Sensor system, vehicle, and method for operating a sensor system

Abstract

The invention relates to a sensor system (2) for environment detection, comprising a transmitting device (15) which is designed to emit electrical transmission signals (45, 48, 52, 56), a first transmission path (41) which is designed to provide a first transmission unit (46) with a first electrical transmission signal (45), a second transmission path (42) which is designed to provide a second transmission unit (46) with a second electrical transmission signal (42), -a computing device (6), which is designed to generate and provide a second electrical transmission signal (48) for the second transmission unit (49),-a computing device (6), which is designed to generate a plurality of optical transmission signals (81), which are frequency-shifted relative to one another, on the basis of the optical carrier signal (8), and to provide these optical transmission signals to the transmission device (15),-a signal providing device (82) of the transmission device (15), -a first and a second emission device (15) which is designed to generate an electrical emission signal (45, 48, 52, 56) on the basis of the optical emission signal (81) and to supply the electrical emission signal to the respective emission path (41 to 44), and-the emission device (15) is designed to simultaneously emit the first and the second electrical emission signal (45, 48). The invention also relates to a vehicle (1) and a method.

Description

Technical Field

[0001] The present invention relates to a sensor system for environmental detection. The sensor system comprises an optical device for generating an optical carrier signal. The sensor system also comprises a transmitting device having a plurality of transmitting units, wherein the transmitting device is designed to transmit an electrical transmitting signal.

[0002] The invention also relates to a vehicle having a corresponding sensor system.

[0003] The invention also relates to a method for operating a corresponding sensor system. Background Art

[0004] For example, DE 10 2021 118 076 A1 discloses a radar system for detecting target objects on a mobile object, wherein the radar system is installed or can be installed on the mobile object. The radar system has at least one first radar module with at least one antenna and at least one second radar module, wherein the radar modules are arranged or can be arranged in a distributed manner on the mobile object, wherein the at least one first radar module and the at least one second radar module are configured differently.

[0005] US 2022 / 0 268 921 A1 discloses a frequency-modulated continuous-wave radar system, which is particularly disclosed in the frequency range of 77 GHz to 81 GHz.

[0006] Furthermore, US 2023 / 0 131 090 A1 discloses a radar system for a vehicle based on FMCW radar signals. Summary of the Invention

[0007] The object of the present invention is to improve the environmental detection of a sensor system in such a way that target objects, for example radar targets, can be detected more accurately and / or more clearly.

[0008] This technical problem is solved by the sensor system, the vehicle and the method according to the invention.

[0009] One aspect of the present invention relates to a sensor system for performing environmental detection, which has

[0010] - optical devices, in particular for generating optical carrier signals,

[0011] In particular, a transmitting device having a plurality of transmitting units, wherein the transmitting device is designed to transmit an electrical transmitting signal and comprises:

[0012] a first transmission path of the transmitting device, in particular, which is designed to provide a first electrical transmission signal for a first transmitting unit of a plurality of transmitting units, said first transmitting unit being arranged on the first transmission path,

[0013] at least one second transmission path, in particular different from the first transmission path, of the transmission device, which second transmission path is designed to provide a second electrical transmission signal, different from the first electrical transmission signal, of a second transmission unit of the plurality of transmission units, which second transmission unit is arranged on the second transmission path,

[0014] - in particular a calculation device designed to generate a plurality of optical transmit signals frequency-shifted relative to one another based on an optical carrier signal and to supply these optical transmit signals to the transmitting device,

[0015] a signal providing device, in particular a transmitting device, which is designed to generate an electrical transmitting signal based on the optical transmitting signal and to assign the electrical transmitting signal to a corresponding transmitting path based on the corresponding frequency,

[0016] The transmitting device is designed in particular to transmit a first electrical transmit signal via the first transmitting unit during a transmission process and simultaneously to transmit a second electrical transmit signal via the second transmitting unit.

[0017] The proposed sensor system enables improved environmental detection, in particular, improved target or object detection by simultaneously transmitting different transmission signals. In other words, the proposed sensor system enables the transmission of frequency-shifted and / or frequency-modulated transmission signals in a time-coordinated, simultaneous, or synchronous manner. Thus, the proposed sensor system enables the transmission of multiple signals, such as electrical transmission signals, that are frequency-shifted relative to one another into the environment, in order to enable target detection or environmental detection based on the corresponding return or reflected signals.

[0018] Another advantage of simultaneously transmitting or emitting frequency-shifted transmit signals or electrical transmit signals is that this allows for improved generation of virtual antenna arrays. This is particularly advantageous for signal processing and, therefore, for environmental detection. Based on the transmitted and received signals, multiple virtual antenna elements or virtual antenna arrays can be provided, thereby, for example, improving the resolution performance of a sensor system. For this purpose, the proposed transmitter system can be designed, in particular, as a photonic multi-band radar.

[0019] The proposed sensor system can improve the signal-to-noise ratio (SNR). Furthermore, it can reduce phase jitter. Furthermore, the proposed sensor system can be used to flexibly generate chirp. Furthermore, the proposed sensor system can reduce the number of optical phases. The proposed sensor system can be co-integrated with SiGe-SiN, CMOS, or hybrid BI-CMOS, for example, using an EPIC process.

[0020] The proposed sensor system can be manufactured and operated at particularly low cost. Furthermore, it can have a higher resolution performance. Furthermore, the proposed sensor system has the advantage of an increased range. Furthermore, the proposed sensor system can be used to directly generate virtual devices.

