio wave absorber 30 is provided on the first reflector 32 so as to completely surround the outer periphery of the first reflector 32.
  • the first radio wave absorber 30 may be formed of, for example, an inorganic binder and radio wave absorbing particles provided in the inorganic binder.
  • the radio wave absorbing particles epsilon-type iron oxide particles and titanium oxide particles may be used.
  • the width dimension of the first radio wave absorber 30 is, for example, about 10 mm.
  • the second reflector 5 is arranged in the center of the vehicle 1 in the left-right direction, and is configured to reflect the radio waves reflected by the first reflector 3 toward the front of the vehicle 1.
  • the second reflector 5 is arranged so as to pass through the center of the vehicle 1 in the left-right direction in the left-right direction and overlap with the virtual plane Ax (see FIG. 2) parallel to the front-rear direction of the vehicle 1. ..
  • the second reflector 5 has a second reflector 52 and a second radio wave absorber 50.
  • the second reflector 52 is configured to reflect the radio waves reflected by the first reflector 32 toward the front of the vehicle 1, and is composed of, for example, a metal material (gold, silver, copper, iron, etc.). Has been done.
  • the second reflector 52 has an external size sufficient to reflect radio waves in the field of view V1 toward the front of the vehicle 1.
  • the external size of the second reflector 52 is the distance between the first radar 2 and the first reflector 3, the distance between the first reflector 3 and the second reflector 5, and the second. It is appropriately determined according to the horizontal viewing angle of the 1 radar 2 and the vertical viewing angle of the 1st radar 2.
  • the second radio wave absorber 50 is configured to absorb the radio waves reflected by the first reflector 32.
  • the second radio wave absorber 50 is configured to absorb the side lobe component which is a component outside the visual field V1 among the radio waves reflected by the first reflector 32.
  • the second radio wave absorber 50 is provided on the second reflector 52 so as to be along the end portion of the second reflector 52.
  • the second radio wave absorber 50 is provided on the second reflector 52 so as to completely surround the outer periphery of the second reflector 52.
  • the second radio wave absorber 50 may be made of, for example, the same material as the material constituting the first radio wave absorber 30.
  • the width dimension of the second radio wave absorber 50 is, for example, about 10 mm.
  • the first reflector 3 and the second reflector 5 are configured to change the path of the radio wave emitted from the first radar 2.
  • the radio waves emitted from the first radar 2 by the two reflectors can be emitted from the center of the vehicle 1 in the left-right direction.
  • the radio wave reflected by the object (for example, another vehicle) existing in the front region of the vehicle 1 is reflected by the second reflector 5 and the first reflector 3, and as a result, the receiving antenna of the first radar 2 is used. Incident.
  • the second radar 6 is, for example, a millimeter wave radar or a microwave radar.
  • the second radar 6 is configured to acquire radar data indicating the surrounding environment of the vehicle 1 by emitting radio waves toward the left front direction of the vehicle 1.
  • the second radar 6 is arranged in the internal space S with the emission surface of the second radar 6 facing the left front direction of the vehicle 1.
  • the second radar 6 functions as a short-range radar (peripheral monitoring radar) capable of acquiring information on an object (another vehicle, a pedestrian, etc.) existing around the vehicle 1.
  • the detection distance of the second radar 6 is, for example, in the range of 70 m to 100 m.
  • the horizontal field of view V2 of the second radar 6 is within the range of ⁇ 40 ° to ⁇ 75 °.
  • the vertical field of view of the second radar 6 is within the range of ⁇ 2 ° to ⁇ 5 °.
  • the detection distance of the second radar 6 is smaller than the detection distance of the first radar 2, and the horizontal field of view V2 of the second radar 6 is larger than the horizontal field of view V1 of the first radar 2. growing.
  • the second radar 6 includes a transmitting antenna, a transmitting side RF circuit, a receiving antenna, a receiving side RF circuit, and a signal processing circuit.
  • the number of antenna elements (patch antenna elements) constituting the transmitting antenna of the second radar 6 is smaller than the number of antenna elements (patch antenna elements) constituting the transmitting antenna of the first radar 2.
  • the second radar 6 is fixed, for example, by a bracket (not shown) attached to the vehicle body.
  • the second radar 6 may be arranged in the left front lamp 4a arranged on the left front side of the vehicle 1. Further, a peripheral monitoring radar for acquiring information on the surrounding environment in the right front region of the vehicle 1 may be arranged in the right front lamp 4b arranged on the right front side of the vehicle 1. A peripheral monitoring radar for acquiring information on the surrounding environment in the left rear region of the vehicle 1 may be arranged in the left rear lamp 4c arranged on the left rear side of the vehicle 1. A peripheral monitoring radar for acquiring information on the surrounding environment in the right rear region of the vehicle 1 may be arranged in the right rear lamp 4d arranged on the right rear side of the vehicle 1.
  • the path of the radio wave emitted from the first radar 2 can be changed by the first reflector 3 and the second reflector 5, so that the degree of freedom of the mounting location of the first radar 2 is increased. It will be possible to increase. In this respect, it is not necessary to arrange the first radar 2 at a position overlapping the virtual plane Ax (for example, behind the emblem of the vehicle 1 or around the license plate of the vehicle 1). In this way, it is possible to provide a radar system 10 capable of increasing the degree of freedom in the mounting location of the first radar 2 mounted on the vehicle 1.
