Method for detecting environment of vehicle using sensor system, sensor system and vehicle

Abstract

The invention relates to a method for detecting an environment (18) by means of a sensor system (2), comprising:-detecting an environment region (35) of the environment (18) by means of a first sub-array (37), the first sub-array (37) having a first field of view (39),-detecting the environment region (35) by means of a second sub-array (38), the second sub-array (38) having a second field of view (40),-determining an overlap region (41) of the fields of view (39, 40) on the basis of overlapping edge regions (42, 43), -checking whether the overlap region (41), in which the object (46) is located, and in this case:-determining a combined array (47) consisting of the antenna elements (4) of the first (37) and second (38) sub-arrays, the combined array (47) having a combined field of view (48), the object (46) being detectable by means of the combined field of view (48), and-detecting an environment region (35) of the environment (18) by means of the combined array (47). The invention further relates to a sensor system (2) and to a vehicle (1).

Description

Technical Field

[0001] The present invention relates to a method for detecting the environment of a vehicle using a sensor system, wherein the sensor system has an antenna array, and the antenna elements of the antenna array are distributively arranged on the vehicle.

[0002] The present invention further relates to a sensor system and a computing device having an antenna array, the antenna array having a plurality of antenna elements.

[0003] The present invention also relates to a vehicle having a sensor system. Background Art

[0004] For example, US2020 / 00031291A1 discloses a model-based method for 360-degree surrounding environment detection of the surrounding environment of a vehicle. Here, a plurality of cameras and a plurality of radar sensors can be arranged around the vehicle.

[0005] In addition, DE 10 2019 203 760 A1 discloses a sensor system for detecting an object in the environment of a vehicle. The sensor system has a first radar sensor and a second radar sensor as frequency-modulated continuous-wave radar sensors.

[0006] In addition, DE 10 2020 129 293 A1 discloses a method for signal processing of radar signals. Here, the radar signals of a radar unit can be used to detect the spatially visible area of the radar system. A discrete global coordinate system of the visible area can be generated, wherein the radar unit records the measurement data generated by the detection of the visible area. In addition, a vector velocity can be determined for at least one pixel of the discrete global coordinate system. Subsequently, at least one spatial sub-region of the visible area of the radar system can be reconstructed based on the determined vector velocity. Summary of the Invention

[0007] The object of the present invention is to be able to perform improved surrounding environment detection of a vehicle by adaptively matching the antenna array of the sensor system for surrounding environment detection according to the current situation.

[0008] This object is solved by a method for detecting the environment of a vehicle using a sensor system, a sensor system, and a vehicle according to the present invention. Meaningful improvement solutions are derived from the embodiments according to the present invention.

[0009] One aspect of the present invention relates to a method for detecting the environment of a vehicle using a sensor system, wherein the sensor system has an antenna array, and the antenna elements of the antenna array are distributively arranged on the vehicle, the method comprising:

[0010] - In particular, a first sub-array of the antenna array is used to detect an environmental area of the environment, wherein the first sub-array has a first field of view that at least partially extends within the environmental area.

[0011] - In particular, at least one second sub-array of the antenna array is used to detect an environmental area of the environment, wherein the second sub-array has a second field of view that at least partially extends within the environmental area.

[0012] - In particular, an overlapping area of the first field of view and the second field of view is determined based on an edge area where at least a part of the first field of view and the second field of view overlap.

[0013] - Check the overlapping area to see if the object to be detected is within the overlapping area, and in this case:

[0014] - Based on the overlapping area and at least one object to be detected, a combined array composed of the antenna elements of the first sub-array and the second sub-array is determined, wherein the combined array has a combined field of view, which is composed of parts of the first field of view and the second field of view, and at least one object to be detected can be detected using the combined field of view, and

[0015] - Use the combined array to detect the environmental area of the environment.

[0016] With the proposed method, the detection of the surrounding environment, the environment or the environmental area of the vehicle can be performed more effectively, because the antenna array can be adaptively matched according to the current situation related to the surrounding environment detection. In particular, the target detection accuracy and especially the resolution ability of the antenna array of the sensor system (especially the radar system) may deteriorate in the corresponding edge area of the field of view (FoV, "Field of View"). If the antenna array is to be used to perform surrounding environment detection at this time and the object to be detected is located in the edge area or the outer area of the field of view of the antenna array, inaccurate detection may occur. This may lead to critical situations, especially when the detection results of the surrounding environment detection are required for autonomous driving systems or other safety systems.

[0017] The antenna array may have a plurality of antenna elements, such as transmitting elements and receiving elements. They can be distributedly arranged on the vehicle, so that some of these antenna elements can be used to form sub-arrays. For example, one sub-array can be arranged in the front area, another sub-array can be arranged at the passenger door, another sub-array can be arranged on the driver side or one sub-array can be arranged in the rear area. Other possible arrangements of the sub-arrays can also be envisaged in the external area of the vehicle.

[0018] For example, the environmental area of the environment can be detected according to the driving situation or according to an event. Here, the environmental area can be such an area in the environment that is relevant to the vehicle. In particular, the environmental area can be such an area of the environment that is relevant to the execution of the current and / or future driving maneuvers of the vehicle. If the vehicle is to be located in the area of an intersection, the environmental area can include the intersection.

[0019] The antenna array can have a first sub-array and a second sub-array. Additional sub-arrays are also conceivable.

[0020] In particular, depending on which environmental area is to be detected, multiple sub-arrays of the antenna array can be used. With the first sub-array, the environmental area can be detected at least locally. For this purpose, the first sub-array has such a first field of view that extends at least partially, in particular completely, within the environmental area. Thus, the first sub-array can perform detection or target detection in the environmental area. The second sub-array in turn has a second field of view that extends at least partially, in particular completely, within the environmental area. Thus, with the first sub-array and the second sub-array, the environmental area can be detected or covered at least partially, in particular completely. Each of the two fields of view has an outer edge area. Here, again, the problem mentioned at the beginning arises because at the edge area, the direction accuracy and in particular the resolution or angular resolution may be inaccurate, poor or less precise. For example, if there is an object, such as a potential collision object, in the edge area, a poorer detection can be performed here compared to other areas of the field of view. In particular, the central area of the field of view surrounded by the edge area can be used for precise detection. The two fields of view can at least partially or locally intersect or overlap. This is because the same environmental area should be detected using the two sub-arrays. In particular, the two fields of view can be configured to be adjacent to each other. In particular, the edge areas of the fields of view arranged adjacent to each other can at least partially overlap or be superimposed. Thus, there is an area here, such as an overlapping area, that can only be detected insufficiently by the two sub-arrays. If there is an object, such as a potential collision object for the vehicle, in this overlapping area at this time, an inaccurate detection of this object may occur here and in the worst case, target detection may not be possible at all.

[0021] The inspection of the overlapping area can be carried out as follows: Whether the first and / or second sub-array can or has at least partially detected the object to be delegated.

[0022] For example, currently, the first subarray and / or the second subarray can at least partially detect or detect shadows or anomalies, which can infer potential objects, such as objects to be detected. Therefore, it can be determined on the system side that the overlapping area may be problematic for environmental detection, and only insufficient target detection or object detection may be performed in this overlapping area. In order to provide remedial measures at this time, a combined array can be determined or generated. In other words, a reconfiguration is performed on the basis of the two subarrays so that the combined array is composed of the individual antenna elements of the two subarrays. The overlapping area and the object to be detected are considered here. In other words, the determination of the combined array is achieved so that one or more objects to be detected in the edge area of the field of view of the first subarray and the second subarray are no longer located in the edge area in the combined field of view of the combined array, but are particularly located in the center area of the combined field of view. Therefore, the two fields of view of the two subarrays can be changed as follows: an improved combined field of view is obtained. Among them, a sub-area of the environmental area that can only be insufficiently detected by the first and second subarrays is detected by means of the combined array at this time.