[0021] The transmitting device may, for example, have various transmitting antennas, transmitting elements, or antenna elements capable of transmitting electronic transmission signals into the environment. The transmitting unit may, for example, be a transmitting element, such as an antenna element. For this purpose, one or more transmitting units may be arranged along the corresponding transmission path of the transmitting device. This may, for example, form an antenna array.

[0022] The transmitting means can be designed as a circuit, for example, so that each transmitting path or circuit can be used to transmit a corresponding electrical transmitting signal. In particular, each transmitting path or transmitting module can be used to transmit a signal having a different or frequency-shifted frequency than the other transmitting paths and their transmitted signals.

[0023] For example, an optical carrier signal (if it can be called a transmission signal) can be generated by an optical device, such as an optical signal source or a laser device, and provided to a transmitting device. The transmitting device or a corresponding transmission path can generate, convert, and / or stimulate a corresponding electrical transmission signal based on the optical carrier signal, so that different electrical transmission signals are generated.

[0024] As mentioned at the outset, the proposed transmission system enables control of transmission pairs, in particular different transmission units, so that in a corresponding transmission process or transmission mode, all transmission units emit frequency-shifted electrical transmission signals in a time-coordinated or simultaneous manner. This allows for improved environmental detection, in particular target detection.

[0025] The transmitting device may, for example, control the transmission process, or the transmitting device may receive corresponding control signals from a superordinate system of the transmitting system to execute the transmission process.

[0026] Multiple optical transmit signals can be generated, converted, and / or modulated by a computing device, which can be a central unit, such as a central electronic processing unit. This is achieved based on an optical carrier signal. Multiple optical transmit signals enable the proposed sensor system to simultaneously transmit electrical transmit signals that are frequency-shifted relative to one another during transmission. The optical transmit signals can be frequency-shifted and / or frequency-modulated relative to one another, thereby enabling the emission of multiple, mutually different electrical transmit signals during transmission. The optical transmit signals can be appropriately converted, i.e., optical-to-electrical, by a signal providing device, which can be an optical-to-electrical unit, to provide the electrical transmit signals. The electrical transmit signals have frequencies, frequency bands, or frequency ranges that also differ from one another. Based on the respective frequencies of the electrical transmit signals, the signal providing device can be selected or configured accordingly. The respectively assigned electrical transmit signals are assigned to respective transmit paths. This can be achieved based on frequency. Consequently, respective transmit paths, and in particular, respective transmit units within the respective transmit paths, can transmit respective electrical transmit signals that differ from one another.

[0027] Due to physical constraints, the angular resolution of a sensor system, especially a radar system, depends on the size of its antenna aperture. The antenna aperture is understood to be the area over which the individual antennas are distributed. Due to limitations on integration in vehicles, current sensor systems typically have a size of approximately 10 x 10 cm. 2 module. The angular resolution is accordingly limited to approximately 2 degrees. The improvement in resolution performance is proportional to the size of the aperture. To resolve two objects angularly, that is, in azimuth and elevation, requires an aperture extending in both directions. The present invention is advantageously applicable to this and can compensate for this.

[0028] The second most important dimension in an antenna array is the distance between individual antenna elements. This distance determines the measurable angular range. Larger antenna distances lead to ambiguities, such as secondary peaks in angle measurements. Therefore, radar systems in the automotive sector employ so-called virtual antenna elements. These virtual elements are created by combining the transmit antenna and the receive channel exactly at the center of the connection vector. With n transmit antennas and m receive antennas, a virtual array with up to n×m elements can be created. This principle is often referred to as "Multiple Input Multiple Output (MIMO)." The proposed sensor system can increase the clearly measurable angular range of an antenna array.

[0029] To detect the environment as reliably as possible, the sensor must have the highest possible signal-to-noise ratio and stable signal generation. This is especially true for relatively sparse antenna arrangements with large apertures in order to clearly detect objects. The proposed sensor system can compensate for this.

[0030] The range of today's 77 GHz radars is particularly limited by the maximum transmit power and array pattern.

[0031] The transmitter and optional receiver can be integrated, in particular, on a single semiconductor chip, such as CMOS, SiM-CMOS, Bi-CMOS, or hybrid Bi-CMOS, or on a chip with co-integrated photonics and electronics. This makes it possible, for example, to manufacture radar sensor devices or sensor systems using the present invention in series production using standardized semiconductor processes.

[0032] In particular, the sensor system can be used to perform a frequency conversion of the terahertz carrier signal into the gigahertz frequency range after the transmission of the optical signal, and conversely to receive the gigahertz signal modulated onto the terahertz carrier signal.

[0033] The proposed sensor system can be used in particular in motor vehicles. For example, the sensor system can be used in motor vehicles that operate at least partially autonomously, and in particular in fully autonomously. This type of automated driving requires reliable environmental awareness, which can be achieved using the sensor system. The surroundings or environment can be detected using sensors such as radar, lidar, and cameras. This is an example of an application area for radar sensor devices. The sensor system can perform a complete 360-degree three-dimensional detection of the environment, thereby detecting all static and dynamic objects.

[0034] This sensor system can be used as an alternative to lidar, since lidar in particular plays an important role in redundant, robust environmental detection, since this sensor type measures distances and angles more precisely in environmental detection and can also be used for classification.