  • the radio waves emitted from the first radar 2 are transmitted by the first reflector 3 and the second reflector 5. After being reflected, it is emitted from the center of the vehicle 1 in the left-right direction toward the front region of the vehicle 1 (see FIG. 2). In this way, even when the first radar 2 is not arranged in the center of the vehicle 1 in the left-right direction, the radio wave from the first radar 2 is directed from the center of the vehicle 1 in the left-right direction to the front region of the vehicle 1. Therefore, it is possible to increase the degree of freedom in the mounting location of the first radar 2.
  • the first radar 2, the second radar 6, the first reflector 3, and the second reflector 5 are covered with the front bumper 8, so that the design of the appearance of the vehicle 1 can be improved. It can be improved and the radar system 10 can be protected against an external impact.
  • the radio wave absorber 30 is provided on the first reflecting plate 3 and the second radio wave absorber 50 is provided on the second reflecting plate 5, the radio wave emitted from the first radar 2 is provided.
  • radio waves (side lobe components) outside the field of view V1 are absorbed by the first radio wave absorber 30 and the second radio wave absorber 50.
  • the radio wave (side lobe component) outside the field of view V1 is incident on the receiving antenna of the first radar 2 as noise. In this way, the reliability of the first radar 2 can be improved through the absorption of the side lobe component by the radio wave absorber.

Abstract

A vehicular radar system (10) installed in a vehicle (1) comprises: a first radar (2) configured to acquire data indicative of the environment around the vehicle (1) by emitting an electric wave frontward of the vehicle (1); a first reflection plate (3) configured to face the first radar (2) and reflect the electric wave emitted from the first radar (2); and a second reflection plate (5) configured to reflect the electric wave reflected by the first reflection plate (3) frontward of the vehicle (1).

Description

車両用レーダシステム及び車両Vehicle radar system and vehicle
　本開示は、車両用レーダシステム及び当該車両用レーダシステムを備えた車両に関する。 This disclosure relates to a vehicle radar system and a vehicle equipped with the vehicle radar system.
　自動運転モードで走行可能な車両には、ミリ波レーダ、カメラ、ＬｉＤＡＲユニット等の車両の周辺環境を示すデータを取得する複数のセンサが搭載されている。例えば、特許文献１には、車両の前方領域を監視するための長距離用ミリ波レーダが車両に搭載されている。 Vehicles that can run in automatic driving mode are equipped with multiple sensors that acquire data indicating the surrounding environment of the vehicle, such as millimeter-wave radar, cameras, and LiDAR units. For example, in Patent Document 1, a long-distance millimeter-wave radar for monitoring a region in front of a vehicle is mounted on the vehicle.
日本国特開２００８－１５２３８７号公報Japanese Patent Application Laid-Open No. 2008-152387
　ところで、長距離用ミリ波レーダは、車両の前方領域に存在する他車両等の対象物を確実に検出するために、車両の左右方向の中央に配置されている。このため、長距離用ミリ波レーダは、車両のエンブレムの後方や車両のナンバープレートの周辺に配置されている。一方で、車両の種類によっては、長距離用ミリ波レーダをエンブレムの後方に配置するための空間を十分に確保することができない場合がある。さらに、長距離用ミリ波レーダがナンバープレートの周辺に配置される場合には、当該ミリ波レーダをフロントバンパー等によって外部から隠すことができないため、車両の外観のデザイン性が低下してしまう。このように、ミリ波レーダの搭載場所の自由度を高めるための手法について検討の余地がある。 By the way, the long-distance millimeter-wave radar is arranged in the center of the vehicle in the left-right direction in order to reliably detect an object such as another vehicle existing in the front region of the vehicle. For this reason, long-range millimeter-wave radars are located behind vehicle emblems and around vehicle license plates. On the other hand, depending on the type of vehicle, it may not be possible to secure sufficient space for arranging the long-range millimeter-wave radar behind the emblem. Further, when the long-distance millimeter-wave radar is arranged around the license plate, the millimeter-wave radar cannot be hidden from the outside by a front bumper or the like, so that the design of the appearance of the vehicle is deteriorated. In this way, there is room for study on a method for increasing the degree of freedom in the mounting location of the millimeter-wave radar.
　本開示は、車両に搭載されるレーダの搭載場所の自由度を高めることが可能な車両用レーダシステム及び車両を提供することを目的とする。 It is an object of the present disclosure to provide a vehicle radar system and a vehicle capable of increasing the degree of freedom in the mounting location of the radar mounted on the vehicle.
　本開示の一態様に係る車両に搭載される車両用レーダシステムは、
　前記車両の前方に向けて電波を出射することで前記車両の周辺環境を示すデータを取得するように構成された第１レーダと、
　前記第１レーダに対向すると共に、前記第１レーダから出射された電波を反射するように構成された第１反射板と、
　前記第１反射板によって反射された電波を前記車両の前方に向けて反射するように構成された第２反射板と、を備える。 The vehicle radar system mounted on the vehicle according to one aspect of the present disclosure is
A first radar configured to acquire data indicating the surrounding environment of the vehicle by emitting radio waves toward the front of the vehicle, and
A first reflector that faces the first radar and is configured to reflect radio waves emitted from the first radar.