[0023] In particular, the proposed method enables a continuous, i.e., temporally continuous, interconnection of subarrays of an antenna array. Thus, depending on which area of the vehicle's environment is to be detected, the corresponding subarrays can be used, and if these subarrays are not sufficient to perform a substantially accurate detection, the individual subarrays can be combined again to be able to perform a detection adapted or improved to the detection situation.

[0024] Another application case is that subarrays of the antenna array may have a visible area that is blocked by an obstruction. Therefore, in order to provide a remedy here, the corresponding subarrays can be combined as follows to obtain an improved array, in order to determine the respectively relevant surrounding area, especially for the respective driving situation of the vehicle.

[0025] The proposed methods can be implemented in a miniaturized, photon-co-integrated radar chip in a coherently distributed sparse array or antenna array. The antenna array can be integrated in or on a vehicle over a large area. In addition, the optically transmitted conversion of the radar signal can be performed on an electronic-photon co-integrated semiconductor circuit at at least two different frequencies. These can be the respective signals of the individual subarrays.

[0026] The individual subarrays or subarrays can be calculated based on the field of view of the subarrays and the signals received by the subarrays. In particular, the field of view is checked. If edge regions of the subarrays prevent reliable surroundings detection, a new design of the relevant subarrays as a subset of the entire array or of the first and second subarrays can be adaptively performed, in particular online, depending on the driving scenario.

[0027] The proposed method can achieve refined resolution capabilities in relevant fields of view. In particular, the accuracy in target detection can be improved. In addition, there may be a lower required computational power. CO2 emissions can also be reduced. Furthermore, due to the sparse and especially distributed arrangement of the antenna array, electrical energy can be saved, so that, for example, the effective range of an electrically operated vehicle can be increased. In particular, cost savings are achieved through the proposed method.

[0028] Due to physical relationships, the angular resolution of a sensor system (especially a radar system) is determined by the size of its antenna aperture. The antenna aperture should be understood as the area on which the individual antennas are distributedly arranged. Current sensor systems are mostly modules with a size of approximately 10x10 cm2, limited by the integrability in a vehicle. Accordingly, the angular resolution is limited to approximately 2 degrees. Here, the resolution capabilities improve proportionally to the aperture size. If two objects are to be resolved at a certain angle (i.e., azimuth and elevation), an aperture that extends in two directions is required. Here, the present invention advantageously uses and can provide a remedy here.

[0029] A second important parameter in the antenna array is the distance between the individual antenna elements. It determines the measurable angular range. A larger antenna distance leads to ambiguities, such as side lobes in angle measurements. Therefore, radar systems in the automotive field operate so-called virtual antenna elements. Such virtual elements are constituted by the combination of a transmitting antenna and a receiving channel, more precisely exactly in the middle of the connection vector. With n transmitting antennas and m receiving antennas, a virtual array of up to n x m elements can be generated in this way. This principle is generally known as "multiple input multiple output (MIMO)". The proposed method can increase the clearly measurable angular range of the antenna array.

[0030] The individual antenna elements of the antenna array can be distributedly arranged in a 360-degree and 3D manner along the surface of the vehicle. This results in many channels, especially communication channels, which can be coherently calculated into an overall point cloud.

[0031] By arranging the antenna array in a "sparse array configuration", the necessary computational power can be increased. Here, a remedy can be provided again by the proposed method.

[0032] In particular, the proposed method can achieve a reduction in the data load in a photon radar system distributed over a large area.

[0033] An environmental area of the vehicle's environment is, for example, such an area in the environment within which at least partially the driving maneuvers of the vehicle take place or are carried out.

[0034] The sensor system of the vehicle can in particular be configured as a surrounding environment detection system. For this, the sensor system can have an antenna array or a plurality of such antenna arrays.

[0035] The antenna elements of the antenna array can be configured as transmitting elements, receiving elements, or transmitting and receiving elements.

[0036] For example, it can be determined on the system side in which direction or in which spatial region related to the vehicle there is a corresponding environmental region that is relevant to the current or future driving behavior of the vehicle. For this purpose, vehicle data, map data, or navigation data can be considered, for example.

[0037] In one embodiment, it is provided that when checking the overlapping region, it is additionally checked whether at least one object to be detected can be detected by using the first sub-array and / or by using the second sub-array. Thus, on the one hand, the overlapping region can be checked as follows: whether there is an object to be detected or other objects dangerous to the vehicle in the overlapping region of the fields of view of the two sub-arrays. In addition, the overlapping region can be additionally checked: whether the objects within the overlapping region can actually also be detected by at least one sub-array. If detection cannot be performed by the first or second sub-array in the overlapping region, it can be assumed that the relevant object (for example, the object to be detected) is in a region of the environmental region that cannot be detected by the first and second sub-arrays. In this case, another sub-array can be used, and it can be checked by using this other sub-array whether the object can be detected. Therefore, any sub-array or sub-array of the antenna array can be arbitrarily combined or assembled according to the current situation.

[0038] When checking whether there is an object to be detected in the overlapping region, it can be performed, for example, as follows: at least partially detecting the object by using the first sub-array and / or the second sub-array. Thus, it is known on the system side that there is an object in the overlapping region, but it cannot be fully detected. In order to overcome this situation, a combined array can be formed again.

[0039] This results in the advantage that for various situations, events, and / or traffic situations, the antenna array can be switched on or interconnected in such a way that a substantially accurate and particularly complete environmental detection of the corresponding relevant environmental region can be performed.

[0040] In this embodiment, it is provided that if at least one object to be detected is located within the overlapping region and at least one object to be detected can only be partially detected by the first sub-array and the second sub-array, a combined array is determined. If there is a collision object, a target object, for example, an object to be detected, in this critical region related to the overlapping region and it can only be inadequately or partially detected by the first and second sub-arrays, it can be determined on the system side that a combined array should be determined. Thus, on the system side, it can be determined under what conditions a combined array is to be formed based on the sub-arrays and in particular the individual antenna elements of the sub-arrays in view of the inadequate detection.

[0041] In one embodiment, it is arranged that if at least one object to be detected is located in the overlapping area and at least one object to be detected can be detected by the first subarray and the second subarray, the first subarray and at least the second subarray are matched and / or at least another subarray of the antenna array is used to detect the environmental area. If the object to be detected or other target objects in the field of view of the first and / or second subarray can be detected by the first and / or second subarray, this can be used for surrounding environment detection. In this case, determining the combined array can be optionally omitted. Additionally or alternatively, the subarrays can be adjusted or matched so that a substantially complete detection of the object to be detected can be performed.

[0042] If the object to be detected cannot be completely or sufficiently detected by the first subarray and the second subarray and therefore the two subarrays can only be used to a limited extent to form a combined array, then a further, i.e. third, subarray can be used. Thus, it is also conceivable to evaluate the three fields of view by three subarrays. Here, for example, the overlapping area can be the overlapping area of the edge areas of the three fields of view. By using further subarrays, the detection probability and in particular the object detection can be performed more effectively.

[0043] If the object to be detected or the target object cannot be detected by the first subarray or the second subarray, the adjustment or fine-tuning of the first subarray and / or the second subarray can be realized first. Here, the manipulation of the individual antenna elements of the two subarrays can be matched. It is also conceivable that further antenna elements of the antenna array are interconnected or added to the first subarray and / or the second subarray in order to expand the field of view of the first and / or the second subarray. For example, this can be done until the object to be detected can be at least partially detected by the first and / or the second subarray, so that a combined array can then be formed again. In addition to using additional subarrays, multiple such additional subarrays can also be used or considered. Therefore, any subarray can be considered accordingly and then combined into a combined array.