[0035] Sensor systems are particularly useful, for example, in vehicles that operate at least partially autonomously, or even fully autonomously. However, to achieve such automated driving, more reliable environmental detection is essential. Sensors, such as radar, lidar, or cameras, are used to detect the surroundings or environment. Of particular importance is a 360-degree, three-dimensional image of the entire environment, enabling the detection of all static and dynamic objects. Sensor systems can be used for this purpose. Lidar plays a particularly important role in redundant, robust environmental detection, as this sensor type enables more precise distance measurement and can also be used for classification. However, lidar sensors are expensive and complex in design. 360-degree, three-dimensional environmental detection is particularly problematic, as either multiple smaller individual sensors are required to ensure environmental detection, which typically utilizes multiple individual light sources and detection elements, or several larger laser sensors are installed. Furthermore, laser sensors are sensitive to weather factors, such as rain, fog, or direct solar radiation. Sensor systems can compensate for this.

[0036] Radar sensors or sensor systems are also used in automotive manufacturing and provide data reliably and seamlessly in all weather conditions. Even poor visibility, such as in rain, fog, snow, sandstorms, or darkness, has little impact on their perception reliability. However, the existing technology has limited resolution performance. In particular, currently used tandem radars can only be manufactured with an angular resolution of approximately 2 degrees. To meet the demands for higher levels of automation in automotive manufacturing with safer driving functions, radar sensors are required to provide images with high angular resolution in the 0.1 degree range and, moreover, greater insensitivity to environmental interference. This is not achievable using conventional radar technology according to the prior art, as the resolution performance of such systems is too low. This is precisely where the sensor system according to the present invention comes in.

[0037] The sensor system can be designed as a photonic radar sensor device, achieving improved resolution by co-integrating the electronic and photonic components on a single semiconductor chip. Tracking of the FMCW signal and the overall signal processing and evaluation are performed at a central station. Each transmitting and receiving module has a chip with co-integrated electronics and photonics, a so-called Epic chip. Silicon photonics technology is used to achieve this co-integration. Silicon photonics technology enables the co-integration of photonic components, high-frequency electronics, and digital electronics on a single chip. The technical innovation of this system lies in the transmission of gigahertz signals using an optical carrier signal in the terahertz frequency range. The central station, also known as the central electronic processing unit, generates the terahertz optical carrier frequency. The transmitted signal is modulated at one-eighth the radar frequency and transmitted via optical fiber to the antenna chip. Frequency multiplication occurs on the antenna chip, enabling the radar radiation to be emitted from the antenna chip. Signal detection is performed in reverse. All data is processed at the central station.

[0038] However, such an implementation is very complex in chip-level gigahertz electronics. In particular, the frequency multiplication that occurs on the chip after detection by the photodiodes is technically challenging and presents a significant challenge for generating gigahertz signals with a high signal-to-noise ratio and the lowest possible jitter. Consequently, gigahertz signals must be complexly stabilized in additional steps. Furthermore, gigahertz electronics are expensive. Furthermore, the high optical power required to generate high-precision gigahertz signals places high power demands on optical carriers, especially lasers, making single-phase loops difficult to implement for radar arrays with numerous distributed radar semiconductor chips. In particular, two photonic electronic semiconductor chips are required for the corresponding transmit and receive channels, which leads to further costs. These problems are at least partially, and in particular completely, addressed by the sensor system according to the present invention.

[0039] The present invention utilizes in particular the fact that in photonic semiconductors, radiation from a laser device is injected or coupled in via an optical interface, which can also be designed in particular as a CW laser (continuous wave laser). This can be the optical transmission signal or carrier signal of the CW laser.

[0040] The generation of the FMCW signal, as well as all signal processing and analysis, is performed by a central station, such as a computer. Each transmitting and receiving module consists of an electronic-photonic co-integrated chip (a so-called "EPIC chip"), co-integrated using silicon photonics technology. This allows the photonic components, high-frequency electronics, and digital electronics to be monolithically integrated on the chip ("electronic-photonic co-integration"). The technical innovation of this system lies in the signal transmission of gigahertz signals using an optical carrier signal in the terahertz frequency range. The central station generates the optical carrier frequency (terahertz). The signal to be transmitted, which is 1 / 8 of the radar frequency, is modulated to this frequency and sent to the antenna chip via optical fiber. The frequency is multiplied eightfold on the antenna chip, allowing the radar radiation to be emitted from the antenna chip. Signal detection is performed in the reverse manner. All data is processed at the central station.

[0041] The principle of electronic-photonic co-integration in a chip, with a silicon-on-insulator region for the photonic components and a bulk silicon region for the electronic circuits, is a unique technology worldwide. This enables high signal quality with low parasitic interference, especially at high data rates. High-frequency circuits, including frequency multipliers, for radar antennas can be connected to optical transceivers without the need for additional wire bonding or flip-chip bonding. Furthermore, the chip can be optically and electrically tested already at the wafer level, enabling high yields in further module designs. This technology enables extremely compact form factors, which are highly relevant for the application of optical technologies based on silicon photonics in the automotive industry.

[0042] The lack of scalability of existing technologies hinders the productive use of optical fiber. This scalability to large volumes is enabled by highly integrated manufacturing techniques for electronic and photonic integrated circuits. The result is a significant reduction in the cost of building the technology and a more efficient cost structure. Data center solutions are developed based on a broad library of electronic and photonic components for high-bandwidth data transmission, which are used in this design.

