WO2022083699A1 - Radar detection device and radar detection system - Google Patents

Radar detection device and radar detection system Download PDF

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Publication number
WO2022083699A1
WO2022083699A1 PCT/CN2021/125394 CN2021125394W WO2022083699A1 WO 2022083699 A1 WO2022083699 A1 WO 2022083699A1 CN 2021125394 W CN2021125394 W CN 2021125394W WO 2022083699 A1 WO2022083699 A1 WO 2022083699A1
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WO
WIPO (PCT)
Prior art keywords
antenna
angle
radio frequency
view
frequency chip
Prior art date
Application number
PCT/CN2021/125394
Other languages
French (fr)
Chinese (zh)
Inventor
林中山
石常鑫
Original Assignee
深圳市道通科技股份有限公司
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Publication of WO2022083699A1 publication Critical patent/WO2022083699A1/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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • 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
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S2013/9315—Monitoring blind spots

Definitions

  • the present application relates to the field of radar technology, and in particular, to a radar detection device and a radar detection system.
  • on-board radar is an important sensor used to detect objects around the vehicle, such as pedestrians, vehicles, and so on.
  • the vehicle-mounted radar can radiate the electromagnetic wave directionally through the antenna; the target scatters the intercepted electromagnetic wave in all directions, and part of the scattered electromagnetic wave is directed towards the receiving direction of the vehicle-mounted radar; after the vehicle-mounted radar collects the part of the scattered electromagnetic wave through the antenna, it scatters the part of the electromagnetic wave.
  • the target detection information can be obtained by performing signal processing such as amplification of the electromagnetic wave.
  • the range of the field of view of the short-range detection radar is 90°-120°, and the angle of the field of view of the long-distance detection vehicle radar is 10°-40°.
  • the vehicle radar in order to obtain a longer detection distance, the vehicle radar usually selects a short-range detection radar.
  • vehicle-mounted radar usually uses a single radar to detect the target. Since the field of view of a single radar is relatively small, the vehicle-mounted radar has a large detection blind area, resulting in There is a big safety hazard in the use of automotive radar.
  • the present invention provides a radar detection device, the radar detection device includes a first detection component, a second detection component and a third detection component; wherein,
  • the second detection component is used for emitting a second electromagnetic wave, and the second electromagnetic wave has a second field of view;
  • the third detection component is used for emitting a third electromagnetic wave, and the third electromagnetic wave has a third angle of view;
  • the second detection component includes a second antenna plate and a second antenna, the second antenna is arranged on the second antenna plate, and the second antenna is used to transmit the second electromagnetic wave;
  • the third detection component includes a third antenna plate and a third antenna, the third antenna is disposed on the third antenna plate, and the third antenna is used for transmitting the third electromagnetic wave.
  • the first detection component further includes a first radio frequency chip, the first radio frequency chip is disposed on the first antenna board, and the first radio frequency chip is electrically connected to the first antenna;
  • the second detection component further includes a second radio frequency chip, the second radio frequency chip is disposed on the second antenna board, and the second radio frequency chip is electrically connected to the second antenna;
  • the third detection component further includes a third radio frequency chip, the third radio frequency chip is disposed on the third antenna board, and the third radio frequency chip is electrically connected to the second antenna;
  • the first radio frequency chip, the second radio frequency chip and the third radio frequency chip are connected in communication.
  • the number of the power supply chip is one, the first radio frequency chip, the second radio frequency chip Both the chip and the third radio frequency chip are electrically connected to the power chip;
  • the radar detection device further includes a power supply chip and a baseband board, the power supply chip is arranged on the baseband board, and the first antenna board, the second antenna board and the third antenna board are connected to the baseband board. the baseband board;
  • the first detection component further includes a first radio frequency chip, the first radio frequency chip is disposed on the baseband board, and the first radio frequency chip is electrically connected to the first antenna;
  • the second detection component further includes a second radio frequency chip, the second radio frequency chip is disposed on the baseband board, and the second radio frequency chip is electrically connected to the second antenna;
  • the third detection component further includes a third radio frequency chip, the third radio frequency chip is disposed on the baseband board, and the third radio frequency chip is electrically connected to the third antenna;
  • the first radio frequency chip, the second radio frequency chip and the third radio frequency antenna are connected in communication.
  • the base tape board includes a first substrate, a second substrate and a third substrate, and the first substrate and the third substrate are located at two ends of the second substrate;
  • the base tape board includes a first substrate, a second substrate and a third substrate, and the first substrate and the third substrate are located at two ends of the second substrate;
  • the first antenna plate is perpendicular to the first substrate
  • the second antenna plate is perpendicular to the second substrate
  • the third antenna plate is perpendicular to the third substrate.
  • the radar detection device further includes a first angle adjustment device and a second angle adjustment device;
  • the second angle adjustment device is connected to the second antenna plate and the third antenna plate, and the second angle adjustment device is used to adjust the angle between the second antenna plate and the third antenna plate .
  • the angle of the first field of view is greater than or equal to 10° and less than or equal to 90°; and/or
  • the angle of the third angle of view is greater than or equal to 10° and less than or equal to 90°;
  • the angle of the second field of view is greater than or equal to 120° and less than or equal to 170°.
  • the embodiments of the present invention provide a radar detection device and a radar detection system, including a first detection component, a second detection component and a third detection component;
  • the first electromagnetic wave emitted by the first detection component has a first angle of view
  • the second electromagnetic wave emitted by the second detection component has a second angle of view
  • the third electromagnetic wave emitted by the third detection component has a third angle of view.
  • 1 is a schematic diagram of the detection range of a conventional radar detection device
  • FIG. 2 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of the radar detection device in FIG. 6 from another perspective.
  • FIG. 1 schematically shows a schematic diagram of the detection range of a conventional radar detection device.
  • the millimeter-wave radar is used to detect the forward-facing target of the car.
  • the millimeter-wave radar used for medium and short-range detection has a field of view angle of 90°-120°, which is used for The angle of field of view of the millimeter-wave radar for long-distance (for example, more than 160m) detection is 10°-40°.
  • the angle of the field of view of the millimeter-wave radar is limited, so that the millimeter-wave radar has a detection blind spot, for example, the area A and the area B in Figure 1.
  • Figure 2 schematically shows the structure of a radar detection device, which can be installed in a car or other equipment that needs to detect a target, such as an intelligent robot and the like.
  • the radar detection device can be installed in the front (or rear) of the car and used to detect objects in front of or behind the car.
  • the radar detection device 100 includes a first detection component 101 , a second detection component 102 and a third detection component 103 .
  • the first detection assembly 101 has a first angle of view
  • the second detection assembly 102 has a second angle of view
  • the third detection assembly 103 has a third angle of view.
  • the boundary lines of the first angle of view and the second angle of view overlap or the detection area covered by the first angle of view and the second angle of view overlap partially, and the difference between the second angle of view and the third angle of view is overlapped.
  • the boundary lines are coincident or the detection areas covered by the second field of view and the third field of view are partially coincident, so that the field of view of the radar detection device is greater than or equal to 180°.
  • the detection area in this embodiment is an area where the electromagnetic wave reflected by the first detection component, the second detection component or the third detection component can identify the target.
  • the first detection component 101 , the second detection component 102 and the third detection component 103 are radars; in other embodiments, the first detection component 101 , the second detection component 102 and the third detection component 103
  • the vision sensor may be a camera.
  • the first detection component 101 is used to transmit a first electromagnetic wave, and the first electromagnetic wave has a first field of view angle ⁇ 1; the second detection component 102
  • the third detection component 103 is used for emitting a second electromagnetic wave, and the second electromagnetic wave has a second field of view angle ⁇ 2, and the third detection component 103 is used for emitting a third electromagnetic wave, and the third electromagnetic wave has a third field of view angle ⁇ 3.
  • the first angle of view is the maximum spatial angle range within which the target can be detected by the first electromagnetic wave
  • the second angle of view is the maximum spatial angle range within which the target can be detected by the second electromagnetic wave
  • the third angle of view is the Three electromagnetic waves can detect the maximum spatial angle range of the target.
  • the sizes of the first viewing angle, the second viewing angle and the third viewing angle can be adjusted according to actual needs. For example, in some embodiments, 10° ⁇ 1 ⁇ 90°, 120° ⁇ 2 ⁇ 170°, and 120° ⁇ 3 ⁇ 170°.
  • the sizes of the second field of view and the third field of view may be equal or unequal.
  • the first angle of view and the third angle of view are both 130°, or the first angle of view is 130° and the third angle of view is 140°.
  • the second detection device can use a radar with a smaller field of view, a long-distance detection radar can be selected for the second detection device. Therefore, the embodiments of the present invention can improve the field of view of the radar detection device while ensuring the detection distance of the radar detection device.
  • the radar detection device can not only detect the target located in front of the radar detection device but also detect the targets located on the left and right sides of the radar detection device. For example, when a radar detection device with a field of view greater than 180° is installed in front of the vehicle, traffic accidents caused by pedestrians or other vehicles suddenly entering from the driver's blind spot can be effectively avoided while the driver is driving.
  • the field of view of the radar detection device 100 is greater than or equal to 180°.
  • the detection with a field of view angle of 180° eliminates the detection blind spot of the traditional radar detection device 100 and improves the safety of vehicle driving; on the one hand, the installation horizontal angle of the radar detection device 100 has greater redundancy,
  • the radar detection device 100 can be installed within the redundancy range of ⁇ x degrees in the horizontal direction. Under the condition that the field of view angle is satisfied, the installation accuracy requirements are reduced and the installation speed is improved; on the other hand, after the installation is completed,
  • the radar detection device 100 can be calibrated in a static environment, and does not need to be calibrated in a relatively harsh calibration environment.
  • the value of x depends on the angle of view of the radar detection device 100. For example, when the angle of view of the radar detection device 100 is 190 degrees, the value of x is 5, and when the angle of view of the radar detection device 100 is 200 degrees , the x value is 10.
  • FIG. 3 schematically shows the structure of the radar detection device from a viewing angle.
  • the first detection component 31 includes a first antenna plate 310 and a first antenna 311 , and the first antenna 311 is disposed on the first antenna plate 310 , and the first antenna 311 is used for transmitting a first electromagnetic wave, the first electromagnetic wave It has a first angle of view, the optical axis of the first angle of view is perpendicular to the first antenna plate 310, the first angle of view is based on the transmitting position of the first antenna 311 as the starting position, and the object image of the measured target can pass through The angle formed by the two edge lines of the largest range of the first electromagnetic wave 101 .
  • the first electromagnetic wave is a cone-shaped millimeter wave with a wavelength of 1-10 mm, and the first electromagnetic wave is used to detect the distance and speed of the target appearing within the first field of view angle relative to the second detection component. and/or angle.