[0044] In one embodiment, it is provided that if there is no object to be detected in the overlapping area, the first subarray and / or the second subarray is used to detect the surrounding area of the environment. In particular, computing power and computing time can be saved in this way, because the combined array does not need to be generated or determined incorrectly. If it is determined on the system side that the object to be detected can be sufficiently detected using the first and / or the second subarray, the detection of the surrounding area is carried out using the first and / or the second subarray.

[0045] Insufficient detection can be understood as being able to detect an object with a probability or detection probability of less than 40%, in particular less than 30%. Sufficient detection can be present if the object can be detected with a detection probability of greater than 50%, in particular greater than 70%, using the first subarray and / or the second subarray.

[0046] For example, it can be confirmed that there is no object in the overlapping area through other systems or external information sources. In another way, through the first sub-array and the second sub-array, it can also be determined with a detection accuracy greater than 90%, especially greater than 95%, that there is no object in the overlapping area. Therefore, the formation of the combined array can be omitted here because sufficient detection can be carried out through the first and / or second sub-arrays.

[0047] In one embodiment, it is set that when determining the combined array, environmental information regarding the vehicle's environment and / or traffic conditions in the vehicle's environment and / or the current and / or future driving scenarios of the vehicle is considered. Thereby, the combined array can be determined more situation-matched. In addition to the object to be detected and the overlapping area in view of the fields of view of the two sub-arrays, additional information can also be considered to determine such a combined array that is situation-matched for the current situation and / or upcoming situation of the vehicle. For this, the corresponding information regarding the environment and / or traffic conditions can be provided by the vehicle system and / or an information source outside the vehicle. The information regarding the current and future driving scenarios can be provided by the vehicle's driving assistance system or navigation system.

[0048] In one embodiment, it is set that based on the current and / or upcoming driving maneuvers of the vehicle, such areas in the vehicle's environment that are relevant to the current and / or upcoming driving maneuvers are determined as environmental areas. Here, information of the vehicle and / or information of the user of the vehicle, such as navigation information or route information, can be considered. In order to be able to reduce the computing power and operate the sensor system more efficiently, it is advantageous to detect areas that are important or relevant to the current and / or upcoming driving maneuvers of the vehicle. According to the current or upcoming driving maneuvers, it can be identified on the system side which environmental areas or which environmental areas of the environment are relevant to the corresponding driving maneuvers. This has the additional advantage that it can thereby also be determined which sub-arrays or areas of the antenna array are in principle necessary for detecting the corresponding environmental areas. Therefore, sub-arrays that are also actually relevant for detecting the environmental areas can be selectively chosen.

[0049] If the vehicle is to move onto an intersection, the sub-array pointing to the intersection will be important in this case. The sub-array arranged in the rear area of the vehicle in this example can be ignored in this case. If the vehicle is in a turning situation again as a driving maneuver, the sub-array that can detect the turning area may be important again. In another example, the vehicle may be in an overtaking maneuver, so the area behind the vehicle and the area in front of the vehicle should be detected here. Here, the correspondingly arranged sub-arrays that meet these conditions can be controlled again.

[0050] Accordingly, the relevant environmental area can be determined based on which driving maneuvers are currently and / or will be performed by the vehicle and / or based on the corresponding traffic situation. Thereby, the area of the antenna array can also be determined, which can basically detect or cover this environmental area using sensors.

[0051] Furthermore, this provides advantages when the antenna array is arranged in a sparse manner. Since the individual antennas of the antenna array are arranged spaced apart from each other and are particularly distributed at the vehicle, these antenna elements can be assembled into sub-arrays in a targeted manner, which can basically detect the desired environmental area.

[0052] In one embodiment, it is provided that based on the current and / or upcoming driving maneuvers and / or the environmental area, it is determined which sub-arrays of the antenna array and / or how many sub-arrays of the antenna array are used to detect the environmental area. Thereby, it can be determined or defined on the system side which antenna elements, and in particular which areas of the antenna array, can basically detect the corresponding environmental area. Thus, antenna elements, in particular sub-arrays of the antenna array, can be excluded or not considered here, which basically cannot detect the desired environmental area due to their arrangement at the vehicle. An example of this is that the environmental area extends from the left side of the vehicle, such that in this case the antenna elements located on the right vehicle side will not be able to perform the corresponding detection of this environmental area.

[0053] In particular, the antenna array is a flexibly configurable array such that sub-arrays and / or combined arrays can be arbitrarily formed from different antenna elements depending on the desired application or the current situation.

[0054] In particular, sub-arrays with a detection area pointing to the environmental area can be selected or determined.

[0055] Furthermore, each sub-array can have any number of antenna elements. In particular, adjacent antenna elements can be combined into sub-arrays respectively.

[0056] In one embodiment, it is provided that the environmental area is detected using a combined array in view of at least one object to be detected and / or in view of potential collision objects. With the newly formed or situation-dependent combined array, the environmental area can be detected in view of the target object or collision object. In particular, sufficient detection of the environmental area can be performed using the combined array.

[0057] In one embodiment, it is provided that additional sub-arrays of the antenna array are matched based on the combined array and the combined field of view, wherein the additional sub-arrays are continuously matched starting from the combined array.

[0058] Thus, in view of the information of the generated combined array, it can be used to configure or match additional sub-arrays of the antenna array based on this. The determined favorable combined field of view can be transmitted or applied to additional sub-arrays, for example. Therefore, starting from the combined array as a starting point, additional regions of the antenna array around the vehicle can be matched, configured, or adapted. In other words, the combined array, especially the combined field of view, can be transmitted to subsequent sub-arrays of the antenna array, such that based on the combined field of view, additional regions of the antenna array can be matched in such a way that based on the design of the combined field of view, additional regions in the environment of the vehicle can be detected. Thus, for example, by calculating or determining the combined array once, this can be transmitted to additional regions of the antenna array in order to be able to perform 360-degree surrounding environment detection around the vehicle in the simplest way.

[0059] For example, the executed combination of the first and second sub-arrays can be applied to additional adjacent sub-arrays at other regions of the vehicle in a similar way in order to perform 360-degree surrounding environment detection based on the once-determined combined array. For example, the surrounding environment detection can be performed once here, and then the relevant sub-arrays and the re-determination of the relevant environmental regions are performed again according to an event.

[0060] In one embodiment, it is set that the information about the detected environmental region is generated by the computing device of the sensor system and provided to at least one vehicle system and / or the surrounding environment model. Thus, the detected environmental region can be provided as information, especially a signal, in order to make it available for use as an input parameter for vehicle systems (such as driver assistance systems and / or the surrounding environment model). Thereby, the vehicle can operate more safely. In particular, the information about the environmental region can be advantageously used for at least partially autonomous driving functions or fully autonomous driving functions.

[0061] Another aspect of the present invention relates to a sensor system having at least one antenna array and an electronic evaluation unit, wherein the sensor system is configured to perform the method according to the foregoing aspect or its advantageous improvement. In particular, by means of the just-described sensor system, the method of the aspect mentioned at the beginning can be implemented or executed.

[0062] In particular, the transmitting device and the receiving device can be integrated on a single semiconductor chip, for example, by means of a CMOS, SiM-CMOS, Bi-CMOS, hybrid Bi-CMOS, or a process on a photon-electron co-integrated chip. Thus, for example, by means of the present invention, a radar sensor device or a sensor system can be manufactured by mass production using a standardized semiconductor process.

[0063] In particular, after optical signal transmission, frequency conversion of a terahertz carrier signal in the gigahertz frequency range can be performed by means of a sensor system, and conversely, reception of a gigahertz signal together with modulation onto the terahertz carrier signal.

[0064] In particular, the proposed sensor system can be applied in motor vehicles. In particular, the sensor system can be used, for example, in at least partially autonomously operating motor vehicles, in particular fully autonomously operating motor vehicles. For such automated driving, safe surrounding environment perception is necessary, which can be achieved by means of a sensor system. Here, the surrounding environment or the environment can be detected by means of sensors such as radar, lidar, and cameras. These can be examples of the fields of use for radar sensor devices. By means of the sensor system, a 360-degree three-dimensional detection of the environment can be performed, so that all static and dynamic objects can be detected.