A second reflector configured to reflect radio waves reflected by the first reflector toward the front of the vehicle is provided.
　上記構成によれば、第１反射板と第２反射板によって、第１レーダから出射された電波の経路を変更することができるため、第１レーダの搭載場所の自由度を高めることが可能となる。このように、車両に搭載されるレーダの搭載場所の自由度を高めることが可能な車両用レーダシステムを提供することができる。 According to the above configuration, the path of the radio wave emitted from the first radar can be changed by the first reflector and the second reflector, so that the degree of freedom of the mounting location of the first radar can be increased. Become. In this way, it is possible to provide a vehicle radar system capable of increasing the degree of freedom in the mounting location of the radar mounted on the vehicle.
　また、上記車両用レーダシステムを備えた車両が提供されてもよい。 Further, a vehicle equipped with the above-mentioned vehicle radar system may be provided.
　上記によれば、レーダの搭載場所の自由度を高めることが可能な車両を提供することができる。 According to the above, it is possible to provide a vehicle capable of increasing the degree of freedom in the mounting location of the radar.
　本開示によれば、車両に搭載されるレーダの搭載場所の自由度を高めることが可能な車両用レーダシステム及び車両を提供することができる。 According to the present disclosure, it is possible to provide a radar system for a vehicle and a vehicle capable of increasing the degree of freedom in the mounting location of the radar mounted on the vehicle.
車両用レーダシステムの一例を示す概略図である。It is a schematic diagram which shows an example of the radar system for a vehicle. 第１レーダの視野と第２レーダの視野とを概略的に示す図である。It is a figure which shows schematic the field of view of the 1st radar and the field of view of a 2nd radar. 第１反射板を示す正面図である。It is a front view which shows the 1st reflector. 第２反射板を示す正面図である。It is a front view which shows the 2nd reflector.
　以下、本開示の実施形態（以下、単に「本実施形態」という。）について図面を参照しながら説明する。本図面に示された各部材の寸法は、説明の便宜上、実際の各部材の寸法とは異なる場合がある。 Hereinafter, an embodiment of the present disclosure (hereinafter, simply referred to as “the present embodiment”) will be described with reference to the drawings. The dimensions of each member shown in this drawing may differ from the actual dimensions of each member for convenience of explanation.
　また、本実施形態の説明では、説明の便宜上、車両１の「左右方向」、「前後方向」、「上下方向」について適宜言及する場合がある。これらの方向は、図２に示す車両１について設定された相対的な方向である。ここで、「左右方向」は、「左方向」及び「右方向」を含む方向である。「前後方向」は、「前方向」及び「後方向」を含む方向である。尚、図２では上下方向は示されていないが、上下方向は、左右方向及び前後方向に直交する方向である。さらに、車両１に搭載された第１レーダ２及び第２レーダ６（図１参照）の垂直方向は、車両１の上下方向と平行であるものとする。また、第１レーダ２及び第２レーダ６の水平方向は、当該垂直方向に直交する方向である。 Further, in the description of the present embodiment, for convenience of explanation, the "left-right direction", "front-back direction", and "vertical direction" of the vehicle 1 may be appropriately referred to. These directions are relative directions set for the vehicle 1 shown in FIG. Here, the "left-right direction" is a direction including the "left direction" and the "right direction". The "front-back direction" is a direction including the "forward direction" and the "rear direction". Although the vertical direction is not shown in FIG. 2, the vertical direction is a direction orthogonal to the horizontal direction and the front-back direction. Further, it is assumed that the vertical direction of the first radar 2 and the second radar 6 (see FIG. 1) mounted on the vehicle 1 is parallel to the vertical direction of the vehicle 1. Further, the horizontal direction of the first radar 2 and the second radar 6 is a direction orthogonal to the vertical direction.
　最初に、図１を参照して本実施形態に係る車両用レーダシステム１０（以下、単にレーダシステム１０という。）について以下に説明する。図１は、レーダシステム１０の一例を示す概略図である。図１に示すように、レーダシステム１０は、車両１に搭載されており、第１レーダ２と、第１反射板３と、第２反射板５と、第２レーダ６とを備える。 First, the vehicle radar system 10 (hereinafter, simply referred to as the radar system 10) according to the present embodiment will be described below with reference to FIG. FIG. 1 is a schematic diagram showing an example of a radar system 10. As shown in FIG. 1, the radar system 10 is mounted on the vehicle 1 and includes a first radar 2, a first reflector 3, a second reflector 5, and a second radar 6.
　第１レーダ２と、第１反射板３と、第２反射板５と、第２レーダ６は、車両１のフロントバンパー８によって覆われていると共に、フロントバンパー８と図示しない車体ボディとによって囲われた内部空間Ｓ内に配置されている。つまり、レーダシステム１０は、フロントバンパー８によって車両１の外部からは隠蔽されている。 The first radar 2, the first reflector 3, the second reflector 5, and the second radar 6 are covered by the front bumper 8 of the vehicle 1 and surrounded by the front bumper 8 and the vehicle body body (not shown). It is arranged in the internal space S. That is, the radar system 10 is concealed from the outside of the vehicle 1 by the front bumper 8.