[0043] In one embodiment, the transmitting device includes a third transmitting path that is different from the first and second transmitting paths. A third transmitting unit, one of the plurality of transmitting units, arranged on the third transmitting path, can provide a third electrical signal, different from the first and / or second electrical signals, via the third transmitting path. The third electrical transmit signal can, for example, be different from the second electrical transmit signal and / or the first electrical transmit signal, i.e., it can have a different frequency. The third transmitting unit or other transmitting units can each include at least one respective transmitting unit, so that corresponding electrical signals, frequency-shifted relative to the other electrical signals, can be transmitted via the corresponding transmitting path of the transmitting device.

[0044] The transmitting device may optionally have multiple, i.e., three or more, transmission paths. To this end, a signal providing device is also provided that generates a third electrical transmission signal based on the optical transmission signal and assigns the third electrical transmission signal to the third transmission path based on its frequency. This allows the adapted electrical transmission signal to be assigned to the corresponding transmission path of the transmitting device.

[0045] The transmitting device can be designed accordingly to, for example, simultaneously transmit a first electrical transmit signal via a first transmitting unit, a second electrical transmit signal via a second transmitting unit, a third electrical transmit signal via a third transmitting unit and / or further electrical transmit signals via further transmitting units during a first transmitting process with the aid of a control unit.

[0046] In one embodiment, the signal providing device includes an optical filter unit designed to filter optical transmit signals based on their respective frequencies. This optical filter unit, i.e., the optical filter, enables selection or division of optical transmit signals, for example, provided as a multi-band signal, thereby assigning corresponding electrical transmit signals to corresponding transmit paths. To this end, the signal providing device may also include an optoelectronic conversion unit designed to convert the filtered optical transmit signals into electrical transmit signals. This allows for initial selection within an optical range and subsequent conversion of the selected optical signals into electrical signals for provision to the corresponding transmit paths. To this end, the signal providing device may also include an electronic distributor designed to provide the corresponding converted electrical transmit signals to the transmit paths. This enables electronic switching between the transmit paths to distribute or provide the corresponding electrical transmit signals to the corresponding transmit paths.

[0047] In one embodiment, the signal providing device includes an optical filter unit designed to filter the optical transmit signals based on their respective frequencies, wherein the optical filter unit can be controlled by an electronic filter control unit. A unit independent of the transmitting device, such as a filter control unit, can thereby provide the corresponding electronic transmit signals to the corresponding transmit paths and, thereby, to the corresponding transmit units. This independent unit can, in turn, be part of the sensor system. Filtering or selection is initially performed in the optical range. To this end, the signal providing device can include an optical distributor designed to provide the respectively assigned optical transmit signals to the transmit paths. This allows the optical transmit signals correspondingly assigned or adapted to the respective transmit paths to be input or provided after filtering or selecting the respective optical transmit signals. To convert these optical transmit signals into corresponding electrical signals, each transmit path can include an optoelectronic converter unit designed to convert the optical transmit signals provided by the optical distributor into electrical transmit signals correspondingly assigned to the transmit paths. In other words, the first transmit path can include a first converter unit, the second transmit path can include a second converter unit, and the third transmit path can include a third converter unit. In particular, each transmit path can have its own converter unit. Such optoelectronic converter units can be, for example, photodiodes or phototransistors.

[0048] In one embodiment, the signal providing device includes an optical filter unit designed to filter the optical transmit signal based on its corresponding frequency. The signal providing device may also include an optoelectronic converter unit designed to convert the filtered optical transmit signal into an electrical transmit signal. For example, the optical filter unit and optoelectronic converter unit may be controlled or regulated by an electronic unit, such as an electronic filter control unit. This, in turn, enables the electrical transmit signal to be processed or prepared accordingly for each transmit path. Unlike previous designs, each transmit path may each include an electronic filter unit designed to select the electrical transmit signal assigned to the corresponding transmit path from the converted electrical transmit signal. In other words, all required or conceivable electrical transmit signals may be temporarily provided or made available to that transmit path by the signal providing device. To ensure that the corresponding or adapted electrical transmit signal is provided or transmitted to each transmit path, each transmit path may independently filter or select the adapted electrical transmit signal from a plurality of electrical transmit signals.

[0049] In one embodiment, the signal providing device includes a first optical filter unit and at least one second optical filter unit, wherein the first optical filter unit is integrated into the first transmission path and the second optical filter unit is integrated into the second transmission path. Thus, unlike the previously described design, each transmission path can have its own optical filter unit. The first optical filter unit can be designed to filter out the optical transmission signal on which the first electrical transmission signal is based from among the plurality of optical transmission signals, while the second optical filter unit can be designed to filter out the optical transmission signal on which the second electrical transmission signal is based from among the plurality of optical transmission signals. In other words, the plurality of optical transmission signals are transmitted to the transmitting device, where the optical filter units for the respective transmission paths can be used to select or filter out the optical transmission signals intended for the respective transmission paths. These optical transmission signals can then be independently converted into corresponding electrical transmission signals by the transmission paths.

[0050] In one embodiment, the first transmission path and at least one second transmission path are co-located on a common integrated circuit. This allows the transmitter to include the corresponding transmission paths, enabling a more compact transmitter. All corresponding units necessary for simultaneously transmitting frequency-shifted electrical transmission signals can be integrated into a single module or circuit. The transmitter can, for example, be designed as a single-chip system. Thus, the transmitter can be designed as a "single-chip solution."