  • the first antenna 311 includes a plurality of first microstrip patch antennas, and the plurality of first microstrip patch antennas are arranged on the side of the first antenna plate 310 in parallel with each other.
  • the distance between two adjacent first microstrip patch antennas determines the size of the first angle of view, and the larger the distance, the greater the first angle of view.
  • the second detection component 32 includes a second antenna plate 320 and a second antenna 321.
  • the second antenna 321 is disposed on the second antenna plate 320.
  • the second antenna 321 is used to transmit a second electromagnetic wave, and the second electromagnetic wave has the above-mentioned second field of view
  • the optical axis of the second field of view is perpendicular to the second antenna plate 320, and the second field of view is based on the emission position of the second antenna 321 as the starting position, and is based on the maximum range of the second electromagnetic wave that the measured target can pass through.
  • the second electromagnetic wave is a millimeter wave of a cone-shaped beam, and its wavelength is 1-10 mm.
  • the second electromagnetic wave can be used to detect the distance, velocity and/or angle of the target object within the second field of view angle relative to the second detection component.
  • the second antenna 321 includes a plurality of second microstrip patch antennas, and the plurality of second microstrip patch antennas are arranged on one side of the second antenna plate 320 in parallel with each other.
  • the distance between two adjacent second microstrip patch antennas 321 determines the size of the second angle of view, and the larger the distance, the greater the second angle of view.
  • the third detection component 33 includes a third antenna plate 330 and a third antenna 331, the third antenna 331 is disposed on the third antenna plate 330, the third antenna 331 is used for emitting a third electromagnetic wave, and the third electromagnetic wave has a third angle of view,
  • the optical axis of the third field of view is perpendicular to the third antenna plate 330 , and the third field of view is based on the emission position of the third antenna 331 as the starting position, and the object to be measured can pass through the two maximum ranges of the third electromagnetic wave.
  • the third electromagnetic wave is a millimeter wave of a cone beam, and its wavelength is 1-10 mm.
  • the third electromagnetic wave can be used to detect the distance, velocity and/or angle of the target appearing within the third field of view angle relative to the third detection component.
  • the third antenna 331 includes a plurality of third microstrip patch antennas, and the plurality of third microstrip patch antennas are arranged on one side of the third antenna plate 330 in parallel with each other.
  • the distance between two adjacent third microstrip patch antennas determines the size of the third angle of view, and the larger the distance, the greater the third angle of view.
  • the angle between the optical axis of the first electromagnetic wave and the third electromagnetic wave and the optical axis of the second electromagnetic wave, and the initial position of the first electromagnetic wave, the second electromagnetic wave and the third outgoing electromagnetic wave can be adjusted by setting The distance is such that the angle of view of the first electromagnetic wave and the second electromagnetic wave, and the adjacent two sides of the angle of view of the second electromagnetic wave and the third electromagnetic wave coincide, or the range part covered by the first electromagnetic wave, the second electromagnetic wave and the third electromagnetic wave Coincidence, so that the overall field of view of the radar detection device is not less than 180°.
  • the line segments on the two boundary line segments between the second intersection point and the radar detection device and the area enclosed by the radar detection device is the detection blind area.
  • the detection blind zone of the staggered part is usually closer to the vehicle body, and the detection blind zone of the staggered part is located between the first electromagnetic wave and the second electromagnetic wave, and has a small area.
  • the first electromagnetic wave, the second electromagnetic wave and the third electromagnetic wave can detect the front and/or rear of the vehicle body within a range of a field angle of not less than 180°.
  • the target or obstacle will not suddenly appear in the detection blind area.
  • the obstacle will be blocked by the first electromagnetic wave, the second electromagnetic wave and the third electromagnetic wave. At least one of the electromagnetic waves is detected. Therefore, the detection blind area formed by the staggered portion is an unnecessary detection area.
  • the angle between the first antenna board and the second antenna board is the first preset angle
  • the angle between the second antenna board and the third antenna board is the second preset angle
  • the larger the first angle of view, the second angle of view, the third angle of view, the first preset angle and the second preset angle the smaller the detection blind area area formed by the staggered portion.
  • the larger the first angle of view, the second angle of view and the third angle of view the greater the detection accuracy of the first detection component, the second detection component and the third detection component, the radar detection
  • the development of the device is more difficult.
  • the angle between the first preset angle and the second preset angle is 165°.
  • FIG. 4 schematically shows the structure of the radar detection device from a perspective.
  • FIG. 4 may be a schematic diagram of the radar detection device in FIG. 3 from a perspective.
  • the first detection component 41 further includes a first radio frequency chip 412, the first radio frequency chip 412 is disposed on the first antenna board 410, and the first radio frequency chip 412 is electrically connected to the first antenna 411.
  • the second detection component 42 further includes a second radio frequency chip 422 , the second radio frequency chip 422 is disposed on the second antenna board 420 , and the second radio frequency chip 422 is electrically connected to the second antenna 421 .
  • the third detection component 43 further includes a third radio frequency chip 432 , the second radio frequency chip 432 is disposed on the second antenna board 430 , and the second radio frequency chip 432 is electrically connected to the second antenna 431 .
  • the first radio frequency chip 412 , the second radio frequency core 422 and the third radio frequency chip 432 are connected in communication.
  • Communication connections in the embodiments of the present invention include wired communication connections and wireless communication connections.
  • the wired communication connection may be an electrical connection
  • the wireless communication connection may be a Bluetooth connection.
  • the radar detection device 300 further includes a power supply chip, and the power supply chip is disposed on at least one antenna board among the first antenna board 310 , the second antenna board 320 and the second antenna board 330 .
  • the power chip is electrically connected to the first radio frequency chip 312 , the second radio frequency core 322 and the third radio frequency core 332 , and is used to supply power to the first radio frequency chip 312 , the second radio frequency core 322 and the third radio frequency core 332 .
  • the first radio frequency chip 312 is used to convert radio signals into electromagnetic waves of a certain waveform, and send them out through the first antenna 311; Resonance is sent out; the third radio frequency chip 332 is used to convert the radio signal into an electromagnetic wave with a certain waveform, and resonate and send out through the third antenna 331 .
  • the radar detection device further includes a baseband board, and the first antenna board, the second antenna board and the third antenna board are connected to the baseband board.
  • the power chip and the first radio frequency chip 312 , the second radio frequency core 322 and the third radio frequency core 332 electrically connected to the power chip are all disposed on the baseband board.
  • the base tape board 520 includes a first substrate 521 , a second substrate 522 and a third substrate 523 which are connected by bending in sequence.
  • the surfaces of the first substrate 521 , the second substrate 522 and the third substrate 523 are respectively disposed opposite to the surfaces of the first antenna plate 511 , the second antenna plate 512 and the third antenna plate 513 .
  • the first substrate 521 is arranged in parallel with the first antenna plate 511
  • the second substrate 522 is arranged in parallel with the second antenna plate 512
  • the third substrate 523 is arranged in parallel with the third antenna plate 513 .
  • the base tape board 74 includes a first substrate 741 , a second substrate 742 and a third substrate 743 which are connected by bending in sequence.
  • One ends of the first antenna plate 71 , the second antenna plate 72 and the third antenna plate 73 are respectively connected to the same side edges of the first substrate 741 , the second substrate 742 and the third substrate 743 .
  • the included angles formed by the first antenna board 71 , the second antenna board 72 and the third antenna board 73 and the baseband board may be any suitable angles.
  • the first antenna plate 71, the second antenna plate 72 and the third antenna plate 73 may be vertically connected to the first substrate 741, the second substrate 742 and the third substrate 743, respectively.
  • the radar detection device further includes a floating connector, for example, the floating connector 530 in FIG. 5 and the floating connector 75 in FIG. 7 .
  • the floating connector is used to connect the first antenna board, the second antenna board and the third antenna board to the baseband board.
  • the first antenna board 71 , the second antenna board 72 and the second antenna board 73 are connected to the first baseband board 741 , the second baseband board 742 and the second baseband board through the three floating connectors 55 respectively.
  • the 743 is connected to realize the SPI (Serial Peripheral Interface, serial peripheral interface), UART (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver/Transmitter) between the first antenna board 71, the second antenna board 72 and the third antenna board 73 transmitter) communication, the first antenna board 71, the second antenna board 72 and the third antenna board 73 adopt the master-slave mode, and output the detection signal to the outside through a CAN or CANFD interface.
  • SPI Serial Peripheral Interface, serial peripheral interface
  • UART Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver/Transmitter
  • the radar detection device further includes an angle adjustment device
  • the angle adjustment device includes a first angle adjustment device and a second angle adjustment device, wherein the first angle adjustment device is connected to the first antenna plate and the second antenna plate , the second angle adjustment device is connected to the second antenna board and the third antenna board.
  • the first angle adjusting device is used for adjusting the included angle between the first antenna board and the second antenna board.
  • the second angle adjusting device is used to adjust the included angle between the second antenna board and the third antenna board.
  • the included angle between the second antenna plate and the third antenna plate), the driving device is used to supply power to the memory alloy.
  • the elastic device and the memory alloy are located on the same side of the first antenna plate and the second antenna plate (or the second antenna plate and the third antenna plate), and the elastic device can be a compression spring, an elastic sheet, or a torsion spring.
  • An embodiment of the present invention further provides a radar detection system, the radar detection system includes the above-mentioned radar detection device and a mobile device, wherein the radar detection device is installed on the mobile device and is communicatively connected to the mobile device.
  • the mobile device in this embodiment may specifically be a vehicle, a mobile robot, or an unmanned aerial vehicle.
  • the radar detection device is used to detect the target appearing in front of or behind the mobile device, for example, the speed, distance and angle of the target relative to the radar detection device can be detected.
  • the radar detection system includes the above-mentioned radar detection device and a mobile device, wherein the radar detection device is installed on the mobile device and is communicatively connected to the mobile device.
  • the mobile device in this embodiment may specifically be a vehicle, a mobile robot, or an unmanned aerial vehicle.
  • the radar detection device is used to detect the target appearing in front of or behind the mobile device, for example, the speed, distance and angle of the target relative to the radar detection device can be detected.
  • the prior art please
  • Embodiments of the present invention provide a radar detection device and a radar detection system, including a first detection component, a second detection component, and a third detection component arranged in sequence; wherein, the first electromagnetic wave emitted by the first detection component has a first detection component.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A radar detection device and a radar detection system. The radar detection device (100) comprises a first detection component (101), a second detection component (102), and a third detection component (103). A first electromagnetic wave transmitted by the first detection component (101) is provided with a first field of view, a second electromagnetic wave transmitted by the second detection component (102) is provided with a second field of view, and a third electromagnetic wave transmitted by the third detection component (103) is provided with a third field of view. Because the borderline of the first field of view overlaps with that of the second field of view or a detection area covered by the first field of view partly overlap with that of the second field of view, and the borderline of the second field of view overlaps that of the third field of view or the detection area covered by the first field of view partly overlaps that of the second field of view, the detection areas of the first detection component (101), of the second detection component (102), and of the third detection component (103) can superimpose each other to form an expanded detection area, thus reducing detection blind spots. The radar detection system comprises the radar detection device.