　第１レーダ２は、例えば、ミリ波レーダ又はマイクロ波レーダである。第１レーダ２は、車両１の前方に向けて電波を出射することで車両１の周辺環境を示すレーダデータを取得するように構成されている。特に、第１レーダ２は、車両１から離れた位置に存在する対象物（他車両や歩行者等）に関する情報を取得可能な長距離レーダ（前方監視用レーダ）として機能する。第１レーダ２の検知距離は、例えば、２００ｍ以上（具体的には２００ｍから３００ｍの範囲内）となる。第１レーダ２の水平方向の視野Ｖ１は、±５°から±１０°の範囲内となる。第１レーダ２の垂直方向の視野は、±２°から±５°の範囲内となる。 The first radar 2 is, for example, a millimeter wave radar or a microwave radar. The first radar 2 is configured to acquire radar data indicating the surrounding environment of the vehicle 1 by emitting radio waves toward the front of the vehicle 1. In particular, the first radar 2 functions as a long-distance radar (forward monitoring radar) capable of acquiring information on an object (another vehicle, a pedestrian, etc.) existing at a position away from the vehicle 1. The detection distance of the first radar 2 is, for example, 200 m or more (specifically, within the range of 200 m to 300 m). The horizontal field of view V1 of the first radar 2 is within the range of ± 5 ° to ± 10 °. The vertical field of view of the first radar 2 is within the range of ± 2 ° to ± 5 °.
　第１レーダ２は、電波を空中に出射する送信アンテナと、送信アンテナに高周波信号を出力する送信側ＲＦ（無線周波数）回路と、車両１の前方に存在する対象物によって反射された電波を受信する受信アンテナと、受信アンテナから微小な高周波信号を受信する受信側ＲＦ回路と、レーダデータを生成する信号処理回路とを備える。 The first radar 2 receives a transmitting antenna that emits radio waves in the air, a transmitting side RF (radio frequency) circuit that outputs a high frequency signal to the transmitting antenna, and radio waves reflected by an object existing in front of the vehicle 1. It includes a receiving antenna, a receiving side RF circuit that receives a minute high frequency signal from the receiving antenna, and a signal processing circuit that generates radar data.
　本実施形態では、第１レーダ２は、車両１の左右方向の中央から離れた位置における内部空間Ｓ内に配置されている。通常では、車両１の前方領域を監視するための前方監視用レーダは、車両１の左右方向の中央に配置されることが好ましい。一方で、本実施形態では、第１反射板３と第２反射板５を用いることで第１レーダ２から出射された電波の経路を変更することができるため、第１レーダ２を左右方向の中央に配置する必要がない。第１レーダ２は、例えば、車体ボディに取り付けられたブラケット（図示せず）によって固定されている。 In the present embodiment, the first radar 2 is arranged in the internal space S at a position away from the center in the left-right direction of the vehicle 1. Normally, it is preferable that the forward monitoring radar for monitoring the front area of the vehicle 1 is arranged in the center of the vehicle 1 in the left-right direction. On the other hand, in the present embodiment, since the path of the radio wave emitted from the first radar 2 can be changed by using the first reflector 3 and the second reflector 5, the first radar 2 is moved in the left-right direction. It does not need to be placed in the center. The first radar 2 is fixed, for example, by a bracket (not shown) attached to the vehicle body.
　第１反射板３は、車両１の前後方向において第１レーダ２に対向すると共に、第１レーダ２から出射された電波を第２反射板５に向けて反射するように構成されている。図３Ａに示すように、第１反射板３は、第１反射体３２と、第１電波吸収体３０とを有する。 The first reflector 3 is configured to face the first radar 2 in the front-rear direction of the vehicle 1 and to reflect the radio waves emitted from the first radar 2 toward the second reflector 5. As shown in FIG. 3A, the first reflector 3 has a first reflector 32 and a first radio wave absorber 30.
　第１反射体３２は、第１レーダ２から出射された電波を第２反射板５に向けて反射するように構成されており、例えば、金属材料（金、銀、銅、鉄等）によって構成されている。第１反射体３２は、第１レーダ２から出射された電波のうち視野Ｖ１内の電波を第２反射板５に向けて反射することが出来る程度の外形サイズを有する。この点において、第１反射体３２の外形サイズは、第１レーダ２と第１反射板３との間の距離と、第１レーダ２の水平方向の視野角と、第１レーダ２の垂直方向の視野角とに応じて適宜決定される。 The first reflector 32 is configured to reflect radio waves emitted from the first radar 2 toward the second reflector 5, and is made of, for example, a metal material (gold, silver, copper, iron, etc.). Has been done. The first reflector 32 has an external size such that the radio waves in the field of view V1 among the radio waves emitted from the first radar 2 can be reflected toward the second reflector 5. In this respect, the external size of the first reflector 32 is the distance between the first radar 2 and the first reflector 3, the horizontal viewing angle of the first radar 2, and the vertical direction of the first radar 2. It is appropriately determined according to the viewing angle of.