[0051] Alternatively, it is also conceivable that the first transmission path and at least the second transmission path are each arranged on a separate integrated circuit. This allows for separate chips to be present for each transmission path, enabling flexible use of the corresponding transmission path, in which the corresponding transmission unit is arranged or integrated, depending on the application of the sensor system. This is particularly advantageous when the sensor system is used in the automotive sector. For example, the transmission paths, which may have individual antenna elements, can be designed separately so that they can be distributed around the vehicle.

[0052] In one embodiment, the sensor system includes a receiving device having multiple receiving units, wherein the receiving device is designed to receive an electrical receive signal based on the transmitted electrical transmit signal. The receiving device can, for example, be a separate or independent unit from the transmitting device. If the electrical transmit signal, which is transmitted simultaneously during transmission, is reflected by an object, such as a target object in the environment, the receiving device can receive the electrical transmit signal. This receiving device can include multiple receiving units, such as receiving antennas or antenna elements.

[0053] It is also conceivable to arrange corresponding receiving units on the receiving paths. Thus, in a similar embodiment, the receiving device can have multiple receiving paths, with at least one receiver associated with each receiving path. After the electrical receive signal is received by the corresponding receiving antenna, it is amplified by a corresponding amplifier unit, optionally before actual signal processing or environmental detection.

[0054] The receiving device can be designed, for example, as a unit or integrated circuit, so that all receiving units are arranged or integrated on a common unit or a common integrated circuit. It is also conceivable that each receiving unit is arranged on its own integrated circuit or module, thereby physically and spatially separating the receiving units from each other. This in turn allows for flexible use of the receiving device.

[0055] In one embodiment, the receiving device further comprises a signal processing unit coupled to the receiving unit, wherein the signal processing unit is designed to mix one of the electrical receive signals with an electrical carrier signal that can be generated by optically necessary electrical conversion of an optical carrier signal. The signal processing unit can be an electrical and / or electronic system, and the signal processing unit can be used to preprocess the signal received by the receiving unit, thereby making subsequent environmental or target detection simpler and, in particular, more efficient. To this end, the signal processing unit can, for example, mix the electrical receive signal received by the receiving unit with the original transmit signal. The original transmit signal is understood here to be an electrical receive signal transmitted on an optical carrier signal. In other words, the optical carrier signal of the transmitting device is transmitted identically to that of the receiving device, so that corresponding information can be derived based on the received information signal to enable corresponding target detection and environmental monitoring.

[0056] Another aspect of the invention relates to a vehicle having a sensor system according to the aforementioned aspect or an advantageous development thereof.

[0057] For example, the vehicle can be a vehicle that is manually operated, a vehicle that is partially automatically operated, or a vehicle that is fully automatically operated. In other words, the vehicle can be a highly automated vehicle, for example.

[0058] The vehicle may in particular be a motor vehicle, such as a car or a truck.

[0059] For example, an antenna array can include multiple antenna elements that are distributed and spaced apart on the vehicle. This allows for the most efficient detection of the vehicle's surroundings. The distributed arrangement of the individual antenna elements on the vehicle allows for 360-degree environmental detection.

[0060] For example, the antenna elements of an antenna array may be configured as a “sparse array.” The antenna elements of an antenna array may be arranged in a sparse or lightly spaced configuration on a vehicle.

[0061] Embodiments of individual aspects of the present invention may be considered advantageous embodiments of other aspects. In particular, embodiments of individual aspects may be considered advantageous embodiments of all other aspects. And vice versa.

[0062] Another aspect of the present invention relates to a method for operating a sensor system designed according to the preceding aspect or an advantageous development thereof, wherein the method comprises:

[0063] -Generate optical carrier signal

[0064] - generating a plurality of optical transmit signals which are frequency-shifted relative to each other,

[0065] - generating an electrical emission signal based on the optical emission signal,

[0066] - assigning the electrical transmission signals to corresponding transmission paths based on the corresponding frequencies of the electrical transmission signals,

[0067] - providing a first electrical transmission signal to a first transmission unit,

[0068] - providing a second electrical transmission signal to the second transmission unit,

[0069] - simultaneously transmitting the first and second electrical transmission signals during the transmission process.

[0070] The proposed method enables a sensor system, such as the aforementioned sensor system, to be operated more efficiently. The proposed method makes it possible, in particular, to improve the detection of the environment and, in particular, to achieve a more accurate or precise object detection of objects in the environment of the sensor system.

[0071] In particular, electrical transmission signals, which may be multiple signals, can be emitted in a time-coordinated, simultaneous, or synchronous manner. In other words, the proposed method allows the sensor system to be operated such that signals that are frequency-shifted and / or frequency-modulated relative to one another can be emitted simultaneously during a transmission process. Based on these simultaneously emitted transmission signals, corresponding return signals or reflected signals can be received from the environment, thereby enabling environmental detection and / or object detection based on the simultaneously emitted transmission signals and the corresponding received signals.

