TW202111999A - Vehicle radar device and system thereof - Google Patents

Abstract

A vehicle radar device includes a first antenna unit, a second antenna unit, at least one computing unit, at least one circuit board and a housing. The first antenna unit includes at least one first receiving antenna. The second antenna unit includes at least two second receiving antennas. The at least two second receiving antennas are in at least two antenna types, respectively. The first antenna unit and the second antenna unit are communicatively connected to the computing unit. The circuit board includes a first board portion and a second board portion. The first antenna unit is in a circuit board type and disposed on the first board portion. The second antenna unit is in a circuit board type and disposed on the second board portion. The first antenna unit, the second antenna unit, the computing unit and the circuit board are all disposed in the housing, which includes a bottom portion. When a specific condition is satisfied, it is advantageous in providing a larger detection range and reducing the range of the blind zone.

Description

Vehicle radar device and its system

The present invention relates to a vehicle radar device and its system, and more particularly to a vehicle radar device and its system including two antenna units.

With the vigorous development of Advanced Driver Assistance System (ADAS) and autonomous driving technology, vehicle radar devices have the function of detecting objects close to and far away from the vehicle, so their applications and demands are also increasing day by day.

For vehicles with more than four wheels, especially large vehicles, such as buses and trucks, the blind spots of sight are under the driver's seat, behind the vehicle, and on the left and right sides. When a large vehicle is turning, the phenomenon of "Radius Difference Between Inner Wheels" (Radius Difference Between Inner Wheels) in which the rear wheels deviate to the turning side will also occur, which poses a considerable threat to the vehicle on that side. (Turning on the other side) the vehicle bears the most risk. Another large vehicle has the characteristic that it is not easy to accelerate or decelerate, so it is often prone to dangerous behaviors such as grabbing a yellow light or running a red light without stopping the brake, and it is extremely prone to traffic accidents. In addition, when driving at high speeds, large vehicles are prone to generate strong airflow and cause nearby vehicles to shake, and the rolled up sand and dust will also affect the driving safety of other vehicles, so the surrounding areas of large vehicles are dangerous areas.

Combining the above-mentioned large-scale blind spots of large vehicles and the phenomenon of inner wheel difference, only relying on publicity and other reminders still exposes pedestrians or other vehicles to extremely high risks. Among large vehicles, buses that must drive in the urban area have a higher frequency of accidents, and because the car body is bulkier when there are many passengers, it is too late to discover abnormalities when they pass other vehicles. At present, we can only passively advocate that cars, motorcycles, bicycles and pedestrians should stay away from large vehicles as much as possible when passing on the road, avoid getting close to large vehicles, and keep a greater distance from them when turning large vehicles to ensure driving safety.

Therefore, in the current market of vehicle radar devices, there is an urgent need to develop a solution that can effectively detect objects in the surrounding environment by the vehicle itself, especially the large vehicle itself, to prevent blind angles of sight or inner wheels from causing traffic accidents.

The invention provides a vehicle radar device and a system thereof. The first antenna unit and the second antenna unit included in the vehicle radar device are non-coplanar antenna arrays, which help provide a larger detection range and reduce the detection dead angle.

According to the present invention, a vehicle radar device is provided, which includes a first antenna unit, a second antenna unit, at least one computing unit, at least one circuit board, and a housing. The first antenna unit includes at least one first receiving antenna. The second antenna unit includes at least two second receiving antennas, wherein the at least two second receiving antennas are in at least two antenna forms, respectively. The first antenna unit and the second antenna unit are in communication connection with the arithmetic unit. The circuit board includes a first board portion and a second board portion. The first antenna unit is in the form of a circuit board and is disposed on the first board portion, and the second antenna unit is in the form of a circuit board and is disposed on the second board. The first antenna unit, the second antenna unit, the arithmetic unit and the circuit board are all arranged in the housing, and the housing includes the bottom. The thickness of the vehicle radar device is calculated from the outer surface of the bottom and the thickness is HT, which meets the following conditions: 15 mm ≤ HT ≤ 50 mm. In this way, it helps to provide a larger detection range and reduce the detection dead angle.

According to the aforementioned vehicle radar device, the angle between the first plate and the outer surface of the bottom is B1, and the angle between the second plate and the outer surface of the bottom is B2, which can meet the following conditions: 25 degrees ≤ B1 ≤ 50 degrees; And 25 degrees ≤ B2 ≤ 50 degrees.

According to the aforementioned vehicle radar device, the housing further includes two cover parts. The thickness of each of the two cover parts is the same. The first plate part is parallel to one of the two cover parts and its spacing is S1, and the second plate part is parallel to the other of the two cover parts and the spacing is S2, which can satisfy The following conditions: 0 mm ＜ S1 ≤ 5 mm; and 0 mm ＜ S2 ≤ 5 mm.

According to the aforementioned vehicle radar device, it may further include at least one ground lamp, which is irradiated from the two cover parts of the housing.

According to the aforementioned vehicle radar device, the number of the at least one arithmetic unit may be two, the first antenna unit and the second antenna unit are respectively connected to the two arithmetic units in communication, and the two arithmetic units are respectively arranged at The first plate portion and the second plate portion.

According to the aforementioned vehicle radar device, the number of the circuit board may be one, and the first board portion and the second board portion are both located on the circuit board.

According to the aforementioned vehicle radar device, the number of the at least one circuit board may be two, and the first board portion and the second board portion are located on one and the other of the two circuit boards, respectively.

According to the aforementioned vehicle radar device, wherein the operating frequency of the first antenna unit and the operating frequency of the second antenna unit may both be greater than 10 GHz, the first antenna unit further includes at least one first transmitting antenna, and a second antenna unit It further includes at least one second transmitting antenna.

According to the aforementioned vehicle radar device, the structure of at least one of the first transmitting antenna, the first receiving antenna, the second transmitting antenna, and the second receiving antenna may include a bent wire antenna.

According to the aforementioned vehicle radar device, the structure of at least one of the first transmitting antenna, the first receiving antenna, the second transmitting antenna, and the second receiving antenna may include a patch antenna.

According to the aforementioned vehicle radar device, the angle between the center line of the main wave of the first antenna unit on a plane and the center line of the main wave of the second antenna unit on the plane is A12, and the plane is vertical The first plate part and the second plate part can meet the following conditions: 50 degrees ≤ A12 ≤ 100 degrees.

According to the aforementioned vehicle radar device, the half-power beam width of the main wave of the first antenna unit on a plane is AH1, and the half-power beam width of the main wave of the second antenna unit on the plane is AH2, and The plane is perpendicular to the first plate portion and the second plate portion, which can satisfy the following conditions: 100 degrees ≤ AH1 ＜ 180 degrees; and 100 degrees ≤ AH2 ＜ 180 degrees.

According to the aforementioned vehicle radar device, the half-power beam width of the main wave of the first antenna unit on the other plane is AV1, and the other plane is perpendicular to the plane and the first plate portion, and the second antenna unit The half-power beamwidth of the main wave in the further plane is AV2, and the further plane is perpendicular to the plane and the second plate, which can meet the following conditions: 100 degrees ≤ AV1 ＜ 180 degrees; and 100 degrees ≤ AV2 <180 degrees.

With the aforementioned vehicle radar device, it helps to detect objects in the surrounding environment more accurately.

According to the present invention, another vehicle radar system is provided, which is installed in a vehicle. The vehicle radar system includes at least one vehicle radar device. The at least one vehicle radar device is installed on at least one of the left and right sides of the vehicle. The vehicle radar device includes the first day. The line unit, the second antenna unit, at least one arithmetic unit and at least one circuit board. The first antenna unit and the second antenna unit are in communication connection with the arithmetic unit. The circuit board includes a first board portion and a second board portion. Both the first board portion and the second board portion are substantially perpendicular to the horizontal plane of the vehicle. The first antenna unit is in the form of a circuit board and is arranged on the first board portion. The antenna unit is in the form of a circuit board and is arranged on the second board part. When the vehicle radar system is in the inner wheel difference detection mode, the vehicle radar system calculates the turning information of the vehicle through at least one of the direction light signal, the rudder angle signal and the yaw rate signal, and the vehicle radar system adjusts adaptively according to the turning information The alarm condition of the vehicle. The included angle between the first plate portion and the second plate portion is P12, which meets the following conditions: 80 degrees ≤ P12 ≤ 130 degrees. This helps the vehicle radar system to reduce the detection blind spot while simplifying the number of its devices.

According to the aforementioned vehicle radar system, the angle between the first plate and the side of the vehicle where the vehicle radar device is set is V1, and the angle between the second plate and the side of the vehicle where the vehicle radar device is set is V1 V2, which can meet the following conditions: 25 degrees ≤ V1 ≤ 50 degrees; and 25 degrees ≤ V2 ≤ 50 degrees.

According to the aforementioned vehicle radar system, the length of the vehicle may be 10 m or more and 18 m or less, the number of the vehicle radar device is one, and the vehicle radar device is arranged on the left or right side of the vehicle.

According to the aforementioned vehicle radar system, it may further include at least one side radar device, which is arranged on at least one of the left and right sides of the vehicle, and one of the side radar device and the vehicle radar device is controlled by the other and the vehicle of the vehicle. Unit communication connection.

According to the aforementioned vehicle radar system, the length of the vehicle may be 4 m or more and 8 m or less, the number of the at least one vehicle radar device is two, and one of the two vehicle radar devices is arranged on the left side of the vehicle and Adjacent to the rear side of the vehicle, the other of the two vehicle radar devices is arranged on the right side of the vehicle and adjacent to the rear side of the vehicle.

According to the aforementioned vehicle radar system, one of the two vehicle radar devices can communicate with the vehicle control unit of the vehicle through the other.

According to the aforementioned vehicle radar system, when the vehicle radar system is in the inner wheel difference detection mode, the vehicle radar system can calculate the turning information of the vehicle through the yaw rate signal, and the vehicle radar system adaptively adjusts the vehicle's alarm according to the turning information condition.