[0065] The sensor system can be applied as an alternative to lidar, because lidar plays a particularly crucial role in redundant and robust surrounding environment detection, since this type of sensor can measure distances and angles more precisely in surrounding environment detection and can also be used for classification.

[0066] In particular, the sensor system can be used, for example, in at least partially autonomously operating motor vehicles, but in particular also in fully autonomously operating motor vehicles. However, for such automated driving, safe surrounding environment perception is crucial. Here, the surrounding environment or the environment is detected by means of sensors such as radar, lidar, or cameras. A 360-degree three-dimensional detection of the environment is particularly important in order to be able to detect all static and dynamic objects. For this, a sensor system can be used. In particular, lidar plays a crucial role in redundant and robust surrounding environment detection, since this type of sensor can measure distances more precisely in surrounding environment detection and can also be used for classification. However, these lidar sensors are expensive and their structure is complex. In particular, 360-degree three-dimensional surrounding environment detection is problematic because either many smaller individual sensors are required to ensure this, which usually work together with many separate light sources and detector elements, or large lidar sensors are installed. In addition, lidar sensors are vulnerable to weather influences such as rain, fog, or direct sunlight. In this regard, the sensor system can provide a remedy.

[0067] A radar sensor or a radar sensor device is likewise installed in a motor vehicle structure and reliably and fail-safely provides data under all weather conditions. Even poor visibility conditions, such as rain, fog, snow, dust or darkness, hardly affect its sensing reliability. However, according to the prior art, the resolution ability has been limited so far. In particular, the currently used series radars are only constructed with a resolution ability of approximately 2 degrees of angle. In order to meet the requirements for an increased level of automation in motor vehicle structures with safety driving functions, it is provided that the radar sensor device provides a three-dimensional image with a high angular resolution in the range of 0.1 degree and below with a relatively high insensitivity to interference from its environment. This cannot be achieved with conventional radar technology according to the state of the art, because the resolution ability of such a system is too low. The sensor system according to the invention advantageously enables precise intervention.

[0068] The sensor system can be configured as a photon radar sensor device, and the improvement of the resolution ability is achieved by co-integrating electronic and photon components in a single semiconductor chip. Here, the tracking of the FMCW signal as well as the entire signal processing and signal evaluation are performed at a central station. Each transmitting and receiving module has an electro-photonic co-integrated chip, namely the so-called Epic chip. Silicon photonics technology is used for co-integration. This enables the photonic structural elements, high-frequency electronics and digital electronics to be monolithically integrated together on one chip. Here, the technological innovation of the system lies in the signal transmission of gigahertz signals by means of an optical carrier signal in the terahertz frequency range. The central station, which can also be referred to as a central electronic computing device, generates the terahertz optical carrier frequency. The transmitted signal is modulated onto it at one-eighth of the radar frequency and is transmitted to the antenna chip via an optical fiber. Frequency doubling is performed thereon, so that the radar radiation can be emitted by the antenna chip. Signal detection is achieved in the opposite way. All data are processed at the central station.

[0069] However, such an implementation is very complex for implementing gigahertz electronics on a chip plane. In particular, the frequency doubling performed on the chip after detection by a photodiode is technically challenging and represents a relatively high challenge in view of the generation of gigahertz signals with a high signal-to-noise ratio and as low a jitter as possible. Therefore, the gigahertz signal must be stabilized complexly in a further step. In addition, gigahertz electronics are expensive. In addition, relatively high power requirements are imposed on the optical carrier, especially the laser, because a large amount of optical power is required to generate high-precision gigahertz signals, which makes it difficult to implement a single-phase loop for a radar array with multiple distributed radar semiconductor chips. In particular, two photon-electronic semiconductor chips are still required for the corresponding transmitting and receiving channels, which results in further cost consumption. The problems just mentioned are solved at least partially, especially completely, by the sensor system according to the invention.

[0070] In particular, the present invention makes use of the fact that the radiation of a laser device, which can in particular also be configured as a CW laser, is coupled into a photonic semiconductor via an optical interface. Here, it can be an optical transmission signal or the carrier signal of a CW laser.

[0071] Here, the generation of the FMCW signal and the entire signal processing and evaluation are performed by a central station (such as a computing device). Each transmit and receive module consists of an electro-photonic co-integrated chip (so-called "EPIC chip"). Co-integration is carried out using silicon photonics technology. This enables the monolithic integration of photonic structural elements, high-frequency electronics, and digital electronics on a single chip ("electro-photonic co-integration"). Here, the technological innovation of the system lies in the signal transmission of GHz signals via an optical carrier signal in the terahertz frequency range. The central station generates the optical carrier frequency (THz). The signal to be transmitted is modulated onto it at 1 / 8 of the radar frequency and transmitted to the antenna chip via an optical fiber. Frequency multiplication by eight is performed thereon, so that radar radiation can be emitted by the antenna chip. Signal detection is achieved in the opposite way. All data is processed at the central station.

[0072] The principle of electro-photonic co-integration in a chip, with a silicon-on-insulator region for photonic components and a bulk silicon region for electronic circuits, is a unique technology in the world. In particular, at high data rates, high signal quality with low parasitic interference effects can thus be achieved. The connection of the radio frequency circuit (including frequency multipliers) for a radar antenna to the optical transceiver can be achieved without additional wires or flip-chip bonding. In addition, the chips can already be optically and electrically tested at the wafer level, whereby a high yield can be achieved in further module construction. Using this technology, an extremely compact form factor can be achieved, and in connection therewith, a high relevance of silicon photonics-based optical technology in the automotive industry can be realized.

[0073] The obstacle to the efficient use of optical fibers lies in the lack of scalability of previously available technologies. This scalability for large quantities can be achieved through the highly integrated production technology of electro-photonic integrated circuits. The result is a significant cost reduction in construction technology and a more efficient cost structure. From the development of data center solutions, there is a comprehensive library of electronic and photonic components for data transmission in high-bandwidth situations, and these libraries are relied upon in the plan.

[0074] In one embodiment of a further aspect, it is provided that the antenna array is configurable so that individual antenna elements of the plurality of antenna elements can be assembled into different subarrays. In particular, the antenna array is designed so that the individual antenna elements of the antenna array can be grouped or assembled into subarrays as desired. This results in a freely configurable antenna array, so that for the respective situation of the vehicle such antenna elements can be combined or assembled into subarrays in order to be able to optimally detect the surrounding area relevant to the situation.

[0075] A further aspect of the invention relates to a vehicle having a sensor system according to the above-mentioned aspect or an advantageous development.

[0076] For example, the vehicle may be a manually operated vehicle, a partially autonomously operated vehicle, or a fully autonomously operated vehicle. In other words, the vehicle may be a highly automated vehicle.

[0077] In particular, the vehicle may be a motor vehicle, such as a bus or a truck.

[0078] In one embodiment of a further aspect, it is provided that the antenna array has a plurality of antenna elements which are arranged at a distance from one another on the vehicle. This allows for the most effective detection of the vehicle's surroundings. Due to the distributed arrangement of the individual antenna elements on the vehicle, a 360-degree surroundings detection can be performed in particular.

[0079] For example, the antenna elements of the antenna array may be configured as a “sparse array” configuration. In particular, the antenna elements of the antenna array may be arranged at the vehicle in a sparse or low-density configuration.

[0080] Embodiments of various aspects of the invention are advantageous embodiments of other aspects. In particular, corresponding embodiments of various aspects can be regarded as advantageous embodiments of all other aspects. This also applies in the opposite way.

[0081] Advantageous embodiments of one or more of the methods are to be regarded as advantageous embodiments of the sensor system and the vehicle. The sensor system and the vehicle have characteristic features which enable the method to be carried out or an advantageous embodiment thereof.