　第１電波吸収体３０は、第１レーダ２から出射された電波を吸収するように構成されている。特に、第１電波吸収体３０は、第１レーダ２から出射された電波のうち視野Ｖ１外の成分であるサイドローブ成分を吸収するように構成されている。第１電波吸収体３０は、第１反射体３２の端部に沿うように第１反射体３２上に設けられている。特に、第１電波吸収体３０は、第１反射体３２の外周を完全に囲むように第１反射体３２上に設けられている。第１電波吸収体３０は、例えば、無機バインダーと、当該無機バインダー内に設けられた電波吸収粒子とにより形成されてもよい。電波吸収粒子の一例として、イプシロン型酸化鉄粒子や酸化チタン粒子が使用されてもよい。第１電波吸収体３０の幅寸法は、例えば、１０ｍｍ程度となる。 The first radio wave absorber 30 is configured to absorb the radio waves emitted from the first radar 2. In particular, the first radio wave absorber 30 is configured to absorb a side lobe component which is a component outside the field of view V1 among the radio waves emitted from the first radar 2. The first radio wave absorber 30 is provided on the first reflector 32 so as to be along the end portion of the first reflector 32. In particular, the first radio wave absorber 30 is provided on the first reflector 32 so as to completely surround the outer periphery of the first reflector 32. The first radio wave absorber 30 may be formed of, for example, an inorganic binder and radio wave absorbing particles provided in the inorganic binder. As an example of the radio wave absorbing particles, epsilon-type iron oxide particles and titanium oxide particles may be used. The width dimension of the first radio wave absorber 30 is, for example, about 10 mm.
　第２反射板５は、車両１の左右方向の中央に配置されていると共に、第１反射板３によって反射された電波を車両１の前方に向けて反射するように構成されている。この点において、第２反射板５は、左右方向において、車両１の左右方向の中央を通ると共に、車両１の前後方向に平行な仮想平面Ａｘ（図２参照）と重なるように配置されている。図３Ｂに示すように、第２反射板５は、第２反射体５２と、第２電波吸収体５０とを有する。 The second reflector 5 is arranged in the center of the vehicle 1 in the left-right direction, and is configured to reflect the radio waves reflected by the first reflector 3 toward the front of the vehicle 1. In this respect, the second reflector 5 is arranged so as to pass through the center of the vehicle 1 in the left-right direction in the left-right direction and overlap with the virtual plane Ax (see FIG. 2) parallel to the front-rear direction of the vehicle 1. .. As shown in FIG. 3B, the second reflector 5 has a second reflector 52 and a second radio wave absorber 50.
　第２反射体５２は、第１反射体３２によって反射された電波を車両１の前方に向けて反射するように構成されており、例えば、金属材料（金、銀、銅、鉄等）によって構成されている。第２反射体５２は、視野Ｖ１内の電波を車両１の前方に向けて反射することが出来る程度の外形サイズを有する。この点において、第２反射体５２の外形サイズは、第１レーダ２と第１反射板３との間の距離と、第１反射板３と第２反射板５との間の距離と、第１レーダ２の水平方向の視野角と、第１レーダ２の垂直方向の視野角とに応じて適宜決定される。 The second reflector 52 is configured to reflect the radio waves reflected by the first reflector 32 toward the front of the vehicle 1, and is composed of, for example, a metal material (gold, silver, copper, iron, etc.). Has been done. The second reflector 52 has an external size sufficient to reflect radio waves in the field of view V1 toward the front of the vehicle 1. In this respect, the external size of the second reflector 52 is the distance between the first radar 2 and the first reflector 3, the distance between the first reflector 3 and the second reflector 5, and the second. It is appropriately determined according to the horizontal viewing angle of the 1 radar 2 and the vertical viewing angle of the 1st radar 2.
　第２電波吸収体５０は、第１反射体３２によって反射された電波を吸収するように構成されている。特に、第２電波吸収体５０は、第１反射体３２によって反射された電波のうち視野Ｖ１外の成分であるサイドローブ成分を吸収するように構成されている。第２電波吸収体５０は、第２反射体５２の端部に沿うように第２反射体５２上に設けられている。特に、第２電波吸収体５０は、第２反射体５２の外周を完全に囲むように第２反射体５２上に設けられている。第２電波吸収体５０は、例えば、第１電波吸収体３０を構成する材料と同一の材料により構成されてもよい。第２電波吸収体５０の幅寸法は、例えば、１０ｍｍ程度となる。 The second radio wave absorber 50 is configured to absorb the radio waves reflected by the first reflector 32. In particular, the second radio wave absorber 50 is configured to absorb the side lobe component which is a component outside the visual field V1 among the radio waves reflected by the first reflector 32. The second radio wave absorber 50 is provided on the second reflector 52 so as to be along the end portion of the second reflector 52. In particular, the second radio wave absorber 50 is provided on the second reflector 52 so as to completely surround the outer periphery of the second reflector 52. The second radio wave absorber 50 may be made of, for example, the same material as the material constituting the first radio wave absorber 30. The width dimension of the second radio wave absorber 50 is, for example, about 10 mm.