According to the aforementioned vehicle radar system, the vehicle radar device further includes a housing, wherein the first antenna unit, the second antenna unit, the arithmetic unit and the circuit board are all arranged in the housing, the housing includes a bottom, and the outer surface of the bottom is parallel to the vehicle radar The side of the vehicle on which the device is installed. The thickness of the vehicle radar device is calculated from the outer surface of the bottom and the thickness is HT, which can meet the following conditions: 15 mm ≤ HT ≤ 50 mm.

With the aforementioned vehicle radar system, the device in the vehicle radar system will not protrude too much when installed on the outer surface of the vehicle to comply with relevant regulations, and still have sufficient detection angle and range.

Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. For the sake of clarity, many practical details will be explained in the following description. However, it should be understood that these practical details should not be used to limit the present invention. That is to say, in some embodiments of the present invention, these practical details are unnecessary. In addition, for the sake of simplifying the drawings, some conventionally used structures and elements will be drawn in a simple schematic manner in the drawings; and repeated elements may be represented by the same numbers.

Please refer to FIGS. 1A to 1E, where FIG. 1A is a schematic diagram of a vehicle radar device 100 according to a first embodiment of the present invention, FIG. 1B is a cross-sectional view according to the section line 1B-1B of FIG. 1A, and FIG. 1C An exploded view of the vehicle radar device 100 of the first embodiment is shown. Figure 1D is an exploded view of the vehicle radar device 100 of the first embodiment facing the first board portion 171. Figure 1E shows the first implementation. The example is an exploded view of the vehicle radar device 100 facing the second board portion 172, and the drawing in the first embodiment omits the assembly or locking components and the detailed components on the circuit boards 161 and 162. It can be seen from FIGS. 1A to 1E that the vehicle radar device 100 includes a first antenna unit 111, a second antenna unit 112, a computing unit 107, and circuit boards 161 and 162.

The first antenna unit 111 and the second antenna unit 112 are in communication connection with the arithmetic unit 107, wherein the arithmetic unit 107 may include a processing element and a storage element. The circuit boards 161 and 162 respectively include a first board portion 171 and a second board portion 172. The first antenna unit 111 is in the form of a circuit board and is disposed on the first board portion 171, and the second antenna unit 112 is in the form of a circuit board and is disposed.于二板部172。 At the second plate 172. In the first embodiment, the first board portion 171 is a part of the circuit boards 161 and 162, specifically at least a part of the circuit board 161. The second board portion 172 is a part of the circuit boards 161 and 162, specifically at least a part of the circuit board 162. The arithmetic unit 107 is arranged on the first board portion 171 (that is, one of the first board portion 171 and the second board portion 172), a plurality of radio frequency transmitting elements (such as power amplifiers, filters, etc., but not limited to this) and a plurality of Radio frequency receiving elements (such as low noise amplifiers, filters, etc., but not limited to this) are coupled between the first antenna unit 111 and the arithmetic unit 107, and the complex radio frequency transmitting elements and the complex radio frequency receiving The element and the arithmetic unit 107 are arranged in a shielding cover. According to other embodiments of the present invention, the first board portion and the second board portion may be two parts on the same circuit board.

It can be seen from Figure 1B that the angle between the first plate portion 171 and the second plate portion 172 is P12, which satisfies the following condition: 80 degrees ≤ P12 ≤ 130 degrees. Thereby, the first antenna unit 111 and the second antenna unit 112 are non-coplanar antenna arrays, which helps to provide the required larger detection angle and detection angle by using only a single device (that is, the vehicle radar device 100). The vehicle radar device 100 that satisfies the aforementioned parameter P12 condition range can effectively reduce the detection blind spot between the first plate portion 171 and the second plate portion 172, which also contributes to the miniaturization of the vehicle radar device 100. In the first embodiment, the parameter P12 is 120 degrees.

In the first embodiment, the vehicle radar device 100 may further include a housing 180, in which the first antenna unit 111, the second antenna unit 112, the computing unit 107, and the circuit boards 161 and 162 are all disposed in the housing 180.

The housing 180 includes a bottom 183. The angle between the first plate 171 and the outer surface 184 of the bottom 183 is B1, and the angle between the second plate 172 and the outer surface 184 of the bottom 183 is B2, which can meet the following conditions: 25 degrees ≤ B1 ≤ 50 degrees; and 25 Degree ≤ B2 ≤ 50 degrees. This helps to directly attach the bottom 183 to the outer surface of the vehicle body, which not only simplifies the installation process of the vehicle radar device 100 on the vehicle body, but also maintains the expected detection angle and range. In the first embodiment, the parameter B1 is 30 degrees, and the parameter B2 is 30 degrees.

The thickness of the vehicle radar device 100 is calculated from the outer surface 184 of the bottom 183 and the thickness is HT, which can meet the following conditions: 15 mm ≤ HT ≤ 50 mm. In this way, the body of a large vehicle is mostly made of metal material, so the vehicle radar device 100 is not suitable for installation inside the vehicle body, so the vehicle radar device 100 helps to prevent excessive protrusion when installed on the outer surface of the vehicle body (for example, it does not protrude too much). The vehicle radar device 100 that is larger than the thickness of the bumper to comply with relevant regulations and meets the aforementioned parameter P12 or B1, B2 condition range still has sufficient detection angle and range when the aforementioned parameter HT condition range is further satisfied. In the first embodiment, the parameter HT is approximately 29.9 mm.

The housing 180 further includes two cover parts, namely cover parts 181 and 182. The thickness of the cover portion 181 is substantially the same, and the thickness of the cover portion 182 is substantially the same, that is, the thickness unevenness caused by inevitable manufacturing tolerances is excluded. The first plate portion 171 (that is, the position of the signal emission source of the first antenna unit 111) is parallel to one of the cover portions 181, 182 (namely the cover portion 181) with a distance of S1, and the second plate portion 172 (namely, the The position of the signal emission source of the two antenna units 112 is parallel to the other of the cover portions 181 and 182 (ie, the cover portion 182) with a distance of S2, which can meet the following conditions: 0 mm <S1 ≤ 5 mm; and 0 mm ＜ S2 ≤ 5 mm. Thereby, the housing 180 has a miniaturized design and can reduce its lens effect to avoid focusing or dispersing radar waves, so that the vehicle radar device 100 has a wide-angle detection function, and has anti-vibration properties to reduce noise. Preferably, it can satisfy the following conditions: 2 mm ≤ S1 ≤ 3 mm; and 2 mm ≤ S2 ≤ 3 mm. In the first embodiment, the parameter S1 is 2.5 mm, and the parameter S2 is 2.5 mm. According to an embodiment of the present invention, the two cover portions in the housing are respectively close to the first plate portion and the second plate portion, and the bottom of the housing is away from the side with a smaller distance between the first plate portion and the second plate portion.

According to other embodiments of the present invention (not shown in the figure), if the vehicle radar device intends to perform remote detection, it is adjacent to and facing the two surfaces of each of the two housings of the first plate portion and the second plate portion. It can be designed as a curved surface (that is, the thickness of each cover is inconsistent) to produce a lens effect. Simply put, each cover is like an "electromagnetic lens" that can change the direction of radar waves. The surface curvature of each cover and the dielectric constant of the material In relation to this, the different shapes (or electromagnetic lens shapes) of each cover will produce different electric field phases. In addition, when the outer surface of each cover portion of the vehicle radar device is convex, if dust or rainwater adheres to the outer surface of each cover portion, these attachments will easily follow the outer surface due to the flow of air when the vehicle is traveling. The curved shape of each cover is blown away, so as to maintain the electromagnetic lens characteristics of each cover, that is, the surface curvature of each cover or the length of the radar wave path will not be changed due to the influence of dust or rain.

It can be seen from FIG. 1D and FIG. 1E that the number of the computing unit 107 is one, the first antenna unit 111 and the second antenna unit 112 are communicatively connected with the computing unit 107, and the computing unit 107 is disposed on the first board portion 171. Specifically, the circuit boards 161 and 162 can be electrically connected to at least one of a flexible circuit board, another circuit board, a connector, and a cable (not limited to this), so that the circuit board 162 is disposed on the first part of the circuit board 162. The two antenna units 112 are in communication connection with the arithmetic unit 107 provided on the circuit board 161. In this way, it is helpful to miniaturize the vehicle radar device 100 and effectively integrate the transmitted signal and the received signal of the first antenna unit 111 and the second antenna unit 112.

According to other embodiments of the present invention (not shown in the figure), the number of arithmetic units in the vehicle radar device may be two, the first antenna unit and the second antenna unit are respectively connected to the two arithmetic units in communication, the The two arithmetic units are respectively arranged on the first plate portion and the second plate portion. This contributes to the design flexibility and convenience of the vehicle radar device. Furthermore, the two arithmetic units may be respectively communicatively connected with the vehicle control unit of the vehicle, or one of the two arithmetic units may be communicatively connected with the vehicle control unit of the vehicle through the other.

In the first embodiment, the number of circuit boards in the vehicle radar device 100 is two, namely circuit boards 161 and 162, and the first board portion 171 and the second board portion 172 are located on the circuit boards 161 and 162, respectively. This helps the circuit boards 161, 162 and related components to be directly applied to various vehicle radar devices with different values of the parameter P12 as required.

The operating frequency of the first antenna unit 111 and the operating frequency of the second antenna unit 112 may both be greater than 10 GHz. Preferably, the operating frequency of the first antenna unit 111 and the operating frequency of the second antenna unit 112 may both be greater than 10 GHz and less than 300 GHz. More preferably, the operating frequency of the first antenna unit 111 and the operating frequency of the second antenna unit 112 may be 24 GHz +/- 5G Hz, 77 GHz +/- 5G Hz, or 79 GHz +/- 5G Hz. The first antenna unit 111 includes at least one first transmitting antenna 121 and at least one first receiving antenna 141, and the second antenna unit 112 includes at least one second transmitting antenna 122 and at least one second receiving antenna 142. This helps the vehicle radar device 100 to detect objects in the surrounding environment more accurately. In the first embodiment, the operating frequency of the first antenna unit 111 and the operating frequency of the second antenna unit 112 are both approximately 79 GHz.