Description

一种雷达探测装置和雷达探测系统A radar detection device and radar detection system
本申请要求于2020年10月22日提交中国专利局、申请号为202011140685.1、申请名称为“一种雷达探测装置和雷达探测系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 202011140685.1 and the application title "A Radar Detection Device and Radar Detection System" filed with the Chinese Patent Office on October 22, 2020, the entire contents of which are incorporated herein by reference Applying.
技术领域technical field
本申请涉及雷达技术领域，特别是涉及一种雷达探测装置和雷达探测系统。The present application relates to the field of radar technology, and in particular, to a radar detection device and a radar detection system.
背景技术Background technique
在先进驾驶辅助系统(ADAS)中，车载雷达作为一种重要的传感器，用于探测车辆周围的目标，例如，行人、车辆等。车载雷达的可以通过天线定向辐射该电磁波；目标将被截取的电磁波向各方向散射，其中部分散射的电磁波朝向车载雷达接收方向；车载雷达通过天线收集到该部分散射的电磁波后，将该部分散射的电磁波进行放大等信号处理，即可获得目标检测信息。In advanced driver assistance systems (ADAS), on-board radar is an important sensor used to detect objects around the vehicle, such as pedestrians, vehicles, and so on. The vehicle-mounted radar can radiate the electromagnetic wave directionally through the antenna; the target scatters the intercepted electromagnetic wave in all directions, and part of the scattered electromagnetic wave is directed towards the receiving direction of the vehicle-mounted radar; after the vehicle-mounted radar collects the part of the scattered electromagnetic wave through the antenna, it scatters the part of the electromagnetic wave. The target detection information can be obtained by performing signal processing such as amplification of the electromagnetic wave.
目前，近距离探测雷达的视场角的角度范围为90°-120°，远距离探测车载雷达的视场角的角度范围为10°-40°。而且，为了获得较远的探测距离，车载雷达通常选用近距离探测雷达。At present, the range of the field of view of the short-range detection radar is 90°-120°, and the angle of the field of view of the long-distance detection vehicle radar is 10°-40°. Moreover, in order to obtain a longer detection distance, the vehicle radar usually selects a short-range detection radar.
在实现本发明的过程中，发明人发现现有技术中，车载雷达通常采用单个达雷达对目标进行探测，由于单个雷达的视场角相对较小从而导致车载雷达出现较大的探测盲区，导致车用雷达在使用过程中存在较大的安全隐患。In the process of realizing the present invention, the inventor found that in the prior art, vehicle-mounted radar usually uses a single radar to detect the target. Since the field of view of a single radar is relatively small, the vehicle-mounted radar has a large detection blind area, resulting in There is a big safety hazard in the use of automotive radar.
发明内容SUMMARY OF THE INVENTION
为了克服现有的探测雷达存在的探测盲区较大的缺陷，本发明实施方式主要解决的技术问题是提供一种雷达探测装置和雷达探测系统，能够实现多个雷达探测组件的视场角的叠加，从而提高整个探测雷达视场角，减少探测盲区。In order to overcome the defect of the large detection blind area of the existing detection radar, the main technical problem solved by the embodiments of the present invention is to provide a radar detection device and a radar detection system, which can realize the superposition of the field angles of multiple radar detection components , so as to improve the entire field of view of the detection radar and reduce the detection blind area.
为解决上述技术问题，本发明实施方式采用的一个技术方案是：In order to solve the above-mentioned technical problems, a technical solution adopted by the embodiments of the present invention is:
第一方面，本发明提供一种雷达探测装置，所述雷达探测装置包括第一探测组件、第二探测组件和第三探测组件；其中，In a first aspect, the present invention provides a radar detection device, the radar detection device includes a first detection component, a second detection component and a third detection component; wherein,
所述第一探测组件用于发射第一电磁波，所述第一电磁波具有第一视场角；the first detection component is used for emitting a first electromagnetic wave, and the first electromagnetic wave has a first field of view;
所述第二探测组件用于发射第二电磁波，所述第二电磁波具有第二视场角；The second detection component is used for emitting a second electromagnetic wave, and the second electromagnetic wave has a second field of view;
所述第三探测组件用于发射第三电磁波，所述第三电磁波具有第三视场角；其中，The third detection component is used for emitting a third electromagnetic wave, and the third electromagnetic wave has a third angle of view; wherein,
所述第一视场角和所述第二视场角的边界线重合或所述第一视场角和所述第二视场角覆盖的探测区域部分重合；The boundary lines of the first angle of view and the second angle of view overlap or the detection area covered by the first angle of view and the second angle of view overlap partially;
所述第二视场角和所述第三视场角的边界线重合或所述第二视场角和所述第三视场角覆盖的探测区域部分重合；The boundary lines of the second angle of view and the third angle of view overlap or the detection area covered by the second angle of view and the third angle of view overlap partially;
所述雷达探测装置的视场角大于或等于180°。The field of view of the radar detection device is greater than or equal to 180°.
可选的，所述第一探测组件包括第一天线板和第一天线，所述第一天线设置于所述第一天线板，所述第一天线用于发射所述第一电磁波；Optionally, the first detection component includes a first antenna plate and a first antenna, the first antenna is disposed on the first antenna plate, and the first antenna is used to transmit the first electromagnetic wave;
所述第二探测组件包括第二天线板和第二天线，所述第二天线设置于所述第二天线板，所述第二天线用于发射所述第二电磁波；The second detection component includes a second antenna plate and a second antenna, the second antenna is arranged on the second antenna plate, and the second antenna is used to transmit the second electromagnetic wave;
所述第三探测组件包括第三天线板和第三天线，所述第三天线设置于所述第三天线板，所述第三天线用于发射所述第三电磁波。The third detection component includes a third antenna plate and a third antenna, the third antenna is disposed on the third antenna plate, and the third antenna is used for transmitting the third electromagnetic wave.
可选的，所述第一探测组件还包括第一射频芯片，所述第一射频芯片设置于所述第一天线板，且所述第一射频芯片与所述第一天线电性连接；Optionally, the first detection component further includes a first radio frequency chip, the first radio frequency chip is disposed on the first antenna board, and the first radio frequency chip is electrically connected to the first antenna;
所述第二探测组件还包括第二射频芯片，所述第二射频芯片设置于所述第二天线板，且所述第二射频芯片与所述第二天线电性连接；The second detection component further includes a second radio frequency chip, the second radio frequency chip is disposed on the second antenna board, and the second radio frequency chip is electrically connected to the second antenna;
所述第三探测组件还包括第三射频芯片，所述第三射频芯片设置于所述第三天线板，且所述第三射频芯片与所述第二天线电性连接；The third detection component further includes a third radio frequency chip, the third radio frequency chip is disposed on the third antenna board, and the third radio frequency chip is electrically connected to the second antenna;
所述第一射频芯片、所述第二射频芯片和所述第三射频芯片通信连接。The first radio frequency chip, the second radio frequency chip and the third radio frequency chip are connected in communication.
可选的，所述雷达探测装置还包括至少一电源芯片，所述第一天线板、所述第二天线板和/或所述第三天线板设置有所述电源芯片；Optionally, the radar detection device further includes at least one power supply chip, and the first antenna board, the second antenna board and/or the third antenna board are provided with the power supply chip;
当所述第一天线板、所述第二天线板或所述第三天线板设置有所述电源芯片时，所述电源芯片的数量为一个，所述第一射频芯片、所述第二射频芯片和所述第三射频芯片均与所述电源芯片电性连接；When the first antenna board, the second antenna board or the third antenna board is provided with the power supply chip, the number of the power supply chip is one, the first radio frequency chip, the second radio frequency chip Both the chip and the third radio frequency chip are electrically connected to the power chip;
当所述第一天线板、所述第二天线板和所述第三天线板设置有所述电源芯片时，所述电源芯片的数量为三个，三个所述电源芯片分别与所述第一射频芯片、所述第二射频芯片和所述第三射频芯片电性连接。When the first antenna board, the second antenna board and the third antenna board are provided with the power supply chips, the number of the power supply chips is three, and the three power supply chips are respectively connected with the third antenna board. A radio frequency chip, the second radio frequency chip and the third radio frequency chip are electrically connected.
可选的，所述雷达探测装置还包括电源芯片和基带板，所述电源芯片设置于所述基带板，所述第一天线板、所述第二天线板和所述第三天线板连接于所述基带板；Optionally, the radar detection device further includes a power supply chip and a baseband board, the power supply chip is arranged on the baseband board, and the first antenna board, the second antenna board and the third antenna board are connected to the baseband board. the baseband board;
所述第一探测组件还包括第一射频芯片，所述第一射频芯片设置于所述基带板，且所述第一射频芯片与所述第一天线电性连接；The first detection component further includes a first radio frequency chip, the first radio frequency chip is disposed on the baseband board, and the first radio frequency chip is electrically connected to the first antenna;
所述第二探测组件还包括第二射频芯片，所述第二射频芯片设置于所述基带板，且所述第二射频芯片与所述第二天线电性连接；The second detection component further includes a second radio frequency chip, the second radio frequency chip is disposed on the baseband board, and the second radio frequency chip is electrically connected to the second antenna;
所述第三探测组件还包括第三射频芯片，所述第三射频芯片设置于所述基带板，且所述第三射频芯片与所述第三天线电性连接；The third detection component further includes a third radio frequency chip, the third radio frequency chip is disposed on the baseband board, and the third radio frequency chip is electrically connected to the third antenna;
所述电源芯片与所述第一射频芯片、所述第二射频芯片和所述第三射频芯片电性连接；the power chip is electrically connected with the first radio frequency chip, the second radio frequency chip and the third radio frequency chip;
所述第一射频芯片、所述第二射频芯片和所述第三射频天线通信连接。The first radio frequency chip, the second radio frequency chip and the third radio frequency antenna are connected in communication.
可选的，所述基带板包括第一基板、第二基板和第三基板，且所述第一基板和所述第三基板位于所述第二基板的两端；Optionally, the base tape board includes a first substrate, a second substrate and a third substrate, and the first substrate and the third substrate are located at two ends of the second substrate;
所述第一天线板与所述第一基板相对设置，所述第二天线板与所述第二基板相对设置，所述第三天线板与所述第三基板相对设置。The first antenna plate is arranged opposite to the first substrate, the second antenna plate is arranged opposite to the second substrate, and the third antenna plate is arranged opposite to the third substrate.