　第１反射板３及び第２反射板５は、第１レーダ２から出射された電波の経路を変更するように構成されている。このように、２つの反射板によって第１レーダ２から出射された電波を車両１の左右方向の中央から出射させることができる。また、車両１の前方領域に存在する対象物（例えば、他車両）によって反射された電波は、第２反射板５及び第１反射板３によって反射された結果、第１レーダ２の受信アンテナに入射する。 The first reflector 3 and the second reflector 5 are configured to change the path of the radio wave emitted from the first radar 2. In this way, the radio waves emitted from the first radar 2 by the two reflectors can be emitted from the center of the vehicle 1 in the left-right direction. Further, the radio wave reflected by the object (for example, another vehicle) existing in the front region of the vehicle 1 is reflected by the second reflector 5 and the first reflector 3, and as a result, the receiving antenna of the first radar 2 is used. Incident.
　第２レーダ６は、例えば、ミリ波レーダ又はマイクロ波レーダである。第２レーダ６は、車両１の左前方向に向けて電波を出射することで車両１の周辺環境を示すレーダデータを取得するように構成されている。この点において、第２レーダ６の出射面が車両１の左前方向を向いた状態で、第２レーダ６が内部空間Ｓ内に配置されている。第２レーダ６は、車両１の周辺に存在する対象物（他車両や歩行者等）に関する情報を取得可能な短距離用レーダ（周辺監視用レーダ）として機能する。第２レーダ６の検知距離は、例えば、７０ｍから１００ｍの範囲内となる。第２レーダ６の水平方向の視野Ｖ２は、±４０°から±７５°の範囲内となる。第２レーダ６の垂直方向の視野は、±２°から±５°の範囲内となる。 The second radar 6 is, for example, a millimeter wave radar or a microwave radar. The second radar 6 is configured to acquire radar data indicating the surrounding environment of the vehicle 1 by emitting radio waves toward the left front direction of the vehicle 1. At this point, the second radar 6 is arranged in the internal space S with the emission surface of the second radar 6 facing the left front direction of the vehicle 1. The second radar 6 functions as a short-range radar (peripheral monitoring radar) capable of acquiring information on an object (another vehicle, a pedestrian, etc.) existing around the vehicle 1. The detection distance of the second radar 6 is, for example, in the range of 70 m to 100 m. The horizontal field of view V2 of the second radar 6 is within the range of ± 40 ° to ± 75 °. The vertical field of view of the second radar 6 is within the range of ± 2 ° to ± 5 °.
　このように、第２レーダ６の検知距離は、第１レーダ２の検知距離よりも小さくなると共に、第２レーダ６の水平方向の視野Ｖ２は、第１レーダ２の水平方向の視野Ｖ１よりも大きくなる。 As described above, the detection distance of the second radar 6 is smaller than the detection distance of the first radar 2, and the horizontal field of view V2 of the second radar 6 is larger than the horizontal field of view V1 of the first radar 2. growing.
　第２レーダ６は、第１レーダ２と同様に、送信アンテナと、送信側ＲＦ回路と、受信アンテナと、受信側ＲＦ回路と、信号処理回路とを備える。この点において、第２レーダ６の送信アンテナを構成するアンテナ素子（パッチアンテナ素子）の個数は、第１レーダ２の送信アンテナを構成するアンテナ素子（パッチアンテナ素子）の個数よりも少ない。第２レーダ６は、例えば、車体ボディに取り付けられたブラケット（図示せず）によって固定されている。 Like the first radar 2, the second radar 6 includes a transmitting antenna, a transmitting side RF circuit, a receiving antenna, a receiving side RF circuit, and a signal processing circuit. In this respect, the number of antenna elements (patch antenna elements) constituting the transmitting antenna of the second radar 6 is smaller than the number of antenna elements (patch antenna elements) constituting the transmitting antenna of the first radar 2. The second radar 6 is fixed, for example, by a bracket (not shown) attached to the vehicle body.
　尚、図２に示すように、第２レーダ６は、車両１の左前側に配置された左前ランプ４ａ内に配置されてもよい。さらに、車両１の右前領域における周辺環境に関する情報を取得する周辺監視用レーダが、車両１の右前側に配置された右前ランプ４ｂ内に配置されてもよい。車両１の左後領域における周辺環境に関する情報を取得する周辺監視用レーダが、車両１の左後側に配置された左後ランプ４ｃ内に配置されてもよい。車両１の右後領域における周辺環境に関する情報を取得する周辺監視用レーダが、車両１の右後側に配置された右後ランプ４ｄ内に配置されてもよい。 As shown in FIG. 2, the second radar 6 may be arranged in the left front lamp 4a arranged on the left front side of the vehicle 1. Further, a peripheral monitoring radar for acquiring information on the surrounding environment in the right front region of the vehicle 1 may be arranged in the right front lamp 4b arranged on the right front side of the vehicle 1. A peripheral monitoring radar for acquiring information on the surrounding environment in the left rear region of the vehicle 1 may be arranged in the left rear lamp 4c arranged on the left rear side of the vehicle 1. A peripheral monitoring radar for acquiring information on the surrounding environment in the right rear region of the vehicle 1 may be arranged in the right rear lamp 4d arranged on the right rear side of the vehicle 1.