The structure of at least one of the first transmitting antenna 121, the first receiving antenna 141, the second transmitting antenna 122, and the second receiving antenna 142 may include a patch antenna. In this way, the vehicle radar device 100 can be both miniaturized and provide a larger detection range. In the first embodiment, the structure of each of the first transmitting antenna 121, the first receiving antenna 141, the second transmitting antenna 122, and the second receiving antenna 142 includes a patch antenna. According to an embodiment of the present invention, the patch antenna included in the structure of at least one of the first transmitting antenna, the first receiving antenna, the second transmitting antenna, and the second receiving antenna may be a single patch antenna or a plurality of patch antennas. An antenna array formed by a radiating element (Radiating Element), such as a Series-Fed Patch Array (SFPA), but not limited to this.

Specifically, the number of first transmitting antennas 121 and the number of first receiving antennas 141 are both two. On the first board portion 171, the structure of each first transmitting antenna 121 includes a series-fed patch array 123 and a plurality of metal pads (Pad) 125 arranged along the direction of the array on both sides, and each first receiving antenna 141 The structure includes a series-fed patch array 143 and a plurality of metal pads 145 arranged along the direction of the array on both sides, and the specific configuration of the first transmitting antenna 121 and the first receiving antenna 141 is shown in Figure 1D, but Not limited to this. The number of second transmitting antennas 122 and the number of second receiving antennas 142 are both two. On the second plate portion 172, the structure of each second transmitting antenna 122 includes a series-fed patch array 124 and a plurality of metal pads 126 arranged along the direction of the array on both sides thereof, and the structure of each second receiving antenna 142 includes A series-fed patch array 144 and a plurality of metal pads 146 arranged along the array direction on both sides, and the specific configuration of the second transmitting antenna 122 and the second receiving antenna 142 is shown in Figure 1E, but not so Is limited. According to other embodiments of the present invention (not shown in the figure), the antenna forms of the first antenna element and the second antenna element may be different depending on the detection application, and are not limited to the antenna form described in the embodiment of the present invention . Furthermore, the number of the first transmitting antenna, the first receiving antenna, the second transmitting antenna, and the second receiving antenna may be different from each other, and the number of each may be one or more than three.

Please refer to FIG. 1F, which shows a schematic diagram of the parameter A12 of the vehicle radar device 100 of the first embodiment, and the main waves HL1 and HL2 in FIG. 1F are not physical structures on the vehicle radar device 100. It can be seen from Figure 1F that at the operating frequency of the first antenna unit 111 and the operating frequency of the second antenna unit 112, the center line C1 of the main wave of the first antenna unit 111 on a plane and the second day The angle between the line unit 112 and the center line C2 of the main wave HL2 of the plane is A12, and the plane is perpendicular to the first plate portion 171, the second plate portion 172, and the outer surface 184, which is shown in Figure 1F The plane, which can meet the following conditions: 50 degrees ≤ A12 ≤ 100 degrees. In this way, the vehicle radar device 100 can be miniaturized and specifically meet the required detection angle and range specifications. In the first embodiment, the parameter A12 is 60 degrees.

In fact, the direction of the center line C1 of the main wave HL1 of the first antenna unit 111 on the plane is also the direction of the maximum gain (Gain) in the three-dimensional radiation pattern of the first antenna unit 111, and the second antenna The direction of the center line C2 of the main wave HL2 of the unit 112 on the plane is also the direction of the maximum gain in the three-dimensional radiation pattern of the second antenna unit 112. Further, the parameter A12 according to the present invention may be the center line C1 of the main wave HL1 of the first transmitting antenna 121 on the plane and the center line C2 of the main wave HL2 of the second transmitting antenna 122 on the plane. The angle, or the parameter A12, may be the angle between the center line C1 of the first receiving antenna 141 on the plane's main wave HL1 and the center line C2 of the second receiving antenna 142 on the plane's main wave HL2.

Please refer to Figure 1G, which shows a schematic diagram of the parameters AH1 of the vehicle radar device 100 of the first embodiment, and Figure 1G is also the first antenna unit 111 on the plane (that is, the plane shown in Figure 1F) Schematic diagram of the radiation field pattern, especially when the polarization direction of the measurement antenna is parallel to the plane (Figure 1F). Specifically, Figure 1G can be a schematic diagram of the radiation pattern of the first transmitting antenna 121 on the plane, and Figure 1G can also be a schematic diagram of the radiation pattern of the first receiving antenna 141 on the plane, and the first The schematic diagram of the parameter AH2 in the embodiment may be similar to the figure 1G. It can be seen from Figure 1G that the half-power beam width (Half Power Beam Width, HPBW) of the main wave HL1 of the first antenna unit 111 on the plane is AH1, which is the half-power marking point m1 in Figure 1G. As defined by m2, the half-power beam width of the main wave HL2 of the second antenna unit 112 on the plane is AH2, and the plane is perpendicular to the first plate portion 171, the second plate portion 172, and the outer surface 184, which can be Meet the following conditions: 100 degrees ≤ AH1 ＜ 180 degrees; and 100 degrees ≤ AH2 ＜ 180 degrees. Thereby, the detection angle of the vehicle radar device 100 can reach 180 degrees or more, and when the vehicle radar device 100 is used as an inner wheel difference detection radar, it is beneficial to provide more accurate for objects moving slowly in a relatively short distance. Detection. In the first embodiment, the parameter AH1 is 120 degrees, and the parameter AH2 is 120 degrees.

Please refer to FIGS. 2A to 2E, where FIG. 2A is a schematic diagram of a vehicle radar device 200 according to a second embodiment of the present invention, FIG. 2B is a cross-sectional view according to the section line 2B-2B of FIG. 2A, and FIG. 2C Shows an exploded view of the vehicle radar device 200 of the second embodiment. Figure 2D shows an exploded view of the vehicle radar device 200 of the second embodiment facing the first board 271. Figure 2E shows the second implementation. The example is an exploded view of the vehicle radar device 200 facing the second board portion 272, and the drawing in the second embodiment omits the assembly or locking components and the detailed components on the circuit board 261. From FIGS. 2A to 2E, it can be seen that the vehicle radar device 200 includes a first antenna unit 211, a second antenna unit 212, a computing unit 207, and a circuit board 261.

The first antenna unit 211 and the second antenna unit 212 are in communication connection with the computing unit 207. The circuit board 261 includes a first board portion 271 and a second board portion 272. The first antenna unit 211 is in the form of a circuit board and is arranged on the first board portion 271, and the second antenna unit 212 is in the form of a circuit board and is arranged on the second board.板部272。 板部272. The first board portion 271 is a part of the circuit board 261, the second board portion 272 is another part of the circuit board 261, and the computing unit 207 is disposed on the first board portion 271. In the second embodiment, the parameter P12 is 120 degrees.

The vehicle radar device 200 further includes a housing 280, wherein the first antenna unit 211, the second antenna unit 212, the computing unit 207 and the circuit board 261 are all disposed in the housing 280, and the housing 280 includes a bottom 283. In the second embodiment, the parameter B1 is 30 degrees, and the parameter B2 is 30 degrees. The thickness of the vehicle radar device 200 is calculated from the outer surface 284 of the bottom 283 and the thickness is HT, and the parameter HT is about 28.9 mm.

The housing 280 further includes two cover parts, namely cover parts 281 and 282. The thickness of the cover portion 281 is substantially the same, and the thickness of the cover portion 282 is substantially the same. The first plate portion 271 is parallel to the cover portion 281 with a distance of S1, and the second plate portion 272 is parallel to the cover portion 282 with a distance of S2. In the second embodiment, the parameter S1 is 2.5 mm, and the parameter S2 is 2.5 mm.

It can be seen from FIG. 2D and FIG. 2E that the number of the arithmetic unit 207 is one, the first antenna unit 211 and the second antenna unit 212 are communicatively connected with the arithmetic unit 207, and the arithmetic unit 207 is disposed on the first plate portion 271.

In the second embodiment, the number of the circuit board 261 is one, and the first board portion 271 and the second board portion 272 are both located on the circuit board 261. Thereby, it is helpful to reduce the complexity of the mechanism design of the vehicle radar device 200. Specifically, the circuit board 261 is a non-planar circuit board, which can be manufactured by molding, pressing, etc., but is not limited to this.

The operating frequency of the first antenna unit 211 and the operating frequency of the second antenna unit 212 are both greater than 10 GHz. In the second embodiment, the operating frequency of the first antenna unit 211 and the operating frequency of the second antenna unit 212 are both approximately 79 GHz. The first antenna unit 211 includes first transmitting antennas 221 and 231 and first receiving antennas 241 and 251, and the second antenna unit 212 includes second transmitting antennas 222 and 232 and second receiving antennas 242 and 252.

In the second embodiment, the structure of each of the first transmitting antenna 221, the first receiving antenna 241, the second transmitting antenna 222, and the second receiving antenna 242 includes a patch antenna.

Each of the first transmitting antenna 231, the first receiving antenna 251, the second transmitting antenna 232, and the second receiving antenna 252 is a meander line antenna. In this way, the first antenna unit 211 and the second antenna unit 212 are more flexible in selecting a plane with a sufficient beam width and designing the polarization direction, and further contributing to the miniaturization of the vehicle radar device 200. According to an embodiment of the present invention, part or all of the structure of at least one of the first transmitting antenna, the first receiving antenna, the second transmitting antenna, and the second receiving antenna may be in the form of a bent wire antenna, and the bent wire antenna The form of the antenna can be a single bent wire antenna (for example, the first transmitting antenna 231), a double bent wire antenna, a gradual bent wire antenna, and a folded bent wire antenna, and it is not limited thereto.