[0072] One embodiment of the aforementioned aspect provides for receiving an electrical receive signal based on the transmitted electrical transmit signal immediately after the transmission process ends. A virtual antenna area associated with the transmitting system is generated based on the temporally separated electrical transmit signal and the received electrical receive signal. Signal processing for environmental detection can be performed using the generated virtual antenna area. This virtual generation of virtual antennas can improve the resolution performance of the sensor system, for example, by virtually increasing the number of physical antennas in software. This can reduce the number of physical antennas, i.e., actual antennas, thereby saving costs. Additional virtual antenna elements can be recreated based on the transmitted and received signals, as well as the actual or physical arrangement of the receiving and / or transmitting units. For example, a virtual antenna can be generated between two physical antennas, enabling more efficient or improved processing of data, information, and / or signals. This can improve environmental detection, particularly object detection, of the sensor system.

[0073] By means of the present invention, for example, a one-shot method for generating a virtual antenna array using a photonic multi-band radar can be realized or implemented.

[0074] Another aspect of the invention relates to a vehicle having a sensor system according to the aforementioned aspect or an advantageous development thereof.

[0075] The vehicle can be, for example, a manually operated vehicle, a partially automatically operated vehicle, or a fully automatically operated vehicle. In other words, the vehicle can be, for example, a highly automated vehicle.

[0076] The vehicle may in particular be a motor vehicle, such as a car or a truck.

[0077] For example, an antenna array can include multiple antenna elements that are distributed and spaced apart on the vehicle. This allows for the most efficient detection of the vehicle's surroundings. The distributed arrangement of the individual antenna elements on the vehicle allows for a 360-degree detection of the surroundings.

[0078] For example, the antenna elements of an antenna array may be configured as a “sparse array.” The antenna elements of an antenna array may be arranged in a sparse or lightly spaced configuration on a vehicle.

[0079] Embodiments of individual aspects of the present invention may be considered advantageous embodiments of other aspects. In particular, embodiments of individual aspects may be considered advantageous embodiments of all other aspects. And vice versa.

[0080] Advantageous embodiments of the method are considered to be advantageous embodiments of the sensor system and the vehicle. To this end, the sensor system and the vehicle have specific technical features that allow the method to be implemented or its advantageous design.

[0081] For application scenarios or situations that can be derived from the method and are not described in detail here, provision can be made for outputting an error message and / or requesting user feedback and / or adjusting standard settings and / or predetermined initial states according to the method.

[0082] The present invention also includes further developments of the method according to the invention and of the vehicle according to the invention, which have the features already described with respect to the development of the sensor system according to the invention. Therefore, the corresponding developments of the method according to the invention and of the vehicle according to the invention will not be described again here.

[0083] The invention also encompasses combinations of features of the described embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] The following describes an embodiment of the present invention. In the accompanying drawings:

[0085] Figure 1 A schematic diagram of a vehicle having a sensor system with antenna elements of an antenna array distributed over the vehicle is shown;

[0086] Figure 2 Shown Figure 1 A schematic diagram of a block diagram of a sensor system;

[0087] Figure 3 Shown Figure 1 Schematic diagram of a vehicle, wherein a real antenna array for environment detection and a virtual antenna array relative thereto are shown;

[0088] Figure 4 shows different output signals frequency-shifted relative to each other;

[0089] Figure 5 Shown according to Figure 3 and Figure 4 A schematic diagram of a virtual antenna array is shown by simultaneously transmitting frequency-shifted signals to virtually generate a virtual antenna array;

[0090] Figure 6 A schematic diagram of an electronic computing device for providing an optical carrier signal to a transmitting device and a receiving device of a sensor system is shown;

[0091] Figure 7A schematic embodiment of a sensor device of a sensor system is shown, wherein the corresponding transmission paths perform respective frequency conversions, and a corresponding receiving device is shown in order to be able to receive the simultaneously transmitted signals;

[0092] Figure 8 Shown based on Figure 7 Another variant of the invention, wherein the receiving device is formed by a plurality of integrated circuits;

[0093] Figure 9 according to Figure 7 and Figure 8 Another possible design of the launch device is shown;

[0094] Figure 10 according to Figure 7 , 7 and Figure 9 Another design of the launch device is shown;

[0095] Figure 11 Another design of the launch device is shown;

[0096] Figure 12 Another exemplary embodiment of a computing device is shown;

[0097] Figure 13 Another embodiment of the transmission device is shown, wherein each transmission path filters or selects an adapted signal from a plurality of optical signals by means of a corresponding optical filter unit;

[0098] Figure 14 according to Figure 13 Another conceivable embodiment of the launch device is shown;

[0099] Figure 15 according to Figure 13 and Figure 14 Another embodiment of the launch device is shown;

[0100] Figure 16 according to Figures 13 to 15 Another embodiment of the launch device is shown;

[0101] Figure 17 according to Figure 13 Another conceivable embodiment of the transmitting device is shown. DETAILED DESCRIPTION

[0102] The embodiments described below are preferred embodiments of the present invention. In these embodiments, the components described are each individual, independently viewable features of the present invention. These features also independently form further developments of the present invention and can therefore also be considered as components of the present invention, either individually or in combinations different from the ones shown. Furthermore, the described embodiments may also be supplemented by other already described features of the present invention.

[0103] In the figures, functionally identical elements are each provided with the same reference numerals.

[0104] Figure 1 Various schematic views (front view, rear view, side view) of a vehicle 1 , which may be a motor vehicle, are shown. The vehicle 1 comprises, for example, a sensor system 2 .