[0082] For use cases or application situations that may arise in the method and are not explicitly described here, it can be provided that according to the method an error message is output and / or a request for inputting user feedback is made and / or standard settings and / or a predetermined initial state is set.

[0083] The present invention also includes improvements of the sensor system according to the present invention and the vehicle according to the present invention, which have the features as they have already been described in conjunction with the improvements of the method according to the present invention. For this reason, the corresponding improvements of the sensor system according to the present invention and the vehicle according to the present invention will not be described again here.

[0084] The present invention also includes combinations of the features of the described embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Embodiments of the present invention are described below. In this regard:

[0086] Figure 1 A schematic view of a vehicle having a sensor system is shown, the sensor system having antenna elements distributedly arranged at the vehicle with an antenna array;

[0087] Figure 2 Is shown Figure 1 A schematic view of a block diagram of the sensor system of;

[0088] Figure 3 Is shown Figure 1 A schematic view of another embodiment of the radar system of;

[0089] Figure 4 A schematic view of a turning driving maneuver in an intersection situation is shown, wherein Figure 1 The fields of view of sub-arrays of the antenna array of partially overlap;

[0090] Figure 5 From Figure 4 A combined field of view is shown starting from, the combined field of view being formed by the combination of the fields of view of Figure 4 So as to be able to better detect Figure 4 Objects in the overlapping region of the fields of view of;

[0091] Figure 6 An exemplary flowchart in view of the detection of the environment area is shown, which is relevant for the driving maneuver currently to be performed by the vehicle;

[0092] Figure 7 From Figure 5 A starting point shows how the combined array there can be advantageously used for additional arrays of the antenna array; and

[0093] Figure 8 Is shown Figure 7 A further rotational adaptation of the combined array to additional arrays of the antenna array of. DETAILED DESCRIPTION

[0094] The embodiments explained below are preferred embodiments of the present invention. In the embodiments, the components described are each features of the present invention that should be regarded as independent of each other, which each improve the present invention independently of each other and can therefore also be regarded as components of the present invention individually or in combinations different from those shown. In addition, the described embodiments can also be supplemented by additional features of the present invention that have already been described.

[0095] In the figures, elements having the same function are respectively provided with the same reference numerals.

[0096] Figure 1 Various schematic views (front view, rear view, side view) of a vehicle 1 are shown. The vehicle 1 can be a motor vehicle. The vehicle 1 includes, for example, a sensor system 2.

[0097] The sensor system 2 can be, for example, a radar system or a surrounding environment sensor system of the vehicle 1. In this regard, the sensor system 2 can be communicatively networked, for example, with one or more driver assistance systems or other vehicle systems. For example, the sensor system 2 can be a radar sensor or a lidar sensor or other sensor types especially for vehicles. In addition to being used in the vehicle 1, the sensor system 2 can also be used in systems outside the vehicle.

[0098] For example, the sensor system 2 has at least one antenna array 3 or a plurality of antenna arrays. The antenna array 3 can in turn be constructed by a large number of antenna elements 4. The antenna elements 4 can be arranged spaced apart from each other at the vehicle 1, especially for 360-degree surrounding environment detection.

[0099] Figure 2 A conceivable embodiment of the sensor system 2 is shown. The sensor system 2 can have at least one radar sensor device 5 and a central electronic computing device 6. For example, the radar sensor device 5 and the central electronic computing device 6 can be separate and physically separated units. The radar sensor device 5 can, for example, have at least one antenna array 3. Additionally, the antenna array 3 can be used as the radar sensor device 5.

[0100] The central electronic computing device 6 is a central unit. For example, the central electronic computing device 6 can generate an electrical control signal with which a laser device 7 can be manipulated or controlled. The laser device 7 can be, for example, a CW laser. With the aid of the laser device 7, an optical transmission signal or a carrier signal 8 can be generated. The optical transmission signal 8 can especially be called an optical carrier signal in the terahertz frequency range. The central electronic computing device 6 can, for example, generate an optical carrier frequency. The signal to be transmitted is modulated to the optical carrier frequency at one-eighth of the radar frequency and, for example, transmitted to the radar sensor device 5. In this way, an eight-fold frequency increase can be achieved. With the aid of the radar sensor device 5, a signal in the gigahertz frequency range can be received and transmitted to the central electronic computing device 6.

[0101] For example, the central electronic computing device 6 can be coupled to the optical input terminal 10 and the optical output terminal 11 of the radar sensor device 5 via at least one optical fiber 9 respectively. Thus, a two-way signal transmission can be carried out between the central electronic computing device 6 and the radar sensor device 5.

[0102] For example, the central electronic computing device 6 can be referred to as an electronic evaluation unit.

[0103] The central electronic computing device 6 can also have an optical receiving unit 12, which is set up to receive the optical output signal 13 provided at the optical output 11 of the radar sensor device 5. Thus, the central electronic computing device 6 can be coupled to the radar sensor device 5 via an optical fiber or an electronic interface such as Ethernet. In particular, a plurality of radar sensor devices or antenna arrays can be coupled to the central electronic computing device 6. For example, the central electronic computing device 6 can have a processing unit 14 or a computing unit with which the received optical output signal can be processed. Thus, signal detection of the received output signal 11 and subsequent data processing can be performed.

[0104] In particular, the central electronic computing device 6 can have or provide all necessary control signals, data processing signals, modules, and interfaces.

[0105] For example, in addition to the optical input 10 and the optical output 11, the radar sensor device 5 can also have at least one transmitting device 15 or transmitting antenna and at least one receiving device 16 or receiving antenna. Thus, the radar sensor device 5 has a receiving module and / or a transmitting module. In particular, the transmitting device 15 and the receiving device 16 can be integrated on the same chip. It is also conceivable that they are located on different semiconductor chips.

[0106] With the aid of the transmitting device 15, the electrical radar transmission signal 17 based on the optical transmission signal 8 can be transmitted into the environment 18 of the vehicle 1. Thus, the corresponding radar signal 17 can be transmitted according to the optical transmission signal 8. If this signal 17 is reflected in the environment 18 by an object such as a traffic participant, a road, a tree, or other object, the electrical received signal 19 corresponding to the electrical radar transmission signal 17 and reflected in the environment 18 can be received.

[0107] For example, the transmitting device 15 can have at least one antenna or antenna unit or multiple antennas for transmission.

[0108] For example, the transmitted radar transmission signal 17 or electrical transmission signal and the received received signal 19 can be in the terahertz frequency range or the gigahertz frequency range. Thus, with the aid of the sensor system 2, frequency conversion of the terahertz carrier signal, in particular of the transmission signal 8, can be performed into the gigahertz frequency range for transmission. In the opposite way, reception of the gigahertz signal can be performed by modulation of the terahertz carrier signal. For example, the transmitting device 15 can have at least one grating coupler and a photodiode for transmission. The receiving device 16 can have, for example, a photodiode and a modulator for receiving two jitter couplers.

[0109] With the sensor system 2, one-eighth of the radar frequency can be modulated and transmitted via an optical fiber to the antenna chip or the antenna element 4. In particular, an eight-fold frequency increase is performed thereon so that the radar radiation can be emitted by the antenna chip. Signal detection can optionally be implemented in the opposite way. All data can be processed at the central station.

[0110] Figure 3 Another conceivable embodiment of the sensor system 2 is shown. Here, the sensor system also has a computing device 6, which can have different configurations or equipment in this embodiment.

[0111] The sensor system 2 particularly has a plurality of transmit-receive units, such as antenna elements 4, which can be distributed, for example, at the vehicle 1, in particular for environmental detection.

[0112] The transmit-receive unit or the antenna element 4 can be used not only for transmission but also for sending or receiving signals. Thus, the transmit-receive unit is a combined unit for sending and receiving signals.