The first antenna unit 211 includes at least two first receiving antennas (ie, first receiving antennas 241, 251), which are in two antenna forms, respectively, and the second antenna unit 212 includes at least two second receiving antennas (second receiving antennas). 242, 252), which are two types of antennas respectively. This helps the first antenna unit 211 and the second antenna unit 212 to design enough beam widths for at least two different planes. In the second embodiment, the first antenna unit 211 includes two first receiving antennas (ie, the first receiving antennas 241, 251), and the first receiving antennas 241, 251 are antennas with a series-fed patch array 243 in the structure. The second antenna unit 212 includes two second receiving antennas (second receiving antennas 242, 252). The second receiving antennas 242, 252 are respectively a structure with a series feed patch array 244 The antenna form of the antenna and the antenna form of the bent wire antenna.

Specifically, the number of first transmitting antennas 221, the number of first transmitting antennas 231, the number of first receiving antennas 241, and the number of first receiving antennas 251 are all one. On the first plate portion 271, the structure of the first transmitting antenna 221 includes a series-fed patch array 223 and a plurality of metal pads 225 arranged on both sides along the direction of the array. The first transmitting antenna 231 is a bent wire antenna, The structure of the first receiving antenna 241 includes a series-fed patch array 243 and a plurality of metal pads 245 arranged along the direction of the array on both sides. The first receiving antenna 251 is a bent wire antenna, and the first transmitting antennas 221, 231 The specific configurations of the first receiving antennas 241 and 251 are as shown in FIG. 2D, but are not limited thereto. The number of second transmitting antennas 222, the number of second transmitting antennas 232, the number of second receiving antennas 242, and the number of second receiving antennas 252 are all one. On the second plate portion 272, the structure of the second transmitting antenna 222 includes a series-fed patch array 224 and a plurality of metal pads 226 arranged on both sides along the direction of the array. The second transmitting antenna 232 is a bent wire antenna. The structure of the second receiving antenna 242 includes a series-fed patch array 244 and a plurality of metal pads 246 arranged along the direction of the array on both sides. The second receiving antenna 252 is a bent wire antenna, and the second transmitting antennas 222, 232 The specific configurations of the second receiving antennas 242 and 252 are as shown in FIG. 2E, but are not limited thereto. According to other embodiments of the present invention (not shown in the figure), the number of the first transmitting antenna, the first receiving antenna, the second transmitting antenna, and the second receiving antenna may be different from each other, and the antenna form of each may be more than three, And the number of each antenna form of each can be more than two.

Please refer to FIG. 2F, which shows a schematic diagram of the parameter A12 of the vehicle radar device 200 of the second embodiment, and the main waves HL1 and HL2 in FIG. 2F are not physical structures on the vehicle radar device 200. It can be seen from Figure 2F that at the operating frequency of the first antenna unit 211 and the operating frequency of the second antenna unit 212, the first antenna unit 211 is on a plane with the center line C1 of the main wave HL1 and the second day The angle between the line unit 212 and the center line C2 of the main wave HL2 of the plane is A12, and the plane is perpendicular to the first plate portion 271, the second plate portion 272, and the outer surface 284, which is shown in Figure 2F The plane. In the second embodiment, the parameter A12 is 60 degrees.

In essence, the direction of the center line C1 of the main wave HL1 of the first antenna unit 211 on the plane is also the direction of the maximum gain in the three-dimensional radiation pattern of the first antenna unit 211, and the second antenna unit 212 is at The direction of the center line C2 of the main wave HL2 of the plane is also the direction of the maximum gain in the three-dimensional radiation pattern of the second antenna unit 212. Further, the parameter A12 according to the present invention may be that at least one of the first transmitting antennas 221 and 231 is on the center line of the main wave of the plane and at least one of the second transmitting antennas 222 and 232 is on the plane. The angle between the center line of the main wave or the parameter A12 may be at least one of the first receiving antenna 241 and 251 in the plane of the center line of the main wave and at least one of the second receiving antenna 242 and 252 The angle between the center line of the main wave of the plane. Furthermore, the parameter A12 in Figure 2F is indicated by the main wave HL1 of the first receiving antenna 241 and the main wave HL2 of the second receiving antenna 242.

Furthermore, the half-power beamwidth (HPBW) of the main wave HL1 of the first antenna unit 211 on the plane is AH1, which may be similar to the parameter AH1 shown in Figure 1G in the first implementation, and the second The half-power beam width of the main wave HL2 of the antenna unit 212 on the plane is AH2, and the plane is perpendicular to the first plate portion 271, the second plate portion 272, and the outer surface 284. In the second embodiment, the parameter AH1 is 120 degrees, and the parameter AH2 is 120 degrees.

Please refer to Figure 2G and Figure 2H. Figure 2G shows a cross-sectional view according to the section line 2G-2G of Figure 2B, and the main wave VL1 in Figure 2G is not a physical structure on the vehicle radar device 200. Figure 2H The figure shows a schematic diagram of the parameter AV1 of the vehicle radar device 200 of the second embodiment, and the figure 2H is also a schematic diagram of the radiation pattern of the first antenna unit 211 on another plane (ie the plane shown in figure 2G) , Especially when the polarization direction of the measurement antenna is parallel to the radiation pattern of the other plane (ie, the 2G figure). Specifically, Fig. 2H may be a schematic diagram of the radiation pattern of the first transmitting antenna 231 (ie, a bent wire antenna) on the other plane, and Fig. 2H may also be a diagram of the first receiving antenna 251 on the other plane. The schematic diagram of the radiation pattern of the second embodiment, and the schematic diagram of the parameter AV2 of the radiation pattern of the second transmitting antenna 232 or the second receiving antenna 252 on another plane in the second embodiment may be similar to the 2H diagram.

It can be seen from Fig. 2G and Fig. 2H that the half-power beamwidth (HPBW) of the main wave VL1 of the first antenna unit 211 on the other plane is AV1, which is the half-power marking point m1 in Fig. 2H , M2, and the other plane is perpendicular to the plane (that is, the plane shown in Figure 2F) and the first plate portion 271, and the second antenna unit 212 is set on the main wave of the another plane The half-power beam width is AV2 (not shown in the figure), and the further plane is perpendicular to the plane and the second plate portion 272, which meets the following conditions: 100 degrees ≤ AV1 ＜ 180 degrees; and 100 degrees ≤ AV2 ＜ 180 degrees . Thereby, it is helpful for the vehicle radar device 200 to have a sufficient detection range in both the horizontal plane and the vertical plane in application. In the second embodiment, the parameter AV1 is 128 degrees, and the parameter AV2 is 128 degrees.

Furthermore, in the first antenna unit 211, the first transmitting antennas 221 and 231 respectively have half-power beam widths AH1 and AV1, and the two planes differ by 90 degrees, and the first receiving antennas 241 and 251 respectively have half-power beam widths AH1 and AV1. The two planes of AV1 differ by 90 degrees. The two planes are the planes depicted in Figure 2F and Figure 2G, respectively. In application, the two planes can be horizontal and vertical planes, namely, 2F. The figure can be a schematic diagram of the horizontal polarization measurement field type (half-power beam width AH1 is 120 degrees) of the first transmitting antenna 221 or the first receiving antenna 241, and the 2G figure can be the first transmitting antenna 231 or the first receiving antenna 251 is a schematic diagram of the vertical polarization measurement field (half-power beam width AV1 is 128 degrees), so it can be used at the same time or alternately so that the two planes with a difference of 90 degrees have sufficient detection range. In the second antenna unit 212, the second transmitting antennas 222, 232 have half-power beam widths AH2, AV2 and the two planes are 90 degrees apart, and the second receiving antennas 242, 252 have half-power beam widths AH2, AV2, respectively. The two planes differ by 90 degrees, and the two planes can be respectively a horizontal plane and a vertical plane in application. Therefore, it can be used simultaneously or in turn so that the two planes differing by 90 degrees have sufficient detection range. The beam width of the vehicle radar in the prior art is mainly on a single plane (such as a horizontal plane), and when the vehicle radar device 200 is used as an inner wheel differential detection side radar, the detection target is a pedestrian, a bicycle, or a locomotive with a weaker reflected signal. The first antenna unit 211 and the second antenna unit 212 have sufficient beam widths in both the horizontal plane and the vertical plane, which helps the vehicle radar device 200 increase the signal collection effect.

Please refer to FIG. 3, which shows a schematic diagram of a vehicle radar device 300 according to a third embodiment of the present invention. In the third embodiment, the vehicle radar device 300 includes a first antenna unit, a second antenna unit, a computing unit, and a circuit board. The first antenna unit and the second antenna unit are in communication connection with the arithmetic unit. The circuit board includes a first board and a second board. The first antenna unit is in the form of a circuit board and is arranged on the first board. The second antenna unit is in the form of a circuit board and is arranged on the second board. The computing unit is arranged One of the first plate portion and the second plate portion.

It can be seen from Figure 3 that the vehicle radar device 300 further includes a housing 380, in which the first antenna unit, the second antenna unit, the computing unit, and the circuit board are all disposed in the housing 380. The housing 380 includes a bottom 383 and a cover 381, 382.

The vehicle radar device 300 further includes floor lamps 391 and 392 which are illuminated by the cover portions 381 and 382 of the housing 380 to the outside. In this way, when the vehicle radar device 300 is used as an inner wheel difference detection radar and the ground lights 391 and 392 are configured, it can project a dangerous area when the vehicle determines to turn to warn pedestrians and neighboring vehicles to avoid early. Furthermore, each of the floor lamps 391 and 392 is irradiated on the film by the LED light source, and then the image on the film is presented on the illuminated object through the refraction of the lens. Furthermore, the vehicle radar device 300 of the third embodiment is equipped with floor lamps 391 and 392, and other features of the vehicle radar device 300 may be the same as the features of the vehicle radar device 200 described in the second embodiment.