　本実施形態によれば、第１反射板３と第２反射板５とによって第１レーダ２から出射された電波の経路を変更することができるため、第１レーダ２の搭載場所の自由度を高めることが可能となる。この点おいて、第１レーダ２を仮想平面Ａｘと重なる位置（例えば、車両１のエンブレムの後方や車両１のナンバープレートの周辺）に配置する必要がない。このように、車両１に搭載される第１レーダ２の搭載場所の自由度を高めることが可能なレーダシステム１０を提供することができる。 According to the present embodiment, the path of the radio wave emitted from the first radar 2 can be changed by the first reflector 3 and the second reflector 5, so that the degree of freedom of the mounting location of the first radar 2 is increased. It will be possible to increase. In this respect, it is not necessary to arrange the first radar 2 at a position overlapping the virtual plane Ax (for example, behind the emblem of the vehicle 1 or around the license plate of the vehicle 1). In this way, it is possible to provide a radar system 10 capable of increasing the degree of freedom in the mounting location of the first radar 2 mounted on the vehicle 1.
　特に、本実施形態では、第２反射板５が車両１の左右方向の中央に配置されているため、第１レーダ２から出射された電波は、第１反射板３及び第２反射板５によって反射された後に、車両１の左右方向の中央から車両１の前方領域に向けて出射される（図２参照）。このように、第１レーダ２が車両１の左右方向の中央に配置されていない場合であっても、第１レーダ２からの電波を車両１の左右方向の中央から車両１の前方領域に向けて出射させることが可能となるため、第１レーダ２の搭載場所の自由度を高めることができる。 In particular, in the present embodiment, since the second reflector 5 is arranged in the center of the vehicle 1 in the left-right direction, the radio waves emitted from the first radar 2 are transmitted by the first reflector 3 and the second reflector 5. After being reflected, it is emitted from the center of the vehicle 1 in the left-right direction toward the front region of the vehicle 1 (see FIG. 2). In this way, even when the first radar 2 is not arranged in the center of the vehicle 1 in the left-right direction, the radio wave from the first radar 2 is directed from the center of the vehicle 1 in the left-right direction to the front region of the vehicle 1. Therefore, it is possible to increase the degree of freedom in the mounting location of the first radar 2.
　また、本実施形態では、第１レーダ２と、第２レーダ６と、第１反射板３と、第２反射板５とがフロントバンパー８によって覆われているため、車両１の外観のデザイン性を向上させることができると共に、外部からの衝撃に対してレーダシステム１０を保護することができる。 Further, in the present embodiment, the first radar 2, the second radar 6, the first reflector 3, and the second reflector 5 are covered with the front bumper 8, so that the design of the appearance of the vehicle 1 can be improved. It can be improved and the radar system 10 can be protected against an external impact.
　また、第１反射板３に第１電波吸収体３０が設けられていると共に、第２反射板５に第２電波吸収体５０が設けられているため、第１レーダ２から出射された電波のうち視野Ｖ１外の電波（サイドローブ成分）が第１電波吸収体３０及び第２電波吸収体５０によって吸収される。このように、視野Ｖ１外の電波（サイドローブ成分）がノイズとして第１レーダ２の受信アンテナに入射することが好適に防止される。このように、電波吸収体によるサイドローブ成分の吸収を通じて、第１レーダ２の信頼性を向上させることができる。 Further, since the first radio wave absorber 30 is provided on the first reflecting plate 3 and the second radio wave absorber 50 is provided on the second reflecting plate 5, the radio wave emitted from the first radar 2 is provided. Of these, radio waves (side lobe components) outside the field of view V1 are absorbed by the first radio wave absorber 30 and the second radio wave absorber 50. As described above, it is preferably prevented that the radio wave (side lobe component) outside the field of view V1 is incident on the receiving antenna of the first radar 2 as noise. In this way, the reliability of the first radar 2 can be improved through the absorption of the side lobe component by the radio wave absorber.
　以上、本発明の実施形態について説明をしたが、本発明の技術的範囲が本実施形態の説明によって限定的に解釈されるべきではないのは言うまでもない。本実施形態は単なる一例であって、特許請求の範囲に記載された発明の範囲内において、様々な実施形態の変更が可能であることが当業者によって理解されるところである。本発明の技術的範囲は特許請求の範囲に記載された発明の範囲及びその均等の範囲に基づいて定められるべきである。 Although the embodiments of the present invention have been described above, it goes without saying that the technical scope of the present invention should not be construed in a limited manner by the description of the present embodiments. It is understood by those skilled in the art that the present embodiment is merely an example, and various embodiments can be modified within the scope of the invention described in the claims. The technical scope of the present invention should be determined based on the scope of the invention described in the claims and the scope thereof.
　本出願は、２０２０年８月３１日に出願された日本国特許出願（特願２０２０－１４５６７５号）に開示された内容を適宜援用する。 This application appropriately incorporates the contents disclosed in the Japanese patent application (Japanese Patent Application No. 2020-145675) filed on August 31, 2020.

Claims (7)

  1. 　車両に搭載される車両用レーダシステムであって、
    　前記車両の前方に向けて電波を出射することで前記車両の周辺環境を示すデータを取得するように構成された第１レーダと、
    　前記第１レーダに対向すると共に、前記第１レーダから出射された電波を反射するように構成された第１反射板と、
    　前記第１反射板によって反射された電波を前記車両の前方に向けて反射するように構成された第２反射板と、を備える、車両用レーダシステム。     It is a vehicle radar system installed in a vehicle.