[0113] In particular, such a transmit-receive unit can be referred to as a transmit and receive module. This can be specified or constructed by an electro-photonic co-integration chip (so-called "EPIC chip"). The computing device 6, which can be referred to as the central unit, can also be constructed by an electro-photonic co-integration chip. In particular, the computing device 6 is a unit physically and / or spatially separated from the transmit-receive unit.

[0114] For example, the computing device 6 can have an optical unit or a laser device 7 or a laser. In particular, the optical unit can be constructed as a light source or a CW laser. With the aid of the optical unit, an optical transmission signal 8 or a carrier signal can be generated and thus provided. The optical transmission signal 8 can in particular be constructed as an optical carrier signal in the terahertz frequency range. The computing device 6 can, for example, generate an optical carrier frequency. The signal to be transmitted can be modulated onto this optical carrier frequency at one-eighth of the radar frequency and, for example, transmitted to the transmit-receive unit. In this way, frequency multiplication can be performed. Signals in the gigahertz frequency range can be received again with the aid of the transmit-receive unit.

[0115] For example, the computing device 6 can be interconnected with the respective transmit-receive unit via an optical fiber 9 as an optical transmission path. Signals, in particular optical signals, can be transmitted from the computing device 6 to the respective transmit-receive unit via the optical fiber 9. In order to be able to transmit the received signals of the transmit-receive unit back to the computing device 6 for evaluation or signal processing, the respective transmit-receive unit can be optically coupled to the computing device 6 via an optical return channel 20.

[0116] The electrical transmission signal 17 can be sent, in particular, into the environment 18 by means of at least one of the transmitting and receiving units. Correspondingly, the electrical reception signal 19 corresponding to the electrical transmission signal 17 can in turn be received by the transmitting and receiving unit. For example, the transmission signal 17 can be reflected by an object in the environment 18 of the vehicle 1 and thus be received as the electrical reception signal 19. The reception signal 19, which can be referred to, for example, as a radar signal, can be transmitted or passed on to the computing device 6 for evaluation or signal processing. For this purpose, the electrical reception signal can be converted into an optical reception signal 21 by means of the transmitting and receiving unit. For example, this can be passed on via the return channel 9 of the computing device 4. By means of the optoelectronic converter unit 22 or the detector unit of the computing device 6, the optical reception signal 21 can in turn be converted into an electrical signal 23. The unit 22 can be used, for example, for optical detection. For this purpose, the conversion can be carried out, for example, by homodyne detection or heterodyne detection. In addition, the unit 22 can carry out phase measurement and / or phase length measurement.

[0117] Subsequently, digitization can again be carried out by means of the digital interface 24. First, analog-to-digital conversion can be carried out here. For this purpose, the digital interface 24 can have an analog-to-digital converter. Subsequently, the processing unit 14 can be arranged. For example, signal processing can be applied by means of it, in particular, in the case of "low-level signals". For example, the fast Fourier transform ("FFT") can be used for this. Subsequently, the digitized and ready electrical signal 23 can be provided for use by the CPU 25 of the computing device 6. Here, in particular, the radar information or the ambient information contained in the electrical signal 23 can be evaluated or processed. In addition, an electrical return channel 26 can be provided, which provides feedback to the computing device 6 and in particular to the digital interface 24 by means of at least one of the transmitting and receiving units.

[0118] In order to be able to carry out as stable and low-noise ambient detection or detection of the sensor system 2 as possible, the optical transmission signal 8 can be matched by means of frequency synthesis or gigahertz frequency synthesis. For this purpose, the computing device 6 can have a synthesis unit 27. For this purpose, the optical transmission signal 8 can be supplied or passed on to the synthesis unit 27. For example, modulation can be carried out before the optical transmission signal 8 is provided for use by the synthesis unit 27. For this purpose, for example, a modulator or modulation unit 28 can be provided. It can be configured, for example, as any generator or any arbitrary waveform generator (AWG). After the synthesis unit 27, for example, an optical control unit 29 and an optical switch or distributor 30 can be provided in the computing device 6 in order to be able to supply the corresponding prepared signal of the synthesis unit 27 to the transmitting and receiving unit for use via the optical fiber 9. In addition, the control unit 31 can be controlled by the evaluation unit 25 in order to be able to monitor or control, in particular, the generation of the optical transmission signal. In addition, a control unit or feedback loop 32 (feedback loop) can be provided.

[0119] Furthermore, the computing device 6 is electrically interconnected with the transmitting and receiving unit via the electrical transmission path 33. The electrical control signal 34 for controlling or manipulating the transmitting and receiving unit or the antenna element 4 can be transmitted via this electrical transmission path 33.

[0120] In particular, the computing device 6 is configured to generate an optical carrier signal, an optical transmission signal 8, and feed it into a gigahertz frequency synthesizing unit, such as the synthesizing unit 27. The synthesized gigahertz signal can be transmitted within the spectral range to the transmitting and receiving unit via an optical fiber, i.e., the glass fiber 9, such that, for example, a 77 gigahertz signal can be emitted or transmitted by the transmitting and receiving unit. The signal detection can be carried out in the reverse manner. All data can be processed or processed in the computing device 6.

[0121] Figure 2 and Figure 3 the design options of the computing device 6 in

[0122] In Figure 4 and the subsequent figures, the embodiments are explained in view of using the sensor system 2 to detect the environment 18 of the vehicle 1.

[0123] Figure 4 show conceivable scenarios or conceivable situations related to the turning process of the vehicle 1 at an intersection or street intersection. Here, the vehicle 1 with the sensor system moves along the lane of the road, where the vehicle 1 is located in the left-turn lane. This exemplary turning process can be initiated by the driving assistance system of the vehicle 1 and / or by the user of the vehicle 1 as an exemplary driving scenario of the intersection situation.

[0124] Here, the environment area 35 relevant to this turning process is located in front of the vehicle 1 in the area of the possible or future left-turn process to be performed. This environment area 35 is particularly important for the driving maneuver 36 to be performed (here, the turning process at the intersection). For this, first, it can be confirmed or determined in particular by the sensor system 2 which areas of the antenna array 3 will be used or manipulated in order to be able to detect the environment area 35.

[0125] To this end, the first sub-array 37 and the second sub-array 38 are used in this case. The first sub-array 37 can be arranged, for example, in the front region of the vehicle 1. Here, the second sub-array 38 is arranged, for example, in the region on the driver's side of the vehicle 1. Thus, as sub-arrays 37, 38, parts or regions of the antenna array 3 are activated or used here, which are arranged or aligned in such a way that at least part of the environment region 35 is detected. Here, with the first sub-array 37, at least part of the environment region 35 can be detected. To this end, the first sub-array 37 has a first field of view 39, which extends at least partly within the environment region 35. Here, the field of view 39 can have a triangular shape or a conical shape. With the second sub-array 38, at least part of the environment region 35 can also be detected. To this end, the second sub-array 38 can have a second field of view 40 that extends at least partly within the environment region. The two sub-arrays 37, 38 are selected such that they at least partly overlap or intersect in their fields of view 39, 40. Thus, as a result of these two sub-arrays 37, 38, as large or extensive an area as possible can be detected.

[0126] As Figure 4 exemplarily shown in, the two fields of view 39, 40 at least partly overlap. Thus, an overlapping region 41 is produced here. As already mentioned at the beginning, the resolution capability decreases at the edges or edge regions of the sub-arrays 37, 38, especially in their fields of view 39, 40. The overlapping region 41 is formed especially by the edge regions 42, 43. The edge regions 42, 43 are especially such regions of the fields of view 39, 40 that form the outer contour or outer boundary of the fields of view 39, 40 compared to the center or middle of the fields of view 39, 40. Looking in the driving direction or longitudinal direction of the vehicle 1, the edge region 42 of the field of view 39 is located in the left outer region of the field of view 39, and the edge region 43 of the second field of view 40 is located at the right outer edge of the second field of view 40. Thus, the edge regions 42, 43 overlap or cover and form the overlapping region 41. The field of view 39 can in turn have another edge region 44, which is opposite to the edge region 42 and is especially further away from the environment region 35 and especially from the driving operation 36. Similarly, the field of view 40 can in turn have at least one additional edge region 45, which is opposite to the edge region 43 and is especially far away.