Please refer to Figures 4A and 4B. Figure 4A shows a schematic diagram of a vehicle radar system 4800 installed in a vehicle 40 according to a fourth embodiment of the present invention (not drawn to actual scale), and Figure 4B shows a fourth implementation The example vehicle radar system 4800 is installed in the block diagram of the vehicle 40. It can be seen from FIGS. 4A and 4B that the vehicle radar system 4800 is installed in the vehicle 40. The vehicle radar system 4800 includes the vehicle radar device 100 of the aforementioned first embodiment, and the number is one. The vehicle radar device 100 is installed on at least one of the left side 48L and the right side 48R of the vehicle 40 (specifically, it is installed on the right side 48R). Furthermore, the body of the vehicle 40 includes a front side 47, a left side 48L, a right side 48R, and a rear side 49, and the front side 47, the left side 48L, the right side 48R, and the rear side 49 essentially form a square, as shown in FIG. 4A. According to other embodiments of the present invention, the vehicle radar device may be arranged on the left side of the vehicle, and the vehicle radar system may include the vehicle radar device 200 of the second embodiment, the vehicle radar device 300 of the third embodiment, or other basis The vehicle radar device of the present invention.

It can be seen from FIG. 1B and FIG. 4A that the vehicle radar device 100 includes a first antenna unit 111, a second antenna unit 112, a computing unit 107, and circuit boards 161 and 162. The first antenna unit 111 and the second antenna unit 112 are in communication connection with the computing unit 107. The circuit boards 161 and 162 respectively include a first board portion 171 and a second board portion 172. The first board portion 171 and the second board portion 172 are both perpendicular to the horizontal plane of the vehicle 40 (that is, the plane shown in FIG. 4A). An antenna unit 111 is in the form of a circuit board and is disposed on the first board 171, the second antenna unit 112 is in the form of a circuit board and is disposed on the second board 172, and the computing unit 107 is disposed on the first board 171. The included angle between the first plate portion 171 and the second plate portion 172 is P12, which satisfies the following condition: 80 degrees ≤ P12 ≤ 130 degrees. This helps the vehicle radar system 4800 to reduce the detection dead angle while simplifying the number of its devices, thereby improving the detection range and accuracy. In the fourth embodiment, the parameter P12 is 120 degrees. For other details of the vehicle radar device 100, please refer to the content of the aforementioned first embodiment, which will not be described in detail here.

It can be seen from Figure 4A that the angle between the first plate 171 and the right side 48R of the vehicle 40 provided by the vehicle radar device 100 is V1, and the angle between the second plate 172 and the right side 48R of the vehicle 40 provided by the vehicle radar device 100 is V2, which can meet the following conditions: 25 degrees ≤ V1 ≤ 50 degrees; and 25 degrees ≤ V2 ≤ 50 degrees. In this way, when the vehicle 40 is used as a bus in a left-hand drive environment, especially a public vehicle in a public transportation, under the requirements of regulations in some countries (such as the European Union), according to the estimation of the vehicle control unit 41 of the vehicle 40, any possibility Enter the passenger side (that is, the door side of the bus boarding, the right side 48R in the fourth embodiment) within 15 m (specifically, it can be located on the right side of the right side 48R, with a width of 3 m and a length of the body length of the vehicle 40 For vehicles with a range of 6 m to the front, the vehicle 40 needs to generate an alarm signal in advance, and the vehicle radar system 4800 that meets the conditions of the aforementioned parameters V1 and V2 uses the first antenna unit in the vehicle radar device 100 111. The second antenna unit 112 and related components can help achieve a field of view (FOV) of more than 180 degrees and a detection distance of more than 30 m, so as to meet the requirements of the aforementioned regulations, and achieve the inner wheel difference detection of the vehicle 40 BSD (Blind Spot Detection) and LCA (Lane Change Assistance) functions. In the fourth embodiment, the parameter V1 is 30 degrees, and the parameter V2 is 30 degrees. Furthermore, since the outer surface 184 of the bottom 183 of the housing 180 is parallel to the right side 48R of the vehicle 40 provided by the vehicle radar device 100, the values of the parameters V1 and B1 in the fourth embodiment are the same, and the values of the parameters V2 and B2 are the same. .

It can be seen from FIG. 1B that the vehicle radar device 100 further includes a housing 180, in which the first antenna unit 111, the second antenna unit 112, the computing unit 107 and the circuit boards 161 and 162 are all disposed in the housing 180. The housing 180 includes a bottom 183, and an outer surface 184 of the bottom 183 is parallel to the right side 48R of the vehicle 40 where the vehicle radar device 100 is installed. The thickness of the vehicle radar device 100 is calculated from the outer surface 184 of the bottom 183 and the thickness is HT, which can meet the following conditions: 15 mm ≤ HT ≤ 50 mm. This helps to prevent the device in the vehicle radar system 4800 from being excessively protruding when installed on the outer surface of the vehicle 40 to comply with relevant regulations, and still have a sufficient detection angle and range. In the fourth embodiment, the parameter HT is about 29.9 mm.

It can be seen from FIGS. 4A and 4B that the length of the vehicle 40 can be 10 m or more and 18 m or less, the number of the vehicle radar device 100 is one, and the vehicle radar device 100 is installed on the right side 48R of the vehicle 40. In this way, when the vehicle 40 is used as a bus in a left-hand drive environment, especially a bus in a public transportation, it meets the legal requirements, and achieves the internal wheel difference detection, BSD and LCA functions of the vehicle 40. In the fourth embodiment, the vehicle 40 is a bus, and its length is 15 m.

The vehicle radar system 4800 may further include a side radar device 4810 disposed on the left side 48L of the vehicle. One of the side radar device 4810 and the vehicle radar device 100 is communicatively connected with the vehicle control unit 41 of the vehicle 40 through the other. In this way, the communication efficiency between the vehicle radar system 4800 and the vehicle control unit 41 in the vehicle 40 can be improved.

Specifically, the vehicle radar system 4800 includes three side radar devices, which are side radar devices 4810, 4820, and 4830, and their operating frequencies are all about 79 GHz. The side radar devices 4810 and 4820 are arranged on the left side of the vehicle 40. 48L, the side radar device 4830 is installed on the right side 48R of the vehicle 40. According to the vehicle radar system 4800 of the present invention, the vehicle radar device 100, the side radar devices 4810, 4820, and 4830 can achieve the inner wheel difference detection of the vehicle 40, and RCTA (Rear Cross Traffic Alert). , BSD and LCA functions. Furthermore, the second antenna unit 112 and its related components in the vehicle radar device 100 can provide detection information on the right side of the front half of the vehicle 40 for the inner wheel difference detection function of the vehicle 40. The side radar devices 4820 and 4830 can respectively provide detection information of the left and right rear of the vehicle 40 for the RCTA function of the vehicle 40. The vehicle radar device 100 and the side radar devices 4810, 4820, and 4830 can provide detection information of the left, right, left rear, and right rear of the vehicle 40 for the BSD and LCA functions of the vehicle 40. Furthermore, it can be understood that the applications of the vehicle radar system 4800, the vehicle radar device 100, and the side radar devices 4810, 4820, and 4830 are not limited to the functions described in this paragraph.

Please refer to FIGS. 4C to 4E, where FIG. 4C is a schematic diagram of the side radar device 4810 in the fourth embodiment, FIG. 4D is a cross-sectional view according to the section line 4D-4D of FIG. 4C, and FIG. 4E is Shows an exploded view of the side radar device 4810 in Figure 4C. It can be seen from Fig. 4A, Fig. 4C to Fig. 4E that the side radar device 4810 includes a circuit board 4816, and the antenna unit and arithmetic unit (not shown in the figure and the antenna unit may be in the form of a circuit board) are all arranged in the circuit The board 4816, the antenna unit, the arithmetic unit and the circuit board 4816 are all arranged in the housing 4817. The side radar device 4810 is arranged on the left side 48L of the vehicle 40, corresponding to the vehicle radar device 100 (especially the first antenna unit 111 and its related components) on the right side 48R, and the circuit board 4816 of the side radar device 4810 The angle W1 with the left side 48L of the vehicle 40 where the side radar device 4810 is installed is 30 degrees. In addition, the housing 4817 includes a bottom 4818. The outer surface 4819 of the bottom 4818 is parallel to the left side 48L of the vehicle 40 where the side radar device 4810 is installed. Therefore, the included angle between the circuit board 4816 and the outer surface 4819 of the bottom 4818 is also 30 degrees (Figure 4D). The parameter label is omitted).

Please refer to Figures 4F to 4H, where Figure 4F shows a schematic diagram of the side radar device 4810a in the fourth embodiment, Figure 4G shows a cross-sectional view according to the section line 4G-4G of Figure 4F, and Figure 4H shows Shows an exploded view of the side radar device 4810a in Figure 4F. According to the fourth embodiment of the present invention, the side radar device 4810 in the vehicle radar system 4800 can be replaced by the side radar device 4810a. It can be seen from Figure 4A, Figure 4F to Figure 4H that the side radar device 4810a includes a circuit board 4816a, and the antenna unit and arithmetic unit (not shown in the figure and the antenna unit may or may not be in the form of a circuit board) are all arranged in the circuit The board 4816a, the antenna unit, the arithmetic unit and the circuit board 4816a are all arranged in the housing 4817a. The side radar device 4810a is arranged on the left side 48L of the vehicle 40, corresponding to the vehicle radar device 100 on the right side 48R (especially the first antenna unit 111 and its related components), and the circuit board 4816a of the side radar device 4810a The angle W1 with the left side 48L of the vehicle 40 where the side radar device 4810a is installed is 30 degrees. In addition, the housing 4817a includes a bottom 4818a. The outer surface 4819a of the bottom 4818a is parallel to the left side 48L of the vehicle 40 where the side radar device 4810a is installed. Therefore, the angle between the circuit board 4816a and the outer surface 4819a of the bottom 4818a is also 30 degrees.

