Radar apparatus and error correction method thereof
The present disclosure provides a radar apparatus and a method of correcting an error of the radar apparatus. According to the present disclosure a first transmitting antenna group and a first receiving antenna group are constituted by elongating some of a plurality of transmitting antennas and a plurality of receiving antennas in a first direction of vertical directions, a second transmitting antenna group and a second receiving antenna group are constituted by elongating the other antennas in a second direction opposite to the first direction, and one or more of transmitting antennas that transmit transmission signals and one or more of receiving antennas that receive reflection signals are included in different groups, thereby being able to measure elevation information of an object and correct a mounting position of the radar apparatus on the basis of the information.
1. A radar apparatus, comprising:
a transmitting antenna set configured to include: a first transmitting antenna group including a first transmitting antenna elongated in a first direction of vertical directions; and a second transmitting antenna group including a second transmitting antenna and a third transmitting antenna that are elongated in a second direction opposite to the first direction and spaced from the first transmitting antenna by a first vertical distance;
a receiving antenna set configured to include: a first receiving antenna group including a first receiving antenna and a second receiving antenna that are elongated in the first direction; and a second receiving antenna group including a third receiving antenna and a fourth receiving antenna that are elongated in the second direction and spaced from the first receiving antenna group by a second vertical distance;
a transceiver configured to transmit transmission signals through the transmitting antenna set and receive reflection signals reflected from an error correction target through the receiving antenna set;
a processor configured to obtain elevation information of the target on the basis of the reflection signals received by the receiving antenna set; and
an error corrector configured to calculate a difference between measurement values of the elevation information of the target obtained by the processor and actual elevation information of the target, and change the direction of beam-forming of the receiving antennas included in the receiving antenna set in accordance with the difference.
2. The radar apparatus of claim 1 , wherein the transceiver transmits transmission signals through one or more of the first transmitting antenna group and the second transmitting antenna group, and receives reflection signals reflected from the error correction target through the receiving antenna set, and
the processor obtains elevation information of the target on the basis of the reflection signal received through one receiving antenna included in the first receiving antenna group and reflection signals received through one or more receiving antennas included in the second receiving antenna group.
3. The radar apparatus of claim 1 , wherein the transceiver transmits transmission time-divided or code-divided transmission signals through the transmitting antenna included in the first transmitting antenna group and the transmitting antennas included in the second transmitting antenna group, and receives reflection signals reflected from the target through the receiving antenna set, and
the processor obtains elevation information of the target on the basis of reflection signals received through one or more of the receiving antennas included in the first receiving antenna group and the second receiving antenna group.
4. The radar apparatus of claim 1 , wherein the error corrector performs digital beam-forming for changing the directions of reception beams of the receiving antennas included in the receiving antenna set by assigning a peculiar complex weight to the receiving antennas in accordance with the difference.
5. The radar apparatus of claim 1 , wherein, in a mid/long-range sensing mode for obtaining azimuth information of the target, the transceiver transmits transmission time-divided or code-divided transmission signals through the transmitting antenna included in the first transmitting antenna group and the transmitting antennas included in the second transmitting antenna group, and receives reflection signals reflected from the target through the receiving antenna set, and
the processor obtains azimuth information of the target on the basis of reflection signals received through all of the receiving antennas included in the first receiving antenna group and the second receiving antenna group.
6. The radar apparatus of claim 5 , wherein, in a short-range sensing mode for obtaining azimuth information of the target, the transceiver transmits transmission signals time-divided or code-divided through the second transmitting antenna and the third transmitting antenna, and receives reflection signals reflected from the target through the receiving antenna set, and
the processor obtains horizontal azimuth of the target on the basis of reflection signals received through the third receiving antenna and the fourth receiving antenna.
7. The radar apparatus of claim 6 , further comprising:
a virtual RX antenna creator configured to create one or more virtual RX antenna among first to fourth receiving antennas in the mid/long-range sensing mode, and create one or more virtual RX antennas at sides of the third receiving antenna and the fourth receiving antenna in the short-range sensing mode.