    A first radar configured to acquire data indicating the surrounding environment of the vehicle by emitting radio waves toward the front of the vehicle, and
    A first reflector that faces the first radar and is configured to reflect radio waves emitted from the first radar.
    A vehicle radar system including a second reflector configured to reflect radio waves reflected by the first reflector toward the front of the vehicle.
  2. 　前記第２反射板は、前記車両の左右方向の中央に配置されている、
    請求項１に記載の車両用レーダシステム。     The second reflector is arranged in the center of the vehicle in the left-right direction.
    The vehicle radar system according to claim 1.
  3. 　前記第１レーダの検知距離は、２００ｍ以上であると共に、前記第１レーダの水平方向の視野は、±２°から±３°の範囲内となる、請求項１又は２に記載の車両用レーダシステム。 The vehicle radar according to claim 1 or 2, wherein the detection distance of the first radar is 200 m or more, and the horizontal field of view of the first radar is within the range of ± 2 ° to ± 3 °. system.
  4. 　前記第１レーダと、前記第１反射板と、前記第２反射板は、前記車両のフロントバンパーによって覆われている、請求項１から３のうちいずれか一項に記載の車両用レーダシステム。 The vehicle radar system according to any one of claims 1 to 3, wherein the first radar, the first reflector, and the second reflector are covered by the front bumper of the vehicle.
  5. 　前記車両用レーダシステムは、
    　前記車両の外部に向けて電波を出射することで前記車両の周辺環境を示すデータを取得するように構成された第２レーダをさらに備え、
    　前記第２レーダの検知距離は、前記第１レーダの検知距離よりも小さく、
    　前記第２レーダの水平方向の視野は、前記第１レーダの水平方向の視野よりも大きく、
    　前記第１レーダと、前記第２レーダと、前記第１反射板と、前記第２反射板は、前記フロントバンパーによって覆われている、請求項４に記載の車両用レーダシステム。     The vehicle radar system is
    Further equipped with a second radar configured to acquire data indicating the surrounding environment of the vehicle by emitting radio waves toward the outside of the vehicle.
    The detection distance of the second radar is smaller than the detection distance of the first radar.
    The horizontal field of view of the second radar is larger than the horizontal field of view of the first radar.
    The vehicle radar system according to claim 4, wherein the first radar, the second radar, the first reflector, and the second reflector are covered by the front bumper.
  6. 　前記第１反射板は、
    　前記第１レーダから出射された電波を反射するように構成された第１反射体と、
    　前記第１反射体の端部に沿うように前記第１反射体上に設けられ、前記第１レーダから出射された電波を吸収するように構成された第１電波吸収体と、を有し、
    　前記第２反射板は、
    　前記第１反射体によって反射された電波を前記車両の前方に向けて反射するように構成された第２反射体と、
    　前記第２反射体の端部に沿うように前記第２反射体上に設けられ、前記第１反射体によって反射された電波を吸収するように構成された第２電波吸収体と、を有する、請求項１から５のうちいずれか一項に記載の車両用レーダシステム。     The first reflector is
    A first reflector configured to reflect radio waves emitted from the first radar, and
    It has a first radio wave absorber provided on the first reflector along the end of the first reflector and configured to absorb radio waves emitted from the first radar.
    The second reflector is
    A second reflector configured to reflect the radio waves reflected by the first reflector toward the front of the vehicle, and a second reflector.
    It has a second radio wave absorber provided on the second reflector along the end of the second reflector and configured to absorb radio waves reflected by the first reflector. The vehicle radar system according to any one of claims 1 to 5.
  7. 　請求項１から６のうちいずれか一項に記載車両用レーダシステムを備えた車両。 A vehicle equipped with the vehicle radar system according to any one of claims 1 to 6.
PCT/JP2021/030189 2020-08-31 2021-08-18 Vehicular radar system and vehicle WO2022044914A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS604314A (en) * 1983-06-23 1985-01-10 Nippon Telegr & Teleph Corp <Ntt> Antenna device
JPH11160426A (en) * 1997-12-01 1999-06-18 Mitsubishi Electric Corp Car radar
JPH11243317A (en) * 1998-02-26 1999-09-07 Mitsubishi Electric Corp Antenna device
CN203218457U (en) * 2013-04-23 2013-09-25 零八一电子集团有限公司 Dual-band dual-circular-polarization aperture sharing reflector antenna
WO2019142825A1 (en) * 2018-01-18 2019-07-25 株式会社デンソー Vehicle radar system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS604314A (en) * 1983-06-23 1985-01-10 Nippon Telegr & Teleph Corp <Ntt> Antenna device
JPH11160426A (en) * 1997-12-01 1999-06-18 Mitsubishi Electric Corp Car radar
JPH11243317A (en) * 1998-02-26 1999-09-07 Mitsubishi Electric Corp Antenna device
CN203218457U (en) * 2013-04-23 2013-09-25 零八一电子集团有限公司 Dual-band dual-circular-polarization aperture sharing reflector antenna
WO2019142825A1 (en) * 2018-01-18 2019-07-25 株式会社デンソー Vehicle radar system

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