It can be seen from Figure 4A that the angle V2 between the second plate portion 172 of the vehicle radar device 100 and the right side 48R is 30 degrees, thereby providing detection information on the right side of the front half of the vehicle 40 for the inner wheels of the vehicle 40 Difference detection, BSD and LCA functions. The angle V1 between the first plate portion 171 of the vehicle radar device 100 and the right side 48R is 30 degrees, so as to provide detection information on the right side of the rear half of the vehicle 40 for the BSD and LCA functions of the vehicle 40. The angle W1 between the circuit board 4816 of the side radar device 4810 and the left side 48L is 30 degrees, so as to provide detection information on the left side of the rear half of the vehicle 40 for the BSD and LCA functions of the vehicle 40. The angle W2 between the circuit board 4826 of the side radar device 4820 and the left side 48L is 40 degrees, so as to provide detection information on the left and rear of the vehicle 40 for the RCTA, BSD and LCA functions of the vehicle 40. The angle W3 between the circuit board 4836 of the side radar device 4830 and the right side 48R is 40 degrees, thereby providing detection information on the right rear of the vehicle 40 for the RCTA, BSD, and LCA functions of the vehicle 40. In addition, the antenna units of the side radar devices 4810, 4820, and 4830 may or may not be in the form of a circuit board, and the specific structure of the side radar devices 4820 and 4830 can be similar to the side radar device 4810 or 4810a, but the included angles W2 and W3 are both Is 40 degrees.

It can be seen from FIGS. 4A and 4B that the vehicle 40 includes a vehicle radar system 4800, a front radar device 4710, and a rear radar device 4910 in terms of the function of the vehicle 40 to detect objects outside the vehicle. The operating frequency of the front side radar device 4710 is about 77 GHz and is set on the front side 47 of the vehicle 40. It can provide detection information in front of the vehicle 40 for use in the FCW (Front Collision Warning) and LDW (Lane) of the vehicle 40. Departure Warning, lane departure warning) function. The operating frequency of the rear side radar device 4910 is approximately 77 GHz and is set on the rear side 49 of the vehicle 40, and can provide detection information behind the vehicle 40 for the RCW (Rear Collision Warning) function of the vehicle 40. The vehicle 40 also includes a vehicle control unit 41, an alarm unit 42, an on-board diagnostic unit 43, a camera unit 44, and a display unit 45, and the vehicle control unit 41 communicates with other units via a Controller Area Network (CAN) 46 .

In the vehicle radar system 4800 of the fourth embodiment, the vehicle radar device 100 and the side radar device 4810 are connected by a private controller area network (Private CAN) 46p, and the side radar devices 4820 and 4830 are connected by a private controller area network. Road 46p communication connection. In this way, the private controller area network 46p is used to form a secondary network between specific radar devices to transmit information, and then one of the vehicle radar device 100, the side radar device 4810, 4820, and 4830 is fixed or calculated One of the methods determined by the law is used as the Master Radar Device in the vehicle radar system 4800 to transmit the detection information of the vehicle radar device 100, side radar devices 4810, 4820, and 4830 to other units of the vehicle 40, It can effectively reduce the excessive occupation of the controller area network 46 during the control and detection information transmission, which will cause information congestion and cause data omissions, thus helping to improve the reliability of the vehicle radar system 4800. According to other embodiments of the present invention (not shown in the figure), the vehicle radar system may include a front radar device, a rear radar device, or a radar device installed in other positions on the vehicle, and the number of radar devices, the detection direction, and The functions and communication connection methods are not limited to those disclosed in the embodiments of the present invention.

One of the inner wheel difference detection mode, RCTA mode, BSD mode, and LCA mode of the vehicle radar system 4800 can be transmitted through the direction light signal on the controller area network 46 of the vehicle 40, the rudder angle signal generated by the steering wheel, the vehicle speed signal, At least one of the ignition signal, the reverse signal, and the yaw rate (Yaw Rate) signal is activated.

The inner wheel difference detection mode of the vehicle radar system 4800 can be triggered or activated by at least one of the direction light signal, the rudder angle signal, and the yaw rate signal of the vehicle 40. Further, when the vehicle radar system 4800 is in the inner wheel difference detection mode, the vehicle radar system 4800 can calculate the turning information of the vehicle 40 through at least one of the direction light signal, the rudder angle signal, and the yaw rate signal. The radar system 4800 adaptively adjusts the alarm conditions of the vehicle 40 according to the turning information, where the alarm conditions include the alarm area range, the moving speed of the object, etc., and are not limited thereto. Thereby, it is advantageous for the vehicle 40 to activate the inner wheel difference detection mode of the vehicle radar system 4800 in various turning situations, and increase or decrease the adaptive alert range with different turning angles. Specifically, when the vehicle 40 is set or identified to be driving in a city and the vehicle speed is between 0 km/h and 40 km/h, the inner wheel difference detection mode of the vehicle radar system 4800 is transmitted through the direction light signal and the rudder of the vehicle 40. At least one of the angle signal and the yaw rate signal is activated, indicating that the driver of the vehicle 40 turns intentionally or unintentionally. If it is determined that the intention is to turn, the warning zone can be adjusted according to the radar rudder angle information to avoid unnecessary warnings or false alarms . When the detection result of the second antenna unit 112 and related components in the vehicle radar system 4800 meets the alarm conditions, for example, there is a moving object or a stationary object with a height of more than 30 cm in the detection range, that is, the alarm unit 42 of the vehicle 40 is activated. The alarm signal is used to remind the driver of the vehicle 40. The alarm unit 42 can be a speaker, a buzzer, a siren, a display, a light indicator, an icon indicator, etc., to remind the driver by sound, light, etc., But not limited to this. In addition, when the inner wheel difference detection mode of the vehicle radar system 4800 is activated, the BSD mode and LCA mode can be activated at the same time or only the inner wheel difference detection mode is activated, and the alarm signal of the inner wheel difference detection mode has priority over BSD Alarm signal of mode and LCA mode.

Regarding the side radar device 4820 and 4830 in the vehicle radar system 4800 applied to the RCTA function of the vehicle 40, the vehicle radar system 4800 receives the reverse signal and the vehicle speed signal is less than or equal to 8 km/h to trigger or start the RCTA mode. When at least one of the radar devices 4820 and 4830 detects that a vehicle or other object with a speed between 8 km/h and 30 km/h enters the alert zone (Alert Zone), it activates the alarm unit 42 to generate an alarm signal, where The warning zone is the left rear warning zone and the right rear warning zone of the vehicle 40. Specifically, the upper left rear warning zone can be a position 0.5 m to 10 m to the left of the left side 48L and a position of 0 m to 5 to the rear of the rear side 49. The square area intersected by the position of m, the right rear warning area can be the square area intersected by the position of 0.5 m to 10 m to the right of the right side 48R and the position of 0 m to 5 m behind the rear side 49. Furthermore, when the vehicle radar system 4800 receives the reverse signal and the vehicle speed signal is greater than 8 km/h, or the RCTA mode is manually turned off, the RCTA mode does not start or stops starting.

Regarding the vehicle radar device 100 and the side radar devices 4810, 4820 and 4830 in the vehicle radar system 4800 applied to the BSD and LCA functions of the vehicle 40, the vehicle radar system 4800 can be triggered or activated upon receiving a vehicle speed signal greater than or equal to 20 km/h BSD mode and LCA mode, when at least one of the vehicle radar device 100, side radar device 4810, 4820, and 4830 detects a vehicle or other object whose relative speed with the vehicle 40 is less than 30 km/h, the vehicle 40 When overtaking enters the detection zone (Detection Zone), it is in BSD mode. When the vehicle 40 enters the detection zone from the left or right rear, it is in LCA mode. The detection zone can be 0.5 m to the left of 48L on the left. The position of 3.25 m is the width, and the length of the car body extends to a square area with the length of 30 m behind the vehicle 40, and the width is from the position 0.5 m to the right of the right side 48R to the position of 3.25 m, and the length of the car body extends to 30 m behind the vehicle 40 is a square area with a length. When the vehicle radar system 4800 does not receive the turn signal signal of the vehicle 40, the alarm unit 42 is activated to generate the first segment of the alarm signal. When the vehicle radar system 4800 receives the turn signal signal of the vehicle 40 at the same time, the alarm unit 42 is activated to generate The second stage of the alarm signal. Furthermore, when the vehicle radar system 4800 receives a vehicle speed signal of less than 20 km/h, the BSD mode and LCA mode will not start or stop starting.

In addition, regarding the FCW and LDW functions of the front radar device 4710 applied to the vehicle 40, when the front radar device 4710 detects that the vehicle 40 is at a safe distance from the vehicle in front, the icon indicator in the alarm unit 42 can show that the vehicle 40 is in green. Safe state. When the front radar device 4710 detects that the distance between the vehicle 40 and the vehicle in front is too close, the icon indicator in the alarm unit 42 can indicate that the vehicle 40 is in a state of attention in yellow. When the front radar device 4710 detects that there is a risk of collision between the vehicle 40 and the vehicle ahead, the icon indicator in the alarm unit 42 can flash red to show that the vehicle 40 is in a dangerous state, and the buzzer in the alarm unit 42 emits a warning sound. Furthermore, the camera unit 44 can recognize the lane, and when the front-side radar device 4710 detects that the vehicle 40 has deviated from the lane, the alarm unit 42 reminds the driver to pay attention to driving safety or take a rest.

Regarding the RCW function of the rear radar device 4910 applied to the vehicle 40, when the rear radar device 4910 detects a safe distance between the vehicle 40 and the rear vehicle, the icon indicator in the alarm unit 42 can indicate that the vehicle 40 is in a safe state in green . When the rear radar device 4910 detects that the distance between the vehicle 40 and the rear vehicle is too close, the icon indicator in the alarm unit 42 may flash yellow to indicate that the vehicle 40 is in the attention state. When the rear radar device 4910 detects that there is a risk of collision between the vehicle 40 and the rear vehicle, the icon indicator in the alarm unit 42 can flash red to show that the vehicle 40 is in a dangerous state, and the buzzer and siren in the alarm unit 42 are both A warning tone sounds.