[0105] Sensor system 2 may, for example, be a radar system or an environmental sensor system of vehicle 1. To this end, sensor system 2 may, for example, be communicatively networked with one or more driver assistance systems or other vehicle systems. Sensor system 2 may, for example, be a radar sensor, a lidar sensor, or another type of sensor, particularly for vehicles. In addition to being used in vehicle 1, sensor system 2 may also be used in systems external to the vehicle.

[0106] Sensor system 2 has, for example, at least one antenna array 3 or a plurality of antenna arrays. Antenna array 3 can in turn be composed of a plurality of antenna elements 4. Antenna elements 4 can be distributed and spaced apart from one another on vehicle 1, in particular for 360-degree surrounding detection.

[0107] Figure 2 The following illustrates possible embodiments of a sensor system 2. Sensor system 2 may include at least one radar sensor device 5 and a central electronic processing unit 6. Radar sensor device 5 and central electronic processing unit 6 may, for example, be separate and physically separate units. Radar sensor device 5 may, for example, include at least one antenna array 3. Alternatively, antenna array 3 may serve as radar sensor device 5.

[0108] The central electronic processing unit 6 is a central unit. For example, the central electronic processing unit 6 can generate an electrical control signal, which can be used to activate or control a laser device 7. Laser device 7 can be, for example, a CW laser. Laser device 7 can be used to generate an optical transmission signal or carrier signal 8. Optical transmission signal 8 can be referred to as an optical carrier signal in the terahertz frequency range. The central electronic processing unit 6 can, for example, generate an optical carrier frequency. A signal to be transmitted, which has one-eighth the radar frequency, is modulated onto this optical carrier frequency and transmitted, for example, to the radar sensor device 5. This allows the frequency to be octupled. Signals in the gigahertz frequency range can also be received by the radar sensor device 5 and transmitted to the central electronic processing unit 6.

[0109] Central computer 6 can be coupled to light input 10 and light output 11 of radar sensor device 5, for example, via at least one glass fiber 9. Bidirectional signal transmission is thus possible between central computer 6 and radar sensor device 5.

[0110] The central electronic computing device 6 can be designated as an electronic evaluation unit, for example.

[0111] Central electronic computing device 6 may also include a light receiving unit 12, which is configured to receive an optical output signal 13 provided via optical output 11 of radar sensor device 5. Central electronic computing device 6 can thus be coupled to radar sensor device 5 via optical fibers or an electronic interface, such as Ethernet. In particular, multiple radar sensor devices or antenna arrays can be coupled to central electronic computing device 6. Central electronic computing device 6 may, for example, include a processing unit 14 or a computing unit, which can process the received optical output signal. Signal detection and subsequent data processing of received output signal 11 can thus be performed.

[0112] In particular, the central electronic computer 6 can have or provide all necessary control signals, data processing signals, modules and interfaces.

[0113] In addition to optical input 10 and optical output 11, radar sensor device 5 may also include, for example, at least one transmitting device 15 or transmitting antenna, and at least one receiving device 16 or receiving antenna. Thus, radar sensor device 5 includes a receiving module and / or a transmitting module. Transmitter 15 and receiving device 16 may, in particular, be integrated on the same chip. It is also conceivable that they may be located on different semiconductor chips.

[0114] An electrical radar transmission signal 17 based on the optical transmission signal 8 can be transmitted into the environment 18 of the vehicle 1 by means of the transmitting device 15. Thus, a corresponding radar signal 17 can be emitted based on the optical transmission signal 8. If this signal 17 is then reflected by an object in the environment 18, such as a traffic participant, the road, a tree, or another object, an electrical reception signal 19 corresponding to the electrical radar transmission signal 17 and reflected in the environment 18 can be received.

[0115] The transmitting device 15 for transmitting can have, for example, at least one antenna or antenna unit or a plurality of antennas.

[0116] The transmitted radar transmission signal 17 or electrical transmission signal and the received reception signal 19 can, for example, be in the terahertz frequency range or the gigahertz frequency range. Therefore, the terahertz carrier signal, in particular the transmission signal 8, can be frequency-converted to the kilohertz frequency range for transmission using the sensor system 2. Conversely, gigahertz signals can be received by modulation onto the terahertz carrier signal. The transmitting device 15 can, for example, include at least one grating coupler and a photodiode for transmission. The receiving device 16 can, for example, include two jitter couplers, a photodiode, and a modulator for reception.

[0117] Sensor system 2 can modulate the signal at 1 / 8 the radar frequency and transmit it via optical fiber to the antenna chip or antenna element 4. The frequency is typically multiplied by eight on the antenna chip, allowing the radar radiation to be emitted from the antenna chip. Signal detection can optionally be performed in reverse. All data can be processed in a central location.

[0118] Figure 3 Another schematic diagram of a vehicle 1 is shown, in which an antenna array 3 or another antenna array of a sensor system 2 is arranged on the vehicle 1 in such a way that an environment detection can be performed laterally on the vehicle 1. In other words, the arrangement of transmitting or receiving antennas, such as the antenna array 3, is shown in elevation. Other configurations of azimuth extensions are also conceivable and feasible.