可选的，所述基带板包括第一基板、第二基板和第三基板，且所述第一基板和所述第三基板位于所述第二基板的两端；Optionally, the base tape board includes a first substrate, a second substrate and a third substrate, and the first substrate and the third substrate are located at two ends of the second substrate;
所述第一天线板垂直于所述第一基板，所述第二天线板垂直于所述第二基板，且所述第三天线板垂直于所述第三基板。The first antenna plate is perpendicular to the first substrate, the second antenna plate is perpendicular to the second substrate, and the third antenna plate is perpendicular to the third substrate.
可选的，所述雷达探测装置还包括浮动连接器；Optionally, the radar detection device further includes a floating connector;
所述第一天线板、所述第二天线板、所述第三天线板分别通过所述浮动连接器与所述基带板连接。The first antenna board, the second antenna board, and the third antenna board are respectively connected to the baseband board through the floating connector.
可选的，所述雷达探测装置还包括第一角度调节装置和第二角度调节装置；Optionally, the radar detection device further includes a first angle adjustment device and a second angle adjustment device;
所述第一角度调节装置连接所述第一天线板和所述第二天线板，所述第一角度调节装置用于调整所述第一天线板与所述第二天线板之间的夹角；The first angle adjustment device is connected to the first antenna plate and the second antenna plate, and the first angle adjustment device is used to adjust the angle between the first antenna plate and the second antenna plate ;
所述第二角度调节装置连接所述第二天线板和所述第三天线板，所述第二角度调节装置用于调整所述第二天线板和所述第三天线板之间的夹角。The second angle adjustment device is connected to the second antenna plate and the third antenna plate, and the second angle adjustment device is used to adjust the angle between the second antenna plate and the third antenna plate .
可选的，所述第一视场角的角度大于或等于10°且小于或等于90°；和/或Optionally, the angle of the first field of view is greater than or equal to 10° and less than or equal to 90°; and/or
所述第三视场角的角度大于或等于10°且小于或等于90°；The angle of the third angle of view is greater than or equal to 10° and less than or equal to 90°;
所述第二视场角的角度大于或等于120°且小于或等于170°。The angle of the second field of view is greater than or equal to 120° and less than or equal to 170°.
可选的，所述第一天线板和所述第二天线板之间的夹角的角度包括165°；和/或Optionally, the angle of the included angle between the first antenna plate and the second antenna plate includes 165°; and/or
所述第二天线板与所述第三天线板之间的夹角的角度包括165°。The angle of the included angle between the second antenna plate and the third antenna plate includes 165°.
第二方面，本发明实施例还提供一种雷达探测系统，所述雷达探测系统包括移动设备和如本发明第一方面所述的雷达探测装置；所述雷达探测装置安装于所述移动设备，所述雷达探测装置和所述移动设备通信连接。In a second aspect, an embodiment of the present invention further provides a radar detection system, the radar detection system includes a mobile device and the radar detection device according to the first aspect of the present invention; the radar detection device is installed on the mobile device, The radar detection device is connected in communication with the mobile device.
本发明实施方式的有益效果是：区别于现有技术的情况，本发明实施例提供了一种了雷达探测装置和雷达探测系统，包括第一探测组件、第二探测组件和第三探测组件；其中，第一探测组件发射的第一电磁波具有第一视场角，第二探测组件发射的第二电磁波具有第二视场角，第三探测组件发射的第三电磁波具有第三视场角。由于第一视场角和第二视场角的边界线重合或第一视场角和第二视场角覆盖的探测区域部分重合，且第二视场角和第三视场角的边界线重合或第一视场角和第二视场角覆盖的探测区域部分重合，故第一探测组件、第二探测组件和第三探测组件的探测区域能够互相叠加，以形成更大的探测区域，从而减小探测盲区。The beneficial effects of the embodiments of the present invention are: different from the situation in the prior art, the embodiments of the present invention provide a radar detection device and a radar detection system, including a first detection component, a second detection component and a third detection component; The first electromagnetic wave emitted by the first detection component has a first angle of view, the second electromagnetic wave emitted by the second detection component has a second angle of view, and the third electromagnetic wave emitted by the third detection component has a third angle of view. Because the boundary lines of the first field of view and the second field of view overlap or the detection areas covered by the first and second field of view are partially overlapped, and the boundary lines of the second and third field of view angle Coincidence or the detection areas covered by the first field of view angle and the second field of view angle are partially coincident, so the detection areas of the first detection component, the second detection component and the third detection component can be superimposed on each other to form a larger detection area, Thereby reducing the detection blind area.
附图说明Description of drawings
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示 为类似的元件，除非有特别申明，附图中的图不构成比例限制。One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute limitations of the embodiments, and elements with the same reference numerals in the drawings are denoted as similar elements, Unless otherwise stated, the figures in the accompanying drawings do not constitute a scale limitation.
图1是传统雷达探测装置的探测范围示意图；1 is a schematic diagram of the detection range of a conventional radar detection device;
图2是本发明一实施例提供的雷达探测装置的结构示意图；2 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention;
图3是本发明一实施例提供的雷达探测装置的结构示意图；3 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention;
图4是本发明一实施例提供的雷达探测装置的结构示意图；4 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention;
图5是本发明一实施例提供的雷达探测装置的结构示意图；5 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention;
图6是本发明一实施例提供的雷达探测装置的结构示意图；6 is a schematic structural diagram of a radar detection device provided by an embodiment of the present invention;
图7是图6中的雷达探测装置另一视角的结构示意图。FIG. 7 is a schematic structural diagram of the radar detection device in FIG. 6 from another perspective.
具体实施方式Detailed ways
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”/“安装于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“垂直的”、“水平的”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。In order to facilitate understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is referred to as being "fixed to"/"mounted on" another element, it can be directly on the other element, or there may be one or more intervening elements therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "upper", "lower", "inner", "outer", "vertical", "horizontal", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, It is only for the convenience of describing the present invention and simplifying the description, not to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," etc. are used for descriptive purposes only and should not be construed to indicate or imply relative importance.
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of the present invention. The terms used in the description of the present invention are only for the purpose of describing specific embodiments, and are not used to limit the present invention. As used in this specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
图1示意性出示了传统雷达探测装置的探测范围示意图。如图1中的毫米雷达用于探测汽车前向的目标，如图1所示，毫米波雷达用于中近距离探测的毫米波雷达的视场角的角度为90°-120°，用于远距离(例如，160m以上)探测的毫米波雷达的视场角的角度为10°-40°。通常，为了使毫米波雷达的探测距离满足应用需求，毫米波雷达的视场角的角度受到限制使得毫米波雷达出现探测盲区，例如，图1中的区域A和区域B。FIG. 1 schematically shows a schematic diagram of the detection range of a conventional radar detection device. As shown in Figure 1, the millimeter-wave radar is used to detect the forward-facing target of the car. As shown in Figure 1, the millimeter-wave radar used for medium and short-range detection has a field of view angle of 90°-120°, which is used for The angle of field of view of the millimeter-wave radar for long-distance (for example, more than 160m) detection is 10°-40°. Generally, in order to make the detection distance of the millimeter-wave radar meet the application requirements, the angle of the field of view of the millimeter-wave radar is limited, so that the millimeter-wave radar has a detection blind spot, for example, the area A and the area B in Figure 1.
本发明的关键在于，能够利用多个探测组件发射电磁波，并且多个探测组件发射的电磁波的视场角能够互相叠加，并形成比单个探测组件发射的电磁波的视场角更大的视场角，因此，本发明能够在不减小雷达探测装置的探测距离的同时提高雷达探测装置的视场角。为了便于读者理解本发明，下面结合具体的实施例进行说明。The key point of the present invention lies in that multiple detection components can be used to emit electromagnetic waves, and the field angles of the electromagnetic waves emitted by the multiple detection components can be superimposed on each other to form a larger field angle than the field angle of the electromagnetic waves emitted by a single detection component Therefore, the present invention can improve the field of view of the radar detection device without reducing the detection distance of the radar detection device. In order to facilitate readers' understanding of the present invention, the following description is made with reference to specific embodiments.
图2示意性出示了一种雷达探测装置的结构，可安装于汽车或其他需要对 目标进行探测的设备，例如，智能机器人等。在一些实施例中，雷达探测装置可以安装于汽车的前方(或后方)，并用于对汽车前方或后方的目标进行探测。Figure 2 schematically shows the structure of a radar detection device, which can be installed in a car or other equipment that needs to detect a target, such as an intelligent robot and the like. In some embodiments, the radar detection device can be installed in the front (or rear) of the car and used to detect objects in front of or behind the car.
如图2所示，雷达探测装置100包括第一探测组件101、第二探测组件102和第三探测组件103。其中，第一探测组件101具有第一视场角，第二探测组件102具有第二视场角和第三探测组件103具有第三视场角。并且第一视场角和第二视场角的边界线重合或第一视场角和所述第二视场角覆盖的探测区域部分重合，并且第二视场角和第三视场角的边界线重合或第二视场角和第三视场角覆盖的探测区域部分重合，以使所述雷达探测装置的视场角大于或等于180°。本实施例中的探测区域为第一探测组件、第二探测组件或第三探测组件反射的电磁波能够识别到目标的区域。As shown in FIG. 2 , the radar detection device 100 includes a first detection component 101 , a second detection component 102 and a third detection component 103 . The first detection assembly 101 has a first angle of view, the second detection assembly 102 has a second angle of view, and the third detection assembly 103 has a third angle of view. And the boundary lines of the first angle of view and the second angle of view overlap or the detection area covered by the first angle of view and the second angle of view overlap partially, and the difference between the second angle of view and the third angle of view is overlapped. The boundary lines are coincident or the detection areas covered by the second field of view and the third field of view are partially coincident, so that the field of view of the radar detection device is greater than or equal to 180°. The detection area in this embodiment is an area where the electromagnetic wave reflected by the first detection component, the second detection component or the third detection component can identify the target.