Please refer to FIG. 5, which shows a schematic diagram of a vehicle radar system 5800 installed in a vehicle 50 according to a fifth embodiment of the present invention (not shown to actual scale). It can be seen from Figure 5 that the vehicle radar system 5800 is installed in the vehicle 50. The vehicle radar system 5800 includes a vehicle radar device 200a and a vehicle radar device 200b. The vehicle radar devices 200a and 200b are respectively installed on the left side 58L and the right side 58R of the vehicle 50. And each of the vehicle radar devices 200a and 200b, except that the parameter B1 is 40 degrees and the parameter B2 is 30 degrees (the position of the parameter B1 is closer to the rear side of the vehicle 59 than the position of the parameter B2), each of the vehicle radar devices 200a and 200b Other features of the above may be the same as those of the vehicle radar device 200 described in the second embodiment. Furthermore, the body of the vehicle 50 includes a front side 57, a left side 58L, a right side 58R, and a rear side 59, and the front side 57, the left side 58L, the right side 58R, and the rear side 59 essentially form a square, as shown in FIG. 5.

In the fifth embodiment, the vehicle radar device 200a includes a first antenna unit, a second antenna unit, a computing unit, and a circuit board. The first antenna unit and the second antenna unit are in communication connection with the arithmetic unit. The circuit board includes a first board portion 271a and a second board portion 272a. The first antenna unit is in the form of a circuit board and is disposed on the first board portion 271a, and the second antenna unit is in the form of a circuit board and is disposed on the second board 272a. , The arithmetic unit is provided in one of the first plate portion 271a and the second plate portion 272a. The vehicle radar device 200b includes a first antenna unit, a second antenna unit, a computing unit, and a circuit board. The first antenna unit and the second antenna unit are in communication connection with the arithmetic unit. The circuit board includes a first board portion 271b and a second board portion 272b. The first antenna unit is in the form of a circuit board and is disposed on the first board portion 271b, and the second antenna unit is in the form of a circuit board and is disposed on the second board 272b. , The arithmetic unit is provided in one of the first plate portion 271b and the second plate portion 272b. In the fifth embodiment, the parameter P12 of each of the vehicle radar devices 200a and 200b is 110 degrees.

It can be seen from Fig. 5 that the angle between the first plate portion 271a and the left side 58L of the vehicle 50 provided by the vehicle radar device 200a is V1a, and the angle between the second plate portion 272a and the left side 58L of the vehicle 50 provided by the vehicle radar device 200a is V2a, the angle between the first plate portion 271b and the right side 58R of the vehicle 50 provided by the vehicle radar device 200b is V1b, and the angle between the second plate portion 272b and the right side 58R of the vehicle 50 provided by the vehicle radar device 200b is V2b. In addition, the parameters V1a and V1b are consistent with the patent application scope of the present invention and the definition of the parameter V1 described in the specification, and the parameters V2a and V2b are consistent with the patent application scope of the present invention and the definition of the parameter V2 described in the specification. In the fifth embodiment, the parameter V1a is 40 degrees, the parameter V2a is 30 degrees, the parameter V1b is 40 degrees, and the parameter V2b is 30 degrees. Furthermore, the parameter HT of each of the vehicle radar devices 200a and 200b is about 28.9 mm.

In the fifth embodiment, the first antenna unit of each of the vehicle radar devices 200a and 200b has a sufficient horizontal beam width (such as the parameter AH1 in the second embodiment) and a sufficient vertical beam width (such as the second embodiment) The parameter AV1) in the second antenna unit has sufficient horizontal beam width (such as the parameter AH2 in the second embodiment) and sufficient vertical beam width (such as the parameter AV2 in the second embodiment), which is helpful for vehicle radar The system 5800 simultaneously increases the detection range of the horizontal plane and the vertical plane.

The length of the vehicle 50 is 4 m or more and 8 m or less. The number of vehicle radar devices in the vehicle radar system 5800 is two (ie, vehicle radar devices 200a and 200b), and the vehicle radar device 200a is arranged on the left side 58L of the vehicle 50. Adjacent to the rear side 59 of the vehicle 50 (ie adjacent to or located at the left rear corner of the vehicle 50), the vehicle radar device 200b is arranged on the right side 58R of the vehicle 50 and adjacent to the rear side 59 of the vehicle 50 (ie adjacent to or located at the right rear corner of the vehicle 50). ). In this way, when the vehicle 50 is used as a truck, especially a logistics vehicle in a truck, the functions of inner wheel difference detection, RCTA, BSD, and DOW (Door Open Warning) of the vehicle 50 can be achieved. In the fifth embodiment, the vehicle 50 is a logistics vehicle, and its length is 6 m.

One of the vehicle radar devices 200a and 200b communicates with a vehicle control unit (not shown in the figure) of the vehicle 50 through the other. In this way, the communication efficiency between the vehicle radar system 5800 and the vehicle control unit in the vehicle 50 can be improved. Specifically, the vehicle radar devices 200a and 200b are connected via private controller area network communication, and one of the vehicle radar devices 200a and 200b or one determined by an algorithm is used as the main vehicle radar system 5800. The radar device transmits the detection information of the vehicle radar devices 200a and 200b to other units of the vehicle.

Specifically, the operating frequencies of the vehicle radar devices 200a and 200b are both about 79 GHz. The vehicle radar system 5800 according to the present invention can achieve the inner wheel difference detection and RCTA of the vehicle 50 through the vehicle radar devices 200a and 200b included therein. , BSD and DOW functions. Furthermore, the second antenna unit and its related components on the second plate portion 272a (the angle V2a with the left side 58L is 30 degrees) in the vehicle radar device 200a can provide detection information on the left side of the front half of the vehicle 50. The second antenna unit and its related components on the second plate portion 272b (the angle V2b with the right side 58R is 30 degrees) in the vehicle radar device 200b can provide detection information on the right side of the front half of the vehicle 50 for use in the vehicle 50 inner wheel difference detection function. The first antenna unit and its related elements on the first plate portion 271a (the angle V1a with the left side 58L is 40 degrees) in the vehicle radar device 200a can provide detection information on the left and rear of the vehicle 50. The vehicle radar device 200b The first antenna unit and its related components on the middle first plate 271b (the angle V1b with the right side 58R is 40 degrees) can provide the detection information of the right rear and the rear of the vehicle 50 for the RCTA and DOW function. The vehicle radar devices 200a and 200b can provide detection information of the left, right, rear left, rear right, and rear of the vehicle 50 for the BSD function of the vehicle 50. Furthermore, it can be understood that the applications of the vehicle radar system 5800 and its vehicle radar devices 200a and 200b are not limited to the functions described in this paragraph.

It can be seen from FIG. 5 that in terms of the function of the vehicle 50 to detect objects outside the vehicle, the vehicle 50 includes a vehicle radar system 5800 and a front radar device 5710. The operating frequency of the front side radar device 5710 is about 77 GHz and is set on the front side 57 of the vehicle 50 to provide detection information in front of the vehicle 50 for the FCW and LDW functions of the vehicle 50.

With regard to the vehicle radar system 5800 and the front side radar device 5710 applied to the vehicle 50, the inner wheel difference detection, RCTA, BSD, FCW, and LDW functions can be the same as those described in the fourth embodiment or can be adjusted according to usage requirements, so the fifth The detailed description is omitted in the embodiments.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone who is familiar with the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection of the present invention The scope shall be subject to the scope of the attached patent application.

40, 50: Vehicle 47, 57: front side 48L, 58L: left 48R, 58R: right 49, 59: rear side 41: Vehicle Control Unit 42: Alarm unit 43: On-board diagnostic unit 44: Photography Unit 45: display unit 46: Controller Area Network 46p: Private Controller Area Network 4710, 5710: front radar device 4910: rear radar device 4800, 5800: Vehicle radar system 4810, 4810a, 4820, 4830: side radar device 4816, 4816a, 4826, 4836: circuit board 4817, 4817a: shell 4818, 4818a: bottom 4819, 4819a: outer surface 100, 200, 200a, 200b, 300: vehicle radar device 111, 211: the first antenna unit 121, 221, 231: the first transmitting antenna 141,241,251: the first receiving antenna 112, 212: second antenna unit 122, 222, 232: second transmitting antenna 142, 242, 252: second receiving antenna 123,124,143,144,223,224,243,244: series feed patch array 125, 126, 145, 146, 225, 226, 245, 246: metal pad 107,207: arithmetic unit 161,162,261: circuit board 171, 271, 271a, 271b: first board part 172, 272, 272a, 272b: second plate section 180, 280, 380: shell 183,283,383: bottom 184,284: outer surface 181,182,281,282,381,382: cover part 391,392: Flood lights P12: The angle between the first plate and the second plate B1: The angle between the first plate and the outer surface of the bottom B2: The angle between the second plate and the outer surface of the bottom HT: Thickness of vehicle radar device S1: The distance between the first plate part and one of the two cover parts S2: The distance between the second plate part and one of the two cover parts HL1: The main wave of the first antenna unit on a plane HL2: The main wave of the second antenna unit on a plane C1: The center line of the main wave office of the first antenna unit on a plane C2: The center line of the main wave of the second antenna unit on a plane A12: The angle between the center line of the main wave of the first antenna unit on a plane and the center line of the main wave of the second antenna unit on the plane m1, m2: half power mark point AH1: The half-power beamwidth of the main wave of the first antenna unit on one plane VL1: The main wave of the first antenna unit on another plane AV1: The half-power beamwidth of the main wave of the first antenna unit on the other plane V1, V1a, V1b: The angle between the first plate and the side of the vehicle where the vehicle radar device is installed V2, V2a, V2b: The angle between the second plate and the side of the vehicle where the vehicle radar device is installed W1, W2, W3: The angle between the circuit board of the side radar device and the side of the vehicle where the side radar device is installed

