Automotive radar

An automotive radar comprising:

• a transmitting antenna which emits an electromagnetic wave;
• at least two receiving antennas which receive said electromagnetic wave reflected by a target;
• an antenna substrate on which said transmitting antenna and said at least two receiving antennas are arranged;
• a drive which, when the direction of arrangement of said at least two receiving antennas is an azimuth direction, rotates said antenna substrate in an elevation angle direction perpendicular to said azimuth direction to perform plural scans, in the elevation angle direction, each from one first antenna detection angle to an adjacent first antenna detection angle of a plurality of first antenna detection angles formed by said at least two receiving antennas, and provides each stopping point of said antenna substrate between a scan and a next scan;
• and
• a signal processor which detects the azimuth angle of a target in the elevation angle direction at the stopping point with respect to a reference direction during said stopping point according to received signals from said at least two receiving antennas and the rotation angle of said antenna substrate at the stopping point.

An automotive radar comprising:

• a transmitting antenna which emits an electromagnetic wave;
• at least four receiving antennas which receive said electromagnetic wave reflected by a target, arranged adjacent to each other horizontally and vertically;
• an antenna substrate on which said transmitting antenna and said at least four receiving antennas are arranged;
• a drive which, when said horizontal direction is an azimuth direction, rotates said antenna substrate in said azimuth direction and an elevation angle direction perpendicular to said azimuth direction to perform plural scans, in the azimuth direction and elevation angle direction, each from one antenna detection angle to an adjacent antenna detection angle of a plurality of antenna detection angles each formed by said at least four receiving antennas, and provides each stopping point of said antenna substrate between a scan and a next scan;
• and
• a signal processor which detects the azimuth angle and elevation angle of a target with respect to a reference direction during said stopping point according to received signals from said at least four receiving antennas and the rotation angle of said antenna substrate at the stopping point in the azimuth direction and elevation angle direction.