8. The radar apparatus of claim 7 , wherein the third receiving antenna and the fourth receiving antenna each include k array antennas, the second transmitting antenna, the third transmitting antenna, the first receiving antenna, and the second receiving antenna each include 2k array antennas, and the first transmitting antenna includes 4k array antennas.
9. The radar apparatus of claim 8 , wherein a horizontal distance between the second transmitting antenna and the third transmitting antenna is two times a horizontal distance B between the third receiving antenna and the fourth receiving antenna.
10. The radar apparatus of claim 9 , wherein when a horizontal distance among the first receiving antenna, the first transmitting antenna, and the second transmitting antenna group is A, the first receiving antenna and the second receiving antenna are spaced by a horizontal distance 2 A respectively left and right from the second receiving antenna group.
11. The radar apparatus of claim 10 , wherein the horizontal distance A among the first receiving antenna, the first transmitting antenna, and the second transmitting antenna group is two-time larger than the horizontal distance B between the third receiving antenna and the fourth receiving antenna.
12. A method of correcting an error of a radar apparatus that includes:
an antenna system configured to include: a transmitting antenna set including a first transmitting antenna group including a first transmitting antenna elongated in a first direction of vertical directions, and a second transmitting antenna group including a second transmitting antenna and a third transmitting antenna that are elongated in a second direction opposite to the first direction and spaced from the first transmitting antenna by a first vertical distance; and a receiving antenna set including a first receiving antenna group including a first receiving antenna and a second receiving antenna that are elongated in the first direction, and a second receiving antenna group including a third receiving antenna and a fourth receiving antenna that are elongated in the second direction and spaced from the first receiving antenna group by a second vertical distance;
a transceiver;
a processor; and
an error corrector,
the method comprising:
checking a vertical mounting error on the basis of a difference between measurement values of the elevation information of the target obtained by the processor and actual elevation information of the target; and
correcting an error by adjusting beam-forming directions of the receiving antennas included in the receiving antenna set in accordance with the difference.
13. The method of claim 12 , wherein correcting of an error performs digital beam-forming for changing the directions of reception beams of the receiving antennas included in the receiving antenna set by assigning a peculiar complex weight to the receiving antennas in accordance with the difference.
14. The method of claim 13 , further comprising: before the checking of an error,
transmitting transmission signals through the transmitting antenna set and receiving reflection signals reflected from the error correction target through the receiving antenna set, by means of the transceiver; and
obtaining measurement values of elevation information of the target on the basis of the reflection signals reflected from the receiving antenna set, by means of the processor.
15. The method of claim 14 , wherein the transmitting and receiving of signals transmits transmission signals through one or more of the first transmitting antenna group and the second transmitting antenna group, and receives reflection signals reflected from the error correction target through the receiving antenna set, and
the obtaining of measurement values obtains elevation information of the target on the basis of the reflection signal received through one receiving antenna included in the first receiving antenna group and reflection signals received through one or more receiving antennas included in the second receiving antenna group.
16. The method of claim 14 , wherein the transmitting and receiving of signals transmits transmission time-divided or code-divided transmission signals through the transmitting antenna included in the first transmitting antenna group and the transmitting antennas included in the second transmitting antenna group, and receives reflection signals reflected from the target through the receiving antenna set, and
the obtaining of measurement values obtains elevation information of the target on the basis of reflection signals received through one or more of the receiving antennas included in the first receiving antenna group and the second receiving antenna group.
17. A radar apparatus comprising:
a transmitting antenna set configured to include a first transmitting antenna group and a second transmitting antenna group that are vertically spaced by a first vertical distance and elongated in opposite directions;
a receiving antenna set configured to include a first receiving antenna group and a second receiving antenna group that are vertically spaced by a second vertical distance and elongated in opposite directions;
a transceiver configured to transmit transmission signals through the transmitting antenna set and receive reflection signals reflected from an error correction target through the receiving antenna set;
a processor configured to obtain elevation information of the target on the basis of the reflection signals received through the receiving antenna set; and
an error corrector configured to calculate a difference between measurement values of the elevation information of the target obtained by the processor and actual elevation information of the target, and change the direction of beam-forming of receiving antennas included in the receiving antenna set in accordance with the difference.