在一些实施例中，第一探测组件101、第二探测组件102和第三探测组件103为雷达；在另一些实施例中，第一探测组件101、第二探测组件102和第三探测组件103为视觉传感器，视觉传感器可以是摄像头。当第一探测组件101、第二探测组件102和第三探测组件103为雷达时，第一探测组件101用于发射第一电磁波，第一电磁波具有第一视场角α1；第二探测组件102用于发射第二电磁波，第二电磁波具有第二视场角α2，第3探测组件103用于发射第三电磁波，第三电磁波具有第三视场角α3。In some embodiments, the first detection component 101 , the second detection component 102 and the third detection component 103 are radars; in other embodiments, the first detection component 101 , the second detection component 102 and the third detection component 103 For the vision sensor, the vision sensor may be a camera. When the first detection component 101 , the second detection component 102 and the third detection component 103 are radars, the first detection component 101 is used to transmit a first electromagnetic wave, and the first electromagnetic wave has a first field of view angle α1; the second detection component 102 The third detection component 103 is used for emitting a second electromagnetic wave, and the second electromagnetic wave has a second field of view angle α2, and the third detection component 103 is used for emitting a third electromagnetic wave, and the third electromagnetic wave has a third field of view angle α3.
在上述示例中，第一视场角为第一电磁波能探测到目标的最大空间角度范围；第二视场角为第二电磁波能探测到目标的最大空间角度范围；第三视场角为第三电磁波能探测到目标的最大空间角度范围。第一视场角、第二视场角和第三视场角的大小可以根据实际需要进行调整。例如，在一些实施例中，10°≤α1≤90°，120°≤α2≤170°，并且120°≤α3≤170°。第二视场角和第三视场角的大小可以相等也可以不等。例如，第一视场角为和第三视场角均为130°，或者，第一视场角为130°，第三视场角为140°。本实施例中，由于第二探测装置可以采用视场角较小的雷达，故第二探测装置可选用远距离探测雷达。因此，本发明实施例可以在确保雷达探测装置探测距离的情况下，提高雷达探测装置的视场角。当雷达探测装置的视场角为180°以上时，雷达探测装置不仅可以探测到位于雷达探测装置前方的目标还可以探测到位于雷达探测装置左右两侧的目标。例如，将视场角大于180°的雷达探测装置安装在车辆的前方时，在司机开车的过程中可以有效避免由于行人或其他车辆突然从司机的视觉盲区闯入而引发的交通事故。In the above example, the first angle of view is the maximum spatial angle range within which the target can be detected by the first electromagnetic wave; the second angle of view is the maximum spatial angle range within which the target can be detected by the second electromagnetic wave; the third angle of view is the Three electromagnetic waves can detect the maximum spatial angle range of the target. The sizes of the first viewing angle, the second viewing angle and the third viewing angle can be adjusted according to actual needs. For example, in some embodiments, 10°≤α1≤90°, 120°≤α2≤170°, and 120°≤α3≤170°. The sizes of the second field of view and the third field of view may be equal or unequal. For example, the first angle of view and the third angle of view are both 130°, or the first angle of view is 130° and the third angle of view is 140°. In this embodiment, since the second detection device can use a radar with a smaller field of view, a long-distance detection radar can be selected for the second detection device. Therefore, the embodiments of the present invention can improve the field of view of the radar detection device while ensuring the detection distance of the radar detection device. When the field of view of the radar detection device is more than 180°, the radar detection device can not only detect the target located in front of the radar detection device but also detect the targets located on the left and right sides of the radar detection device. For example, when a radar detection device with a field of view greater than 180° is installed in front of the vehicle, traffic accidents caused by pedestrians or other vehicles suddenly entering from the driver's blind spot can be effectively avoided while the driver is driving.
在一些实施例中，本实施例中的第一视场角、第二视场角和第三视场角均为水平视场角。当雷达探测装置安装于汽车的前方或后方时，雷达探测装置的视场角的光轴需与汽车的中轴线垂直，否则影响雷达探测装置的探测范围。例如，假设雷达探测装置安装于汽车的前方，且雷达探测装置的视场角为180°，若雷达探测装置安装位置水平向左偏移，将会导致汽车前方右侧的部分区域成为探测盲区。因此，在雷达探测装置100安装于汽车的过程中，有较高的安装精度要求，且在安装完成后，还需要在较为苛刻校准环境进行校准，例如，较 为空旷的自然环境、直行道路进行行驶动态校准等。In some embodiments, the first viewing angle, the second viewing angle and the third viewing angle in this embodiment are all horizontal viewing angles. When the radar detection device is installed in the front or rear of the car, the optical axis of the field of view of the radar detection device must be perpendicular to the central axis of the car, otherwise the detection range of the radar detection device will be affected. For example, assuming that the radar detection device is installed in front of the car, and the field of view of the radar detection device is 180°, if the installation position of the radar detection device is horizontally shifted to the left, part of the area on the right side in front of the car will become a detection blind spot. Therefore, in the process of installing the radar detection device 100 in a car, there is a high requirement for installation accuracy, and after the installation is completed, it needs to be calibrated in a relatively harsh calibration environment, for example, in a relatively open natural environment and on a straight road for driving Dynamic calibration, etc.
与传统的雷达探测装置100相比，本发明实施例提供的雷达探测装置100的视场角大于或等于180°，一方面，使得雷达探测装置100安装于汽车的一侧后，可对该侧进行视场角为180°的探测，消除了传统的雷达探测装置100的探测盲区，提高了汽车行驶的安全性；一方面，雷达探测装置100的安装水平角度方向具有较大的冗余度，使得雷达探测装置100可在水平方向±x度的冗余度范围内进行安装，在满足视场角的情况下，降低了安装精度要求，提高了安装速度；另一方面，在完成安装后，可在静止环境内，对雷达探测装置100进行校准，无需在较为苛刻校准环境进行校准。Compared with the traditional radar detection device 100, the field of view of the radar detection device 100 provided by the embodiment of the present invention is greater than or equal to 180°. The detection with a field of view angle of 180° eliminates the detection blind spot of the traditional radar detection device 100 and improves the safety of vehicle driving; on the one hand, the installation horizontal angle of the radar detection device 100 has greater redundancy, The radar detection device 100 can be installed within the redundancy range of ±x degrees in the horizontal direction. Under the condition that the field of view angle is satisfied, the installation accuracy requirements are reduced and the installation speed is improved; on the other hand, after the installation is completed, The radar detection device 100 can be calibrated in a static environment, and does not need to be calibrated in a relatively harsh calibration environment.
其中，x值的大小取决于雷达探测装置100的视场角，例如，当雷达探测装置100的视场角为190度时，x值为5，当雷达探测装置100的视场角为200度时，x值为10。The value of x depends on the angle of view of the radar detection device 100. For example, when the angle of view of the radar detection device 100 is 190 degrees, the value of x is 5, and when the angle of view of the radar detection device 100 is 200 degrees , the x value is 10.
请参阅图3，图3示意性出示了雷达探测装置一视角的结构。如图3所示，第一探测组件31包括第一天线板310和第一天线311，且第一天线311设置于第一天线板310，第一天线311用于发射第一电磁波，第一电磁波具有第一视场角，第一视场角的光轴垂直于第一天线板310，第一视场角是以第一天线311的发射位置为起始位置，以被测目标的物象可通过第一电磁波101的最大范围的两条边缘线构成的夹角。在一些实施例中，第一电磁波为锥状波束的毫米波，其波长为1～10mm，第一电磁波用于探测第一视场角范围内出现的目标相对于第二探测组件的距离、速度和/或角度。Please refer to FIG. 3 . FIG. 3 schematically shows the structure of the radar detection device from a viewing angle. As shown in FIG. 3 , the first detection component 31 includes a first antenna plate 310 and a first antenna 311 , and the first antenna 311 is disposed on the first antenna plate 310 , and the first antenna 311 is used for transmitting a first electromagnetic wave, the first electromagnetic wave It has a first angle of view, the optical axis of the first angle of view is perpendicular to the first antenna plate 310, the first angle of view is based on the transmitting position of the first antenna 311 as the starting position, and the object image of the measured target can pass through The angle formed by the two edge lines of the largest range of the first electromagnetic wave 101 . In some embodiments, the first electromagnetic wave is a cone-shaped millimeter wave with a wavelength of 1-10 mm, and the first electromagnetic wave is used to detect the distance and speed of the target appearing within the first field of view angle relative to the second detection component. and/or angle.
其中，第一天线311包括多个第一微带贴片天线，多个第一微带贴片天线相互平行地设置于第一天线板310的侧。相邻两个第一微带贴片天线之间的间距决定了第一视场角大小，间距越大，则第一视场角越大。The first antenna 311 includes a plurality of first microstrip patch antennas, and the plurality of first microstrip patch antennas are arranged on the side of the first antenna plate 310 in parallel with each other. The distance between two adjacent first microstrip patch antennas determines the size of the first angle of view, and the larger the distance, the greater the first angle of view.
第二探测组件32包括第二天线板320和第二天线321，第二天线321设置于第二天线板320，第二天线321用于发射第二电磁波，第二电磁波具有上述的第二视场角，第二视场角的光轴垂直于第二天线板320，第二视场角是以第二天线321的发射位置为起始位置，以被测目标可通过第二电磁波的最大范围的两条边缘构成的夹角。第二电磁波为锥状波束的毫米波，其波长为1～10mm。第二电磁波可用于探测第二视场角范围内的目标物体相对于第二探测组件的距离、速度和/或角度。The second detection component 32 includes a second antenna plate 320 and a second antenna 321. The second antenna 321 is disposed on the second antenna plate 320. The second antenna 321 is used to transmit a second electromagnetic wave, and the second electromagnetic wave has the above-mentioned second field of view The optical axis of the second field of view is perpendicular to the second antenna plate 320, and the second field of view is based on the emission position of the second antenna 321 as the starting position, and is based on the maximum range of the second electromagnetic wave that the measured target can pass through. The angle formed by two edges. The second electromagnetic wave is a millimeter wave of a cone-shaped beam, and its wavelength is 1-10 mm. The second electromagnetic wave can be used to detect the distance, velocity and/or angle of the target object within the second field of view angle relative to the second detection component.
其中，第二天线321包括多个第二微带贴片天线，多个第二微带贴片天线相互平行地设置于第二天线板320的一侧。相邻两个第二微带贴片天线321之间的间距决定了第二视场角大小，间距越大，则第二视场角越大。The second antenna 321 includes a plurality of second microstrip patch antennas, and the plurality of second microstrip patch antennas are arranged on one side of the second antenna plate 320 in parallel with each other. The distance between two adjacent second microstrip patch antennas 321 determines the size of the second angle of view, and the larger the distance, the greater the second angle of view.
