Antenna, radar apparatus and signal processing method

1. An antenna including a plurality of transmission antennas and a plurality of reception antennas, the antenna comprising:

a first transmission antenna;

a third transmission antenna provided at a position shifted in a short direction of the first transmission antenna;

a second transmission antenna provided at a position between the first transmission antenna and the third transmission antenna so that a portion of the second transmission antenna in a longitudinal direction is overlapped with a portion of the first and third transmission antennas in the longitudinal direction;

a fourth transmission antenna provided at a position point-symmetrical with respect to the position of the second transmission antenna, about the position of the third transmission antenna; and

the plurality of reception antennas provided so that a portion of each of the reception antennas in the longitudinal direction is overlapped with a portion of the second transmission antenna in the longitudinal direction.

2. The antenna according to claim 1 ,

wherein the first transmission antenna and the third transmission antenna output a transmission wave of a first range, and

wherein the second transmission antenna and the fourth transmission antenna output a transmission wave of a second range of which a horizontal angle is narrower than that of the first range.

3. A radar apparatus including the antenna set forth in claim 1 , the radar apparatus comprising:

a first deriving unit configured to derive a position of a target in a horizontal direction with respect to a road surface based on reflection waves of transmission waves outputted from the first transmission antenna and the third transmission antenna, from the target; and

a second deriving unit configured to derive a height of the target in a vertical direction with respect to the road surface based on reflection waves of transmission waves outputted from the second transmission antenna, the third transmission antenna and the fourth transmission antenna, from the target.

4. The radar apparatus according to claim 3 ,

wherein a first period including a period to output the transmission waves from the first transmission antenna and the third transmission antenna in order, and a second period including a period to output the transmission waves from the first transmission antenna, the second transmission antenna, the third transmission antenna, and the fourth transmission antenna in order are set to one cycle of a process of deriving the position of the target in the horizontal position and the height of the target in the vertical direction,

wherein the first deriving unit derives the position of the target in the horizontal direction based on the reflection waves from the target during the first period and the second period, and

wherein the second deriving unit derives the height of the target in the vertical direction based on the reflection waves from the target during the second period.

5. A vehicle control system capable of controlling a vehicle, comprising:

the radar apparatus set forth in claim 3 ; and

a vehicle control device configured to control the vehicle based on target information outputted from the radar apparatus.

6. A signal processing method of deriving a position of a target by a reflection wave received with a plurality of reception antennas provided on a substrate surface of a dielectric substrate, the signal processing method comprising:

outputting a transmission wave by an antenna including a plurality of transmission antennas and the plurality of reception antennas, with using a first transmission antenna, a third transmission antenna provided at a position shifted in a short direction of the first transmission antenna, a second transmission antenna provided at a position between the first transmission antenna and the third transmission antenna so that a portion of the second transmission antenna in a longitudinal direction is overlapped with a portion of the first and third transmission antennas in the longitudinal direction, and a fourth transmission antenna provided at a position point-symmetrical with respect to the position of the second transmission antenna, about the position of the third transmission antenna;

receiving the reflection wave with using the plurality of reception antennas provided so that a portion of each of the reception antennas in the longitudinal direction is overlapped with a portion of the second transmission antenna in the longitudinal direction;

deriving a position of the target in a horizontal direction with respect to a road surface, based on reflection waves of transmission waves outputted from the first transmission antenna and the third transmission antenna from the target; and

deriving a height of the target in a vertical direction with respect to the road surface, based on reflection waves of transmission waves outputted from the second transmission antenna, the third transmission antenna and the fourth transmission antenna from the target.

7. The antenna according to claim 1 , wherein a width of the second and fourth transmission antennas is greater than a width of the first and third transmission antennas.

8. The signal processing method according to claim 6 , wherein a width of the second and fourth transmission antennas is greater than a width of the first and third transmission antennas.