[0127] As Figure 4 exemplarily shown in, two sub-arrays are used here. However, a plurality of sub-arrays, i.e., more than two sub-arrays, can also be used accordingly.

[0128] The object to be detected 46, or the target object, or the potential collision object can be located in the overlapping region 41. Due to the cross-edge regions 42, 43, the resolution in the overlapping region 46 is reduced or low, so that a reliable detection or detection of these objects 46 cannot be performed sufficiently precisely or imprecisely, which may lead to a critical or dangerous situation here, because the vehicle 1 can only detect the object 46 insufficiently, or in the worst case, cannot take them into account. To provide a remedy for this at this time, the combined array 47 (see Figure 5 ) or the newly formed sub-array can be determined or measured. In other words, the two fields of view 39, 40 and thus the sub-arrays 37, 38 are combined or reconfigured with each other so that an "improved" detection of the overlapping region 46 becomes possible. In other words, the combined unit, i.e., the extended sub-array, is formed by two sub-arrays 37, 38 or by a plurality of such sub-arrays. Here, the formation of the combined array 47 is realized in such a way that, in particular, the overlapping region 46 can be detected in such a way that the object 46 can be detected or detected substantially completely.

[0129] In other words, a new formation of the sub-array, i.e., the combined array 47, is realized as a subset of the antenna elements of the sub-arrays 37, 38. Therefore, the combined array 47 is formed by such antenna elements that at least partly previously formed the two sub-arrays 37, 38. Therefore, the fusion or assembly of the individual elements of the sub-arrays 37, 38 takes place in such a way that the previously critical region in view of the overlapping edge regions 42, 43 can be detected in view of the object 46. As Figure 5 exemplarily shown in, the combined array 47 has such a field of view, in particular a combined field of view 48, at this time, which can detect the object 46 that could not be clearly detected previously. In particular, the combined field of view 48 is constructed such that the object 46 is no longer located in the edge region of the combined field of view 48 but near the middle region or the center of the combined field of view 48.

[0130] In particular, it can be confirmed by means of the sensor system 2 or other information sources which regions in the environment 18 of the vehicle are critical in view of the current situation of the vehicle 1. Based on critical regions such as the overlapping region 41, the realignment of the antenna array 3 can in turn be achieved by forming the combined array 47. The target, such as the object 46, can be detected using the combined array 47. For example, the corresponding information can be submitted to the surrounding environment model.

[0131] In particular, the sensor system 2 is a coherent sensor system whose field of view can be continuously extended. Here, the individual sub-arrays can be coherently interconnected to generate corresponding sub-arrays, such as the combined array 47.

[0132] In addition to the object 46 in the overlapping region 41, there may also be additional objects 55 in the environment region 35 that are not in the edge regions of the fields of view 39, 40. These objects 55 can in turn be detected by means of the first subarray 37 and / or the second subarray 38 and provided to the respective evaluation units. Additionally, a combined array 47 can again be formed in order to be able to detect or sense additional objects 46.

[0133] In other words, in Figure 6 the present application is again explained by way of an exemplary flow chart.

[0134] In step S1, it can be checked whether the antenna array 3 of the sensor system 2 is arranged at least partially, in particular completely, distributed around the vehicle 1. For example, the sensor system 2 can be a coherent photon radar system. Here, the sensors or antenna elements 4 can be arranged distributed in 3D and 360 degrees around the vehicle 1. Thus, the detection of the surroundings or the environment 18 can be carried out by means of the photon radar.

[0135] In an optional step S2, the required or relevant subarrays 37, 38 or additional subarrays can be determined based on the driving maneuver 36 to be carried out.

[0136] For example, the environment region 35 to be detected can be determined based on the driving maneuver 36, in particular the current or future driving maneuver. Additionally, based on the driving maneuver 36 and / or the environment region 35, it can be determined which subarrays of the antenna array 3 and / or which number of subarrays of the antenna array 3 are necessary for detecting the environment region 35. Additionally, it can be determined here which individual elements and how many individual antenna elements are to be used for the subarrays 37, 38.

[0137] In an optional step S3, the environment region 35 can be detected using the two subarrays 37, 38. In particular, it can occur here that the two fields of view 39, 40 overlap in their edge regions 42, 43 and there is only low resolution in this overlapping region 41. As a result, objects located therein, such as the object 46, can be detected or sensed less precisely or reliably. Therefore, it can be checked whether there are essentially potential objects in this overlapping region 41 and whether the potential object 46 can be at least partially detected by means of the subarrays 37, 38.

[0138] If there are no new objects in this overlapping region 41, then in a subsequent optional step S4, target detection, surroundings detection or detection of the environment region 35 can be carried out based on the subarrays 37, 38.

[0139] However, if there are difficult-to-detect objects, such as potential collision objects or road users, such as pedestrians, in the overlap region 41, then after step S3, the process can continue with an optional step S5. In particular, object detection of objects 46 or potential objects in the fields of view 39, 40 can be performed here, in particular with regard to the subarrays 37, 38. In particular, a check is performed here with regard to potential collision objects.

[0140] In an optional subsequent step S6 it can be checked whether objects 46 can be detected. If it is determined that objects 46 are located in the overlap region 41 but detection of these objects 46 cannot be performed either with the first subarray 37 or with the second subarray 38, it can be continued with optional step S7.

[0141] In this case, in step S7, the individual subarrays 37, 38 can be expanded, in particular with regard to the number and / or type of their individual antenna elements. Thus, the subarrays 37, 38 can be adapted or matched in such a way that the respective fields of view of the two subarrays 37, 38 are expandable or can be expanded. Additionally or alternatively, it is also conceivable that a further subarray arranged adjacent to the subarrays 37, 38 is additionally used for detecting the surrounding area 35. In this case, a check for possible detection can only be performed based on the three fields of view of the three subarrays exemplified here, and a corresponding check can in turn be performed based on the overlapping area of these fields of view.

[0142] If it is now determined in step S6 that at least one of these objects 46 can be partially detected with at least one of the subarrays 37, 38 or that a shadow or anomaly matching this can be detected, a combined array 47 can be formed or determined in an optional step S8. Thus, a reconfiguration of the subarrays of the antenna array 3 can be performed here in such a way that this new formation of the array is given, which has an extended or improved field of view compared to the subarrays 37, 38, in order in particular to be able to detect the relevant object 46. When determining or generating the combined array, environmental information, traffic conditions and / or information regarding the driving maneuver 36 to be performed can be additionally taken into account. Thus, based on the at least partially overlapping fields of view 39, 40, a new grouping of the antenna elements of the subarrays 37, 38 is achieved, so that a combined field of view 48 of the combined array 47 can be provided, in order to achieve an improved detection of the surrounding area 35 and in particular the overlapping area 41 that was previously difficult to detect.

[0143] With the combined array 47, it is now possible to perform target detection or detection of the surrounding area 35. For this purpose, it is possible to jump to step S4. Since the information of the target object and in particular the object 46 can be digitized and provided as electronic information, in particular by means of electronic signals, vehicle systems of the vehicle 1 and / or accident models. This can be realized in optional step S9. Figure 7 and Figure 8)Another embodiment is shown in which a complete surrounding environment detection or 360-degree detection around the vehicle 1 can be performed based on the generated combined array 47. In particular, this is achieved in a way that minimizes calculations and workload.