第三探测组件33包括第三天线板330和第三天线331，第三天线331设置于第三天线板330，第三天线331用于发射第三电磁波，第三电磁波具有第三视场角，第三视场角的光轴垂直于第三天线板330，第三视场角是以第三天线331的发射位置为起始位置，以被测目标可通过第三电磁波的最大范围的两条边缘线构成的夹角。第三电磁波为锥状波束的毫米波，其波长为1～10mm。 第三电磁波可用于探测第三视场角范围内出现的目标相对于第三探测组件的距离、速度和/或角度。The third detection component 33 includes a third antenna plate 330 and a third antenna 331, the third antenna 331 is disposed on the third antenna plate 330, the third antenna 331 is used for emitting a third electromagnetic wave, and the third electromagnetic wave has a third angle of view, The optical axis of the third field of view is perpendicular to the third antenna plate 330 , and the third field of view is based on the emission position of the third antenna 331 as the starting position, and the object to be measured can pass through the two maximum ranges of the third electromagnetic wave. The angle formed by the edge lines. The third electromagnetic wave is a millimeter wave of a cone beam, and its wavelength is 1-10 mm. The third electromagnetic wave can be used to detect the distance, velocity and/or angle of the target appearing within the third field of view angle relative to the third detection component.
其中，第三天线331包括多个第三微带贴片天线，多个第三微带贴片天线相互平行地设置于第三天线板330的一侧。相邻两个第三微带贴片天线之间的间距决定了第三视场角大小，间距越大，则第三视场角越大。The third antenna 331 includes a plurality of third microstrip patch antennas, and the plurality of third microstrip patch antennas are arranged on one side of the third antenna plate 330 in parallel with each other. The distance between two adjacent third microstrip patch antennas determines the size of the third angle of view, and the larger the distance, the greater the third angle of view.
在一些实施例中，可通过分别设置调整第一电磁波和第三电磁波的光轴与第二电磁波的光轴夹角大小，以及第一电磁波、第二电磁波和第三出射电磁波的起始位置的距离，使得第一电磁波和第二电磁波的视场角，以及第二电磁波与第三电磁波的视场角的相邻两边重合，或者使得第一电磁波、第二电磁波和第三电磁波覆盖的范围部分重合，以使雷达探测装置的整体视场角不小于180°。In some embodiments, the angle between the optical axis of the first electromagnetic wave and the third electromagnetic wave and the optical axis of the second electromagnetic wave, and the initial position of the first electromagnetic wave, the second electromagnetic wave and the third outgoing electromagnetic wave can be adjusted by setting The distance is such that the angle of view of the first electromagnetic wave and the second electromagnetic wave, and the adjacent two sides of the angle of view of the second electromagnetic wave and the third electromagnetic wave coincide, or the range part covered by the first electromagnetic wave, the second electromagnetic wave and the third electromagnetic wave Coincidence, so that the overall field of view of the radar detection device is not less than 180°.
在一些实施例中，第一电磁波和第二电磁波的相交处，其中，重合部分为第一电磁波和第二电磁波的共同的探测区域，错开部分为第一电磁波和第二电磁波不能到达的探测盲区。例如，在图1中由于α1和α2相邻的两条边界线相交形成第一交点，因此，第一交点与雷达探测装置之间的两条边界线段上的线段和雷达探测装置围成的错开区域为探测盲区。在另一些实施例中，由于α2和α3相邻的两条边界线相交形成第二交点，因此，第二交点与雷达探测装置之间的两条边界线段上的线段和雷达探测装置围成的错开区域为探测盲区。In some embodiments, at the intersection of the first electromagnetic wave and the second electromagnetic wave, the overlapping portion is the common detection area of the first electromagnetic wave and the second electromagnetic wave, and the staggered portion is the detection blind area that the first electromagnetic wave and the second electromagnetic wave cannot reach. . For example, in FIG. 1, since the two adjacent boundary lines of α1 and α2 intersect to form the first intersection point, the line segments on the two boundary line segments between the first intersection point and the radar detection device are staggered from the area enclosed by the radar detection device. The area is the detection blind area. In other embodiments, since two adjacent boundary lines of α2 and α3 intersect to form a second intersection point, therefore, the line segments on the two boundary line segments between the second intersection point and the radar detection device and the area enclosed by the radar detection device The staggered area is the detection blind area.
需要说明的是，在实际应用中，通常错开部分的探测盲区较为靠近车身，且错开部分的探测盲区位于第一电磁波和第二电磁波之间，面积较小。在汽车行驶的过程中，第一电磁波、第二电磁波和第三电磁波便可对车身前方和/或后方进行不小于180°视场角的范围内的探测。一般地，目标或障碍物不会突然出现在探测盲区，当汽车于安装雷达探测装置的前方或后方的探测区域出现障碍物时，障碍物便会被第一电磁波、第二电磁波和第三电磁波中的至少一种电磁波探测到。因此，错开部分形成的探测盲区为非必要探测区域。It should be noted that, in practical applications, the detection blind zone of the staggered part is usually closer to the vehicle body, and the detection blind zone of the staggered part is located between the first electromagnetic wave and the second electromagnetic wave, and has a small area. During the running of the vehicle, the first electromagnetic wave, the second electromagnetic wave and the third electromagnetic wave can detect the front and/or rear of the vehicle body within a range of a field angle of not less than 180°. Generally, the target or obstacle will not suddenly appear in the detection blind area. When an obstacle appears in the detection area in front of or behind the radar detection device, the obstacle will be blocked by the first electromagnetic wave, the second electromagnetic wave and the third electromagnetic wave. At least one of the electromagnetic waves is detected. Therefore, the detection blind area formed by the staggered portion is an unnecessary detection area.
在本发明实施例中，第一天线板和第二天线板之间的夹角为第一预设夹角，第二天线板和第三天线板之间的夹角为第二预设夹角。其中，第一视场角、第二视场角、第三视场角、第一预设夹角和第二预设夹角越大，则错开部分形成的探测盲区面积越小。需要说明的是，第一视场角、第二视场角和第三视场角越大，在确保第一探测组件、第二探测组件和第三探测组件探测精度的前提下，则雷达探测装置的开发难度越大。In this embodiment of the present invention, the angle between the first antenna board and the second antenna board is the first preset angle, and the angle between the second antenna board and the third antenna board is the second preset angle . Wherein, the larger the first angle of view, the second angle of view, the third angle of view, the first preset angle and the second preset angle, the smaller the detection blind area area formed by the staggered portion. It should be noted that the larger the first angle of view, the second angle of view and the third angle of view, the greater the detection accuracy of the first detection component, the second detection component and the third detection component, the radar detection The development of the device is more difficult.
进一步地，第一预设夹角和第二预设夹角的角度为165°。通过以上设置，使得了雷达探测装置可进行视场角大于或等于180°的探测，且保证了雷达探测装置的安装冗余度，可使得雷达探测装置可在水平方向一定角度范围内进行安装。在提高雷达探测装置视场角的情况下，降低了对雷达探测装置的安装精度要求，提高了安装速度。Further, the angle between the first preset angle and the second preset angle is 165°. Through the above settings, the radar detection device can perform detection with a field of view angle greater than or equal to 180°, and the installation redundancy of the radar detection device is ensured, so that the radar detection device can be installed within a certain angle in the horizontal direction. In the case of increasing the field of view of the radar detection device, the requirements for the installation accuracy of the radar detection device are reduced, and the installation speed is improved.
图4示意性出示了雷达探测装置一视角的结构，例如，图4可以是图3中雷达探测装置一视角的示意图。如图4所示，第一探测组件41还包括第一 射频芯片412，第一射频芯片412设置于第一天线板410，且第一射频芯片412与第一天线411电性连接。第二探测组件42还包括第二射频芯片422，第二射频芯片422设置于第二天线板420，且第二射频芯片422与第二天线421电性连接。第三探测组件43还包括第三射频芯片432，第二射频芯片432设置于第二天线板430，且第二射频芯片432与第二天线431电性连接。第一射频芯片412、第二射频芯422和第三射频芯片432通信连接。本发明实施例中的通信连接包括有线通信连接和无线通信连接。在本发明的某些实施例中，有线通信连接可以是电性连接，无线通信连接可以是蓝牙连接。FIG. 4 schematically shows the structure of the radar detection device from a perspective. For example, FIG. 4 may be a schematic diagram of the radar detection device in FIG. 3 from a perspective. As shown in FIG. 4 , the first detection component 41 further includes a first radio frequency chip 412, the first radio frequency chip 412 is disposed on the first antenna board 410, and the first radio frequency chip 412 is electrically connected to the first antenna 411. The second detection component 42 further includes a second radio frequency chip 422 , the second radio frequency chip 422 is disposed on the second antenna board 420 , and the second radio frequency chip 422 is electrically connected to the second antenna 421 . The third detection component 43 further includes a third radio frequency chip 432 , the second radio frequency chip 432 is disposed on the second antenna board 430 , and the second radio frequency chip 432 is electrically connected to the second antenna 431 . The first radio frequency chip 412 , the second radio frequency core 422 and the third radio frequency chip 432 are connected in communication. Communication connections in the embodiments of the present invention include wired communication connections and wireless communication connections. In some embodiments of the present invention, the wired communication connection may be an electrical connection, and the wireless communication connection may be a Bluetooth connection.
进一步地，雷达探测装置300还包括电源芯片，电源芯片设置于第一天线板310、第二天线板320和第二天线板330中的至少一块天线板。电源芯片与第一射频芯片312、第二射频芯322和第三射频芯332电性连接，并用于为第一射频芯片312、第二射频芯322和第三射频芯332供电。第一射频芯片312用于将无线电信号转换成一定波形的电磁波，并通过第一天线311谐振发送出去；第二射频芯片322用于将无线电信号转换成一定波形的电磁波，并通过第二天线321谐振发送出去；第三射频芯片332用于将无线电信号转换成一定波形的电磁波，并通过第三天线331谐振发送出去。Further, the radar detection device 300 further includes a power supply chip, and the power supply chip is disposed on at least one antenna board among the first antenna board 310 , the second antenna board 320 and the second antenna board 330 . The power chip is electrically connected to the first radio frequency chip 312 , the second radio frequency core 322 and the third radio frequency core 332 , and is used to supply power to the first radio frequency chip 312 , the second radio frequency core 322 and the third radio frequency core 332 . The first radio frequency chip 312 is used to convert radio signals into electromagnetic waves of a certain waveform, and send them out through the first antenna 311; Resonance is sent out; the third radio frequency chip 332 is used to convert the radio signal into an electromagnetic wave with a certain waveform, and resonate and send out through the third antenna 331 .
在具体实施过程中，第一天线板和第二天线板之间，以及第二天线板和第三天线板之间可通过BTB(board to board，板对板连接器)接口进行连接，也可以通过FPC(Flexible Printed Circuit board，柔性印刷电路板)接口进行连接，以实现第一天线板和第二天线板或第二天线板和第三天线板之间的SPI(Serial Peripheral Interface，串行外设接口)、UART(Universal Asynchronous Receiver/Transmitter，通用异步收发传输器)通信。第一天线板、第二天线板和第三天线板采用主从模式，通过一个CAN或CAN FD接口对外进行检测信号输出。In the specific implementation process, the connection between the first antenna board and the second antenna board, and between the second antenna board and the third antenna board can be made through a BTB (board to board, board-to-board connector) interface, or Connect through the FPC (Flexible Printed Circuit board) interface to realize the SPI (Serial Peripheral Interface) between the first antenna board and the second antenna board or the second antenna board and the third antenna board interface), UART (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver/Transmitter) communication. The first antenna board, the second antenna board and the third antenna board adopt the master-slave mode, and output the detection signal to the outside through a CAN or CAN FD interface.