Figure 1A shows a schematic diagram of a vehicle radar device according to a first embodiment of the present invention; Figure 1B shows a cross-sectional view according to the section line 1B-1B of Figure 1A; Figure 1C shows an exploded view of the vehicle radar device of the first embodiment; Figure 1D shows another exploded view of the vehicle radar device of the first embodiment; Figure 1E shows another exploded view of the vehicle radar device of the first embodiment; Figure 1F is a schematic diagram of parameters of the vehicle radar device of the first embodiment; FIG. 1G is a schematic diagram of another parameter of the vehicle radar device of the first embodiment; Fig. 2A is a schematic diagram of a vehicle radar device according to a second embodiment of the present invention; Fig. 2B is a cross-sectional view according to the section line 2B-2B of Fig. 2A; Figure 2C shows an exploded view of the vehicle radar device of the second embodiment; Figure 2D shows another exploded view of the vehicle radar device of the second embodiment; Figure 2E shows another exploded view of the vehicle radar device of the second embodiment; Figure 2F shows a schematic diagram of parameters of the vehicle radar device of the second embodiment; Figure 2G shows a cross-sectional view according to the section line 2G-2G of Figure 2B; Figure 2H is a schematic diagram of another parameter of the vehicle radar device of the second embodiment; Figure 3 shows a schematic diagram of a vehicle radar device according to a third embodiment of the present invention; 4A is a schematic diagram of a vehicle radar system installed in a vehicle according to a fourth embodiment of the present invention; Figure 4B shows a block diagram of the vehicle radar system of the fourth embodiment installed in a vehicle; 4C is a schematic diagram of the side radar device in the fourth embodiment; Figure 4D shows a cross-sectional view according to the section line 4D-4D in Figure 4C; Figure 4E shows an exploded view of the side radar device in Figure 4C; 4F is a schematic diagram of the other side radar device in the fourth embodiment; Figure 4G shows a cross-sectional view according to the section line 4G-4G in Figure 4F; Figure 4H shows an exploded view of the side radar device in Figure 4F; and Figure 5 shows a schematic diagram of a vehicle radar system installed in a vehicle according to a fifth embodiment of the present invention.

200: Vehicle radar device

261: circuit board

271: First Board

272: The second board

280: Shell

283: bottom

284: Outer Surface

281,282: Hood

P12: The angle between the first plate and the second plate

B1: The angle between the first plate and the outer surface of the bottom

B2: The angle between the second plate and the outer surface of the bottom

HT: Thickness of vehicle radar device

S1: The distance between the first plate part and one of the two cover parts

S2: The distance between the second plate part and one of the two cover parts

Claims (21)

A vehicle radar device, including: A first antenna unit including at least one first receiving antenna; A second antenna unit, including at least two second receiving antennas, wherein the at least two second receiving antennas are in at least two antenna forms; At least one arithmetic unit, the first antenna unit and the second antenna unit are in communication connection with the at least one arithmetic unit; At least one circuit board includes a first board portion and a second board portion, the first antenna unit is in the form of a circuit board and is disposed on the first board portion, and the second antenna unit is in the form of a circuit board and is disposed on the The second board; and A housing, the first antenna unit, the second antenna unit, the at least one arithmetic unit, and the at least one circuit board are all disposed in the housing, and the housing includes a bottom; Wherein, a thickness of the vehicle radar device is calculated from an outer surface of the bottom and the thickness is HT, which satisfies the following conditions: 15 mm ≤ HT ≤ 50 mm. The vehicle radar device according to claim 1, wherein the angle between the first plate portion and the outer surface of the bottom is B1, and the angle between the second plate portion and the outer surface of the bottom is B2, which satisfies the following conditions : 25 degrees ≤ B1 ≤ 50 degrees; and 25 degrees ≤ B2 ≤ 50 degrees. The vehicle radar device according to claim 1, wherein the housing further includes two cover parts, each of the two cover parts has the same thickness, the first plate part is parallel to one of the two cover parts, and the distance between the first plate part and one of the two cover parts is S1 , The second plate part is parallel to the other of the two cover parts with a distance of S2, which satisfies the following conditions: 0 mm ＜ S1 ≤ 5 mm; and 0 mm ＜ S2 ≤ 5 mm. The vehicle radar device described in claim 3 further includes: At least one floor lamp is irradiated from the two cover parts of the housing. The vehicle radar device according to claim 1, wherein the number of the at least one arithmetic unit is two, the first antenna unit and the second antenna unit are respectively communicatively connected with the two arithmetic units, and the two arithmetic units are respectively It is arranged on the first plate portion and the second plate portion. The vehicle radar device according to claim 1, wherein the number of the at least one circuit board is one, and the first board portion and the second board portion are both located on the circuit board. The vehicle radar device according to claim 1, wherein the number of the at least one circuit board is two, and the first board portion and the second board portion are located on one and the other of the two circuit boards, respectively. The vehicle radar device according to claim 1, wherein the operating frequency of the first antenna unit and the operating frequency of the second antenna unit are both greater than 10 GHz, and the first antenna unit further includes at least one first transmitting antenna , The second antenna unit further includes at least one second transmitting antenna. The vehicle radar device according to claim 8, wherein the structure of at least one of the first transmitting antenna, the first receiving antenna, the second transmitting antenna, and the two second receiving antennas includes a bent wire antenna. The vehicle radar device according to claim 8, wherein the structure of at least one of the first transmitting antenna, the first receiving antenna, the second transmitting antenna, and the two second receiving antennas includes a patch antenna. The vehicle radar device according to claim 1, wherein the angle between the center line of a main wave of the first antenna unit on a plane and the center line of a main wave of the second antenna unit on the plane is A12, and the plane is perpendicular to the first plate portion and the second plate portion, which meets the following conditions: 50 degrees ≤ A12 ≤ 100 degrees. The vehicle radar device according to claim 1, wherein the half-power beam width of a main wave of the first antenna unit on a plane is AH1, and the second antenna unit is half power of a main wave of the plane. The power beam width is AH2, and the plane is perpendicular to the first plate portion and the second plate portion, which meets the following conditions: 100 degrees ≤ AH1 ＜ 180 degrees; and 100 degrees ≤ AH2 ＜ 180 degrees. The vehicle radar device according to claim 12, wherein the half-power beam width of a main wave of the first antenna unit on another plane is AV1, and the other plane is perpendicular to the plane and the first plate portion, The half-power beam width of a main wave of the second antenna unit in another plane is AV2, and the another plane is perpendicular to the plane and the second plate, which meets the following conditions: 100 degrees ≤ AV1 ＜ 180 degrees; and 100 degrees ≤ AV2 ＜ 180 degrees. A vehicle radar system is provided in a vehicle. The vehicle radar system includes at least one vehicle radar device. The at least one vehicle radar device is provided on at least one of a left side and a right side of the vehicle. The vehicle radar device includes: A first antenna unit; A second antenna unit; At least one arithmetic unit, the first antenna unit and the second antenna unit are in communication connection with the at least one arithmetic unit; and At least one circuit board includes a first board portion and a second board portion, the first board portion and the second board portion are substantially perpendicular to a horizontal plane of the vehicle, and the first antenna unit is in the form of a circuit board And arranged on the first board portion, the second antenna unit is in the form of a circuit board and arranged on the second board portion; Wherein, when the vehicle radar system is in an inner wheel difference detection mode, the vehicle radar system calculates a turning information of the vehicle through at least one of a direction light signal, a rudder angle signal and a yaw rate signal, The vehicle radar system adaptively adjusts an alarm condition of the vehicle according to the turning information; Wherein, the included angle between the first plate portion and the second plate portion is P12, which satisfies the following conditions: 80 degrees ≤ P12 ≤ 130 degrees. The vehicle radar system according to claim 14, wherein the angle between the first plate portion and the side of the vehicle where the vehicle radar device is set is V1, and the second plate portion and the vehicle where the vehicle radar device is set The included angle of this side of is V2, which meets the following conditions: 25 degrees ≤ V1 ≤ 50 degrees; and 25 degrees ≤ V2 ≤ 50 degrees. The vehicle radar system according to claim 14, wherein the length of the vehicle is 10 m or more and 18 m or less, the number of the at least one vehicle radar device is one, and the vehicle radar device is installed on the left side or the left side of the vehicle. Right. The vehicle radar system described in claim 16 further includes: At least one side radar device is provided on at least one of the left side and the right side of the vehicle, and one of the side radar device and the vehicle radar device is communicatively connected with a vehicle control unit of the vehicle through the other . The vehicle radar system according to claim 14, wherein the length of the vehicle is 4 m or more and 8 m or less, the number of the at least one vehicle radar device is two, and one of the two vehicle radar devices is installed in the vehicle The left side of is adjacent to a rear side of the vehicle, and the other of the two vehicle radar devices is arranged on the right side of the vehicle and adjacent to the rear side of the vehicle. The vehicle radar system according to claim 18, wherein one of the two vehicle radar devices communicates with a vehicle control unit of the vehicle through the other. The vehicle radar system according to claim 14, wherein when the vehicle radar system is in the inner wheel difference detection mode, the vehicle radar system calculates the turning information of the vehicle through the yaw rate signal, the vehicle radar system The warning condition of the vehicle is adaptively adjusted according to the turning information. The vehicle radar system according to claim 14, wherein the vehicle radar device further comprises: A housing, the first antenna unit, the second antenna unit, the at least one computing unit, and the at least one circuit board are all disposed in the housing, the housing includes a bottom, and an outer surface of the bottom is parallel to the vehicle The side of the vehicle where the radar device is installed; Wherein, a thickness of the vehicle radar device is calculated from the outer surface of the bottom and the thickness is HT, which satisfies the following conditions: 15 mm ≤ HT ≤ 50 mm.

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