[0144] In Figure 7 , starting from Figure 5 , the combined array 47 and the combined field of view 48 are shown again. This combination of the two sub-arrays 37, 38 and in particular the combined field of view 48 can be applied or adapted to additional sub-arrays 49, 50. In other words, the additional sub-arrays 49, 50 are also combined or assembled based on the combined array 47, such that all sub-arrays of the antenna array 3 can be coherently or continuously assembled with the adjacent sub-arrays respectively, so as to be able to perform 360-degree detection in a simple way, in particular in a way that minimizes calculations. Graphically, starting from the orientation or position of the combined array 47, and in particular from the combined field of view 48 along the vehicle 1, in particular along the antenna array 3, it can rotate around, such that similar to the assembled combined array, additional ones are similarly grouped together, so that for the current environment detection this can be simply continued to be replicated. Thus, the surrounding environment detection can be performed more simply. Therefore, with the aid of the combined array 47, in particular with the aid of the combined field of view 48, a rotational surrounding environment detection can be performed by online matching of the active sub-arrays of the entire array. Thus, the surrounding environment or the environment 18 can be scanned in a scanning form.

[0145] In Figure 8 , starting from Figure 7 , the combined field of view 48 is further reflected or further guided according to the rotation direction 53. Here, at this time starting from Figure 7 , based on the combined array 47, another combined array 51 is formed by the sub-arrays 49, 50, which in turn has another combined field of view 52, which is again based on the combined field of view 48. According to the rotation direction 53, additional sub-arrays 54 can subsequently be adapted or matched accordingly based on the combined array 47 until 360-degree surrounding environment detection can be performed accordingly.

[0146] List of reference numerals:

[0147] 1 Vehicle

[0148] 2 Sensor system

[0149] 3 Antenna array

[0150] 4 Antenna element

[0151] 5 Radar sensor device

[0152] 6 Central electronic computing device

[0153] 7 Laser device

[0154] 8 Optical transmission signal

[0155] 9 Fiberglass

[0156] 10 Optical input terminal

[0157] 11 Optical output terminal

[0158] 12 Receiving unit

[0159] 13 Output signal

[0160] 14 Processing unit

[0161] 15 Sending device

[0162] 16 Receiving device

[0163] 17 Electrical transmission signal

[0164] 18 Environment

[0165] 19 Electrical received signal

[0166] 20 Return channel

[0167] 21 Optical received signal

[0168] 22 Optoelectronic converter unit

[0169] 23 Electrical signal

[0170] 24 Digital interface

[0171] 25 CPU

[0172] 26 Electrical return channel

[0173] 27 Synthesis unit

[0174] 28 Modulator

[0175] 29 Optical control unit

[0176] 30 Optical distributor

[0177] 31 Control unit

[0178] 32 Feedback loop

[0179] 33 Electrical transmission path

[0180] 34 Electrical control signal

[0181] 35 Environment area

[0182] 36 Driving operation

[0183] 37 First sub-array

[0184] 38 Second sub-array

[0185] 39 First field of view

[0186] 40 Second field of view

[0187] 41 Overlap region

[0188] 42,44 Edge regions of the first field of view

[0189] 43,45 Edge regions of the second field of view

[0190] 46 Object to be detected in the overlap region

[0191] 47 Combined array

[0192] 48 Combined field of view

[0193] 49,50 Additional sub-arrays

[0194] 51 Additional combined array

[0195] 52 Additional combined field of view

[0196] 53 Rotation direction

[0197] 54 Additional sub-arrays

[0198] 55 Additional target object

[0199] Steps S1 to S9

Claims

1. A method for detecting the environment (18) of a vehicle (1) using a sensor system (2), wherein - the sensor system (2) has an antenna array (3), wherein antenna elements (4) of the antenna array (3) are distributed and arranged at the vehicle (1), characterized in that - an environment area (35) of the environment (18) is detected using a first sub - array (37) of the antenna array (3), wherein the first sub - array (37) has a first field of view (39) that at least partially extends within the environment area (35), - an environment area (35) of the environment (18) is detected using at least one second sub - array (38) of the antenna array (3), wherein the second sub - array (38) has a second field of view (40) that at least partially extends within the environment area (35), - an overlapping area (41) of the first field of view (39) and the second field of view (40) is determined based on at least partially overlapping edge areas (42, 43) of the first field of view (39) and the second field of view (40), - the overlapping area (41) is checked to see if a detection object (46) is located within the overlapping area (41), and in this case: - a combined array (47) composed of antenna elements (4) of the first sub - array (37) and the second sub - array (38) is determined based on the overlapping area (41) and at least one detection object (46), wherein the combined array (47) has a combined field of view (48) composed of parts of the first field of view (39) and the second field of view (40), and wherein the at least one detection object (46) can be detected using the combined field of view (48), and - the environment area (35) of the environment (18) is detected using the combined array (47).

2. The method according to claim 1, characterized in that when checking the overlapping area (41), it is additionally checked whether the at least one detection object (46) can be detected using the first sub - array (37) and / or using the second sub - array (38).

3. The method according to claim 2, characterized in that if at least one detection object (46) is located within the overlapping area (41) and the at least one detection object (41) can only be partially detected by the first sub - array (37) and the second sub - array (38), the combined array (47) is determined.

4. The method according to claim 2 or 3, characterized in that if the at least one detection object (46) is located within the overlapping area (41) and the at least one detection object (41) cannot be detected by the first sub - array (37) and the second sub - array (38), the first sub - array (37) and the second sub - array (37) are matched, and / or at least one additional sub - array (49, 50, 54) of the antenna array (3) is used to detect the environment area (35).

5. The method according to any one of the preceding claims, characterized in that if there is no object (46) to be detected in the overlapping region (41), the first sub-array (37) and / or the second sub-array (38) are used to detect an environmental region (35) of the environment (18).

6. The method according to any one of the preceding claims, characterized in that when determining the combined array (47), environmental information related to the environment (18) of the vehicle (1) and / or traffic conditions in the environment (18) of the vehicle (1) and / or the current and / or future driving scenarios of the vehicle (1) are taken into account.

7. The method according to any one of the preceding claims, characterized in that such a region in the environment (18) of the vehicle (1) is determined as the environmental region (35) based on the current and / or upcoming driving maneuvers of the vehicle (1), the region being relevant in view of the current and / or upcoming driving maneuvers.

8. The method according to claim 7, characterized in that which sub-arrays (37, 38, 49, 50, 54) of the antenna array (3) and / or how many sub-arrays (37, 38, 49, 50, 54) of the antenna array (3) are used to detect the environmental region (35) are determined based on the current and / or upcoming driving maneuvers and / or the environmental region (35).

9. The method according to any one of the preceding claims, characterized in that the combined array (47) is used to detect the environmental region (35) in view of at least one object (46) to be detected and / or in view of potential collision objects.

10. The method according to any one of the preceding claims, characterized in that additional sub-arrays (49, 50, 54) of the antenna array (3) are matched based on the combined array (47) and the combined field of view (48), wherein the additional sub-arrays (49, 50, 54) are matched continuously starting from the combined array (47).

11. The method according to any one of the preceding claims, characterized in that information related to the detected environmental region (35) is generated by the computing device (6) of the sensor system (2) and provided to at least one vehicle system and / or the surrounding environment model.

12. A sensor system (2) having an antenna array (3) and a computing device (6), the antenna array having a plurality of antenna elements (4), wherein the sensor system (2) is configured to carry out the method according to any one of claims 1 to 11 preceding.

13. The sensor system (2) according to claim 12, wherein the antenna array (3) is configurable such that each of the plurality of antenna elements (4) can be assembled into different sub-arrays (37, 38, 49, 50, 54).

14. A vehicle (1) having a sensor system (2) according to claim 12 or 13.

15. The vehicle (1) according to claim 14, wherein the plurality of antenna elements (4) of the antenna array (3) are arranged at the vehicle (1) spaced apart from one another.

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