在一些实施例中，雷达探测装置还包括基带板，第一天线板第二天线板和第三天线板连接于基带板。电源芯片和与电源芯片电性连接的第一射频芯片312、第二射频芯322和第三射频芯332均设置于基带板。In some embodiments, the radar detection device further includes a baseband board, and the first antenna board, the second antenna board and the third antenna board are connected to the baseband board. The power chip and the first radio frequency chip 312 , the second radio frequency core 322 and the third radio frequency core 332 electrically connected to the power chip are all disposed on the baseband board.
请参阅图5，图5为示意性出示了雷达探测装置的另一种结构。如图5所示，基带板520包括依次弯折连接的第一基板521、第二基板522和第三基板523。第一基板521、第二基板522和第三基板523表面分别于第一天线板511、第二天线板512和第三天线板513的表面相对设置。例如，在一些实施例中，第一基板521与第一天线板511平行设置，第二基板522与第二天线板512平行设置，并且第三基板523与第三天线板513平行设置。Please refer to FIG. 5 , which schematically shows another structure of the radar detection device. As shown in FIG. 5 , the base tape board 520 includes a first substrate 521 , a second substrate 522 and a third substrate 523 which are connected by bending in sequence. The surfaces of the first substrate 521 , the second substrate 522 and the third substrate 523 are respectively disposed opposite to the surfaces of the first antenna plate 511 , the second antenna plate 512 and the third antenna plate 513 . For example, in some embodiments, the first substrate 521 is arranged in parallel with the first antenna plate 511 , the second substrate 522 is arranged in parallel with the second antenna plate 512 , and the third substrate 523 is arranged in parallel with the third antenna plate 513 .
请参阅图6和图7，其中，图6示意性出示了雷达探测装置的另一种结构，并且，图7为图6中雷达探测装置另一视角的结构示意图。如图6和图7所示，基带板74包括依次弯折连接的第一基板741、第二基板742和第三基板743。第一天线板71、第二天线板72和第三天线板73的一端分别连接第一基板741、第二基板742和第三基板743的同一侧边沿。第一天线板71、第二天线板72 和第三天线板73与基带板形成夹角可以是任意合适的夹角。例如，第一天线板71、第二天线板72和第三天线板73可以分别垂直连接于第一基板741、第二基板742和第三基板743。Please refer to FIG. 6 and FIG. 7 , wherein FIG. 6 schematically shows another structure of the radar detection device, and FIG. 7 is a schematic structural diagram of the radar detection device in FIG. 6 from another perspective. As shown in FIG. 6 and FIG. 7 , the base tape board 74 includes a first substrate 741 , a second substrate 742 and a third substrate 743 which are connected by bending in sequence. One ends of the first antenna plate 71 , the second antenna plate 72 and the third antenna plate 73 are respectively connected to the same side edges of the first substrate 741 , the second substrate 742 and the third substrate 743 . The included angles formed by the first antenna board 71 , the second antenna board 72 and the third antenna board 73 and the baseband board may be any suitable angles. For example, the first antenna plate 71, the second antenna plate 72 and the third antenna plate 73 may be vertically connected to the first substrate 741, the second substrate 742 and the third substrate 743, respectively.
进一步地，在一些实施例中，雷达探测装置还包括浮动连接器，例如，图5中的浮动连接器530，图7中的浮动连接器75。浮动连接器用于将第一天线板、第二天线板和第三天线板连接于基带板。例如，在图7中，第一天线板71、第二天线板72和第二天线板73分别通过三个浮动连接器55，与第一基带板741、第二基带板742和第二基带板743进行连接，以实现第一天线板71、第二天线板72和第三天线板73之间的SPI(Serial Peripheral Interface，串行外设接口)、UART(Universal Asynchronous Receiver/Transmitter，通用异步收发传输器)通信，第一天线板71、第二天线板72和第三天线板73采用主从模式，通过一个CAN或CANFD接口对外进行检测信号输出。Further, in some embodiments, the radar detection device further includes a floating connector, for example, the floating connector 530 in FIG. 5 and the floating connector 75 in FIG. 7 . The floating connector is used to connect the first antenna board, the second antenna board and the third antenna board to the baseband board. For example, in FIG. 7 , the first antenna board 71 , the second antenna board 72 and the second antenna board 73 are connected to the first baseband board 741 , the second baseband board 742 and the second baseband board through the three floating connectors 55 respectively. 743 is connected to realize the SPI (Serial Peripheral Interface, serial peripheral interface), UART (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver/Transmitter) between the first antenna board 71, the second antenna board 72 and the third antenna board 73 transmitter) communication, the first antenna board 71, the second antenna board 72 and the third antenna board 73 adopt the master-slave mode, and output the detection signal to the outside through a CAN or CANFD interface.
在本发明一些实施例中，雷达探测装置还包括角度调节装置，角度调节装置包括第一角度调节装置和第二角度调节装置，其中，第一角度调节装置连接第一天线板和第二天线板，第二角度调节装置连接第二天线板和第三天线板。第一角度调节装置用于调节第一天线板和第二天线板之间的夹角。第二角度调节装置用于调节第二天线板和第三天线板之间的夹角。In some embodiments of the present invention, the radar detection device further includes an angle adjustment device, and the angle adjustment device includes a first angle adjustment device and a second angle adjustment device, wherein the first angle adjustment device is connected to the first antenna plate and the second antenna plate , the second angle adjustment device is connected to the second antenna board and the third antenna board. The first angle adjusting device is used for adjusting the included angle between the first antenna board and the second antenna board. The second angle adjusting device is used to adjust the included angle between the second antenna board and the third antenna board.
具体地，角度调节装置包括弹性装置、记忆合金以及驱动装置，弹性装置的两端分别连接第一天线板和第二天线板，弹性装置弹性压缩于第一天线板和第二天线板之间，记忆合金的两端分别连接第一天线板和第二天线板，驱动装置连接记忆合金，弹性装置用于提供弹性力，以使得第一天线板和第二天线板具有朝向远离彼此的方向转动，记忆合金用于通电收缩，以驱动第一天线板和第二天线板(或第二天线板和第三天线板)朝向靠近彼此的方向转动，从而改变第一天线板和第二天线板或第二天线板和第三天线板)之间的夹角，驱动装置用于为记忆合金供电。其中，弹性装置和记忆合金均位于第一天线板和第二天线板(或第二天线板和第三天线板)的同一侧面，弹性装置可以是压簧，弹片，或扭簧等。Specifically, the angle adjustment device includes an elastic device, a memory alloy and a driving device, two ends of the elastic device are respectively connected to the first antenna plate and the second antenna plate, and the elastic device is elastically compressed between the first antenna plate and the second antenna plate, Two ends of the memory alloy are respectively connected to the first antenna plate and the second antenna plate, the driving device is connected to the memory alloy, and the elastic device is used to provide elastic force, so that the first antenna plate and the second antenna plate have a direction to rotate away from each other, The memory alloy is used to energize and shrink to drive the first antenna plate and the second antenna plate (or the second antenna plate and the third antenna plate) to rotate toward each other, thereby changing the first antenna plate and the second antenna plate or the third antenna plate. The included angle between the second antenna plate and the third antenna plate), the driving device is used to supply power to the memory alloy. Wherein, the elastic device and the memory alloy are located on the same side of the first antenna plate and the second antenna plate (or the second antenna plate and the third antenna plate), and the elastic device can be a compression spring, an elastic sheet, or a torsion spring.
本发明实施例还提供一种雷达探测系统，该雷达探测系统包括上述的雷达探测装置和移动设备，其中，雷达探测装置安装于移动设备并于移动设备通信连接。本实施例中的移动设备具体可以是车辆、移动机器人或无人机等。雷达探测装置用于对移动设备前方或后方出现的目标进行探测，例如，可以探测目标的相对于雷达探测装置的速度、距离和角度。其余结构请参考现有技术，本文不再赘述。An embodiment of the present invention further provides a radar detection system, the radar detection system includes the above-mentioned radar detection device and a mobile device, wherein the radar detection device is installed on the mobile device and is communicatively connected to the mobile device. The mobile device in this embodiment may specifically be a vehicle, a mobile robot, or an unmanned aerial vehicle. The radar detection device is used to detect the target appearing in front of or behind the mobile device, for example, the speed, distance and angle of the target relative to the radar detection device can be detected. For other structures, please refer to the prior art, which will not be repeated here.
本发明实施例提供了一种了雷达探测装置和雷达探测系统，包括依次设置的第一探测组件、第二探测组件和第三探测组件；其中，第一探测组件发射的第一电磁波具有第一视场角，第二探测组件发射的第二电磁波具有第二视场角，第三探测组件发射的第三电磁波具有第三视场角。由于第一视场角和第二视场角的边界线重合或第一视场角和第二视场角覆盖的探测区域部分重合，且 第二视场角和第三视场角的边界线重合或第一视场角和第二视场角覆盖的探测区域部分重合，故第一探测组件、第二探测组件和第三探测组件的探测区域能够互相叠加，以形成更大的探测区域，从而减小探测盲区。Embodiments of the present invention provide a radar detection device and a radar detection system, including a first detection component, a second detection component, and a third detection component arranged in sequence; wherein, the first electromagnetic wave emitted by the first detection component has a first detection component. The angle of view, the second electromagnetic wave emitted by the second detection component has a second angle of view, and the third electromagnetic wave emitted by the third detection component has a third angle of view. Because the boundary lines of the first field of view and the second field of view overlap or the detection areas covered by the first and second field of view are partially overlapped, and the boundary lines of the second and third field of view angle Coincidence or the detection areas covered by the first field of view angle and the second field of view angle are partially coincident, so the detection areas of the first detection component, the second detection component and the third detection component can be superimposed on each other to form a larger detection area, Thereby reducing the detection blind area.
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related technologies Fields are similarly included in the scope of patent protection of the present invention.

Claims (12)

  1. 一种雷达探测装置，其特征在于，所述雷达探测装置包括第一探测组件、第二探测组件和第三探测组件；其中，A radar detection device, characterized in that the radar detection device comprises a first detection component, a second detection component and a third detection component; wherein,
    所述第一探测组件用于发射第一电磁波，所述第一电磁波具有第一视场角；the first detection component is used for emitting a first electromagnetic wave, and the first electromagnetic wave has a first field of view;
    所述第二探测组件用于发射第二电磁波，所述第二电磁波具有第二视场角；The second detection component is used for emitting a second electromagnetic wave, and the second electromagnetic wave has a second field of view;
    所述第三探测组件用于发射第三电磁波，所述第三电磁波具有第三视场角；其中，The third detection component is used for emitting a third electromagnetic wave, and the third electromagnetic wave has a third angle of view; wherein,
    所述第一视场角和所述第二视场角的边界线重合或所述第一视场角和所述第二视场角覆盖的探测区域部分重合；The boundary lines of the first angle of view and the second angle of view overlap or the detection area covered by the first angle of view and the second angle of view overlap partially;
    所述第二视场角和所述第三视场角的边界线重合或所述第二视场角和所述第三视场角覆盖的探测区域部分重合；The boundary lines of the second angle of view and the third angle of view overlap or the detection area covered by the second angle of view and the third angle of view overlap partially;
    所述雷达探测装置的视场角大于或等于180°。The field of view of the radar detection device is greater than or equal to 180°.
  2. 根据权利要求1所述的雷达探测装置，其特征在于，所述第一探测组件包括第一天线板和第一天线，所述第一天线设置于所述第一天线板，所述第一天线用于发射所述第一电磁波；The radar detection device according to claim 1, wherein the first detection component comprises a first antenna plate and a first antenna, the first antenna is disposed on the first antenna plate, and the first antenna for emitting the first electromagnetic wave;
    所述第二探测组件包括第二天线板和第二天线，所述第二天线设置于所述第二天线板，所述第二天线用于发射所述第二电磁波；The second detection component includes a second antenna plate and a second antenna, the second antenna is arranged on the second antenna plate, and the second antenna is used to transmit the second electromagnetic wave;
    所述第三探测组件包括第三天线板和第三天线，所述第三天线设置于所述第三天线板，所述第三天线用于发射所述第三电磁波。The third detection component includes a third antenna plate and a third antenna, the third antenna is disposed on the third antenna plate, and the third antenna is used for transmitting the third electromagnetic wave.
  3. 根据权利要求2所述的雷达探测装置，其特征在于，所述第一探测组件还包括第一射频芯片，所述第一射频芯片设置于所述第一天线板，且所述第一射频芯片与所述第一天线电性连接；The radar detection device according to claim 2, wherein the first detection component further comprises a first radio frequency chip, the first radio frequency chip is disposed on the first antenna board, and the first radio frequency chip electrically connected with the first antenna;
    所述第二探测组件还包括第二射频芯片，所述第二射频芯片设置于所述第二天线板，且所述第二射频芯片与所述第二天线电性连接；The second detection component further includes a second radio frequency chip, the second radio frequency chip is disposed on the second antenna board, and the second radio frequency chip is electrically connected to the second antenna;
    所述第三探测组件还包括第三射频芯片，所述第三射频芯片设置于所述第三天线板，且所述第三射频芯片与所述第二天线电性连接；The third detection component further includes a third radio frequency chip, the third radio frequency chip is disposed on the third antenna board, and the third radio frequency chip is electrically connected to the second antenna;
    所述第一射频芯片、所述第二射频芯片和所述第三射频芯片通信连接。The first radio frequency chip, the second radio frequency chip and the third radio frequency chip are connected in communication.
  4. 根据权利要求3所述的雷达探测装置，其特征在于，所述雷达探测装置还包括至少一电源芯片，所述第一天线板、所述第二天线板和/或所述第三天线板设置有所述电源芯片；The radar detection device according to claim 3, wherein the radar detection device further comprises at least one power supply chip, and the first antenna board, the second antenna board and/or the third antenna board are provided with There is the power chip;
    当所述第一天线板、所述第二天线板或所述第三天线板设置有所述电源芯片时，所述电源芯片的数量为一个，所述第一射频芯片、所述第二射频芯片和 所述第三射频芯片均与所述电源芯片电性连接；When the first antenna board, the second antenna board or the third antenna board is provided with the power supply chip, the number of the power supply chip is one, the first radio frequency chip, the second radio frequency chip Both the chip and the third radio frequency chip are electrically connected to the power chip;
    当所述第一天线板、所述第二天线板和所述第三天线板设置有所述电源芯片时，所述电源芯片的数量为三个，三个所述电源芯片分别与所述第一射频芯片、所述第二射频芯片和所述第三射频芯片电性连接。When the first antenna board, the second antenna board and the third antenna board are provided with the power supply chips, the number of the power supply chips is three, and the three power supply chips are respectively connected with the third antenna board. A radio frequency chip, the second radio frequency chip and the third radio frequency chip are electrically connected.
  5. 根据权利要求2所述的雷达探测装置，其特征在于，所述雷达探测装置还包括电源芯片和基带板，所述电源芯片设置于所述基带板，所述第一天线板、所述第二天线板和所述第三天线板连接于所述基带板；The radar detection device according to claim 2, wherein the radar detection device further comprises a power supply chip and a baseband board, the power supply chip is arranged on the baseband board, the first antenna board, the second antenna board The antenna board and the third antenna board are connected to the baseband board;
    所述第一探测组件还包括第一射频芯片，所述第一射频芯片设置于所述基带板，且所述第一射频芯片与所述第一天线电性连接；The first detection component further includes a first radio frequency chip, the first radio frequency chip is disposed on the baseband board, and the first radio frequency chip is electrically connected to the first antenna;
    所述第二探测组件还包括第二射频芯片，所述第二射频芯片设置于所述基带板，且所述第二射频芯片与所述第二天线电性连接；The second detection component further includes a second radio frequency chip, the second radio frequency chip is disposed on the baseband board, and the second radio frequency chip is electrically connected to the second antenna;
    所述第三探测组件还包括第三射频芯片，所述第三射频芯片设置于所述基带板，且所述第三射频芯片与所述第三天线电性连接；The third detection component further includes a third radio frequency chip, the third radio frequency chip is disposed on the baseband board, and the third radio frequency chip is electrically connected to the third antenna;
    所述电源芯片与所述第一射频芯片、所述第二射频芯片和所述第三射频芯片电性连接；the power chip is electrically connected to the first radio frequency chip, the second radio frequency chip and the third radio frequency chip;
    所述第一射频芯片、所述第二射频芯片和所述第三射频天线通信连接。The first radio frequency chip, the second radio frequency chip and the third radio frequency antenna are connected in communication.
  6. 根据权利要求5所述的雷达探测装置，其特征在于，所述基带板包括第一基板、第二基板和第三基板，且所述第一基板和所述第三基板位于所述第二基板的两端；The radar detection device according to claim 5, wherein the baseband board comprises a first substrate, a second substrate and a third substrate, and the first substrate and the third substrate are located on the second substrate both ends of ;
    所述第一天线板与所述第一基板相对设置，所述第二天线板与所述第二基板相对设置，所述第三天线板与所述第三基板相对设置。The first antenna plate is arranged opposite to the first substrate, the second antenna plate is arranged opposite to the second substrate, and the third antenna plate is arranged opposite to the third substrate.
  7. 根据权利要求5所述的雷达探测装置，其特征在于，所述基带板包括的第一基板、第二基板和第三基板，且所述第一基板和所述第三基板位于所述第二基板的两端；The radar detection device according to claim 5, wherein the baseband board comprises a first substrate, a second substrate and a third substrate, and the first substrate and the third substrate are located in the second substrate both ends of the substrate;
    所述第一天线板垂直于所述第一基板，所述第二天线板垂直于所述第二基板，且所述第三天线板垂直于所述第三基板。The first antenna plate is perpendicular to the first substrate, the second antenna plate is perpendicular to the second substrate, and the third antenna plate is perpendicular to the third substrate.
  8. 根据权利要求5所述的雷达探测装置，其特征在于，所述雷达探测装置还包括浮动连接器；The radar detection device according to claim 5, wherein the radar detection device further comprises a floating connector;
    所述第一天线板、所述第二天线板、所述第三天线板分别通过所述浮动连接器与所述基带板连接。The first antenna board, the second antenna board, and the third antenna board are respectively connected to the baseband board through the floating connector.
  9. 根据权利要求2-8任一项所述的雷达探测装置，其特征在于，所述雷达探测装置还包括第一角度调节装置和第二角度调节装置；The radar detection device according to any one of claims 2-8, wherein the radar detection device further comprises a first angle adjustment device and a second angle adjustment device;
    所述第一角度调节装置连接所述第一天线板和所述第二天线板，所述第一 角度调节装置用于调整所述第一天线板与所述第二天线板之间的夹角；The first angle adjustment device is connected to the first antenna plate and the second antenna plate, and the first angle adjustment device is used to adjust the angle between the first antenna plate and the second antenna plate ;
    所述第二角度调节装置连接所述第二天线板和所述第三天线板，所述第二角度调节装置用于调整所述第二天线板和所述第三天线板之间的夹角。The second angle adjustment device is connected to the second antenna plate and the third antenna plate, and the second angle adjustment device is used to adjust the angle between the second antenna plate and the third antenna plate .
  10. 根据权利要求1-8任一项所述的雷达探测装置，其特征在于，所述第一视场角的角度大于或等于10°且小于或等于90°；和/或The radar detection device according to any one of claims 1-8, wherein the angle of the first field of view angle is greater than or equal to 10° and less than or equal to 90°; and/or
    所述第三视场角的角度大于或等于10°且小于或等于90°；The angle of the third angle of view is greater than or equal to 10° and less than or equal to 90°;
    所述第二视场角的角度大于或等于120°且小于或等于170°。The angle of the second field of view is greater than or equal to 120° and less than or equal to 170°.
  11. 根据权利要求2-8任一项所述的雷达探测装置，其特征在于，所述第一天线板和所述第二天线板之间的夹角的角度包括165°；和/或The radar detection device according to any one of claims 2-8, wherein the angle of the included angle between the first antenna plate and the second antenna plate includes 165°; and/or
    所述第二天线板与所述第三天线板之间的夹角的角度包括165°。The angle of the included angle between the second antenna plate and the third antenna plate includes 165°.
  12. 一种雷达探测系统，其特在于，所述雷达探测系统包括移动设备和如权利要求1-11任一项所述的雷达探测装置，所述雷达探测装置安装于所述移动设备，所述雷达探测装置和所述移动设备通信连接。A radar detection system, characterized in that the radar detection system comprises a mobile device and the radar detection device according to any one of claims 1-11, the radar detection device is installed on the mobile device, and the radar The detection device is connected in communication with the mobile device.
PCT/CN2021/125394 2020-10-22 2021-10-21 Radar detection device and radar detection system WO2022083699A1 (en)

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