[0119] In order to improve environmental detection, it is advantageous if the corresponding sensor system or sensor data processing is not limited to a single frequency band. In the automotive field, frequency ranges of 77 GHz or 24 GHz are commonly used today, and sensors operate in this frequency range. However, the maximum range values of these two frequencies are limited by the maximum transmission power. In addition, the transmission and reception channels require two different photonic electronic semiconductor chips, which leads to additional costs. To remedy this situation, miniature photonic co-integrated radar chips can be used in coherent distributed antenna arrays, which are integrated over a large area in and on the vehicle. In this case, it is conceivable to convert the optically transmitted radar signal into at least two electronic-photonic co-integrated semiconductor circuits of different frequencies. For this purpose, frequency-shifted and / or frequency-modulated transmission signals are also transmitted synchronously. It is also conceivable to optically connect the radar chips to form a coherent overall system, and to mix the delayed reception signal with the frequency-modulated transmission signal. The present invention uses these methods to improve environmental detection performed by the sensor system 2.

[0120] Virtual antenna array 35 can be computer-generated to achieve, in particular, cost savings by reducing the number of antenna elements while still achieving higher resolution performance and, thus, better directionality. In other words, virtual antenna array 35 can be generated by simultaneously transmitting output signals that are frequency-shifted relative to one another. In other words, virtual antenna array 35 is generated by simultaneously transmitting frequency-modulated multi-band radar signals.

[0121] The following Figure 4 Two frequency diagrams 36 and 37 are shown as examples. Diagram 36 shows a frequency-modulated multi-band transmission signal 38. This multi-band transmission signal can be transmitted simultaneously by multiple transmission units, such as antenna elements 4. As shown in diagram 36, the corresponding frequency offsets of signals 38 in different frequency bands relative to each other may not interfere with each other, or, as shown in diagram 37, different signals 38 may interfere with the frequencies of adjacent frequency bands or subsequent signals 38. In other words, the frequency bands of the signals in diagram 36 do not overlap. In diagram 37, the frequency bands of signals 38 may overlap. Overlapping has the advantage, among other things, that a larger virtual device 35 can be created.

[0122] like Figure 3 As shown, the virtual device 35 can thus be used, for example, to virtually study antenna elements for environmental detection, such as transmitting and receiving elements, for example Figure 3 The arrangements shown are larger than those of the actual antenna array 3 .

[0123] In particular, a virtual antenna array 35 can be created by simultaneously transmitting a frequency-modulated multi-band transmit signal 38. The frequency-modulated multi-band transmit signal used can vary in the frequency plane. The expanded virtual device 35 can detect and distinguish objects that fall within the spectral range of a unique modulation bandwidth. To this end, two different circuits can be integrated into an electronic-photonic and co-integrated semiconductor circuit, thereby generating two different gigahertz frequency bands using a single optical carrier signal. This utilizes the present concept, and in particular the proposed sensor system 2.

[0124] Figure 5 According to the above design solution, a schematic diagram of generating a virtual antenna array 35 is shown.

[0125] Figure 5 The example shown is a transmitting device 15, which can have different transmitting elements. The different signals 38 in the diagram 36 can be transmitted via their respective transmitting antennas. The receiving device 16, which has a receiving antenna, can then receive the corresponding response or backscattered signals. Based on this, a virtual antenna array 35 can be generated, which has more antennas than the actual antenna elements of devices 15 and 16 due to the combination of real and virtual antennas. The calculation of the virtual antenna array 35 is performed after the actual received signal has been received.

[0126] Figure 5 In particular, a view of a virtual antenna array 35 or a virtual device is shown, which is simulated by the simultaneous transmission of frequency-modulated multi-band signals.

[0127] The following figure illustrates different variants for simultaneously transmitting signals that are frequency-shifted relative to one another, thereby creating or generating a virtual antenna array 35 .

[0128] Figure 2 FIG. 1 shows another conceivable embodiment of the sensor system 2. Here, the sensor system also has a computing device 6, which in this embodiment can have a different configuration or equipment.

[0129] The sensor system 2 has, in particular, a plurality of transmitting and receiving units, for example antenna elements 4 , which can be distributed, for example, on the vehicle 1 in order, in particular, to detect the surroundings.

[0130] The transmit-receive unit or antenna element 4 can be used to transmit signals, and can also be used to transmit and / or receive signals. Therefore, the transmit-receive unit is a combined unit for transmitting and receiving signals.

[0131] This transmit-receive unit can be specifically referred to as a transmit-and-receive module. This transmit-and-receive module can be referred to as an electronic-photon co-integrated chip (so-called "EPIC chip") or formed therefrom. The computing device 6 can also be referred to as a central unit and can likewise be formed from an electronic-photon co-integrated chip. The computing device 6 is specifically a unit that is physically and / or spatially separate from the transmit-receive unit.

[0132] The computing device 6 can, for example, include an optical unit or laser device 7 or a laser. The optical unit can be designed, in particular, as a light source or a CW laser. The optical device can generate and provide an optical transmission signal 8 or carrier signal. The optical transmission signal 8 can, in particular, be designed as an optical carrier signal in the terahertz frequency range. The computing device 6 can, for example, generate the optical carrier frequency. A signal to be transmitted, at one-eighth the radar frequency, can be modulated onto this optical carrier frequency and transmitted, for example, to a transmitting / receiving unit. This allows frequency multiplication. Signals in the gigahertz frequency range can also be received by the transmitting / receiving unit.

[0133] The computing device 6 can be connected to the corresponding transmitting-receiving units, for example, via a glass fiber 9 serving as an optical transmission path. Signals, particularly optical signals, can be transmitted from the computing device 6 to the individual transmitting-receiving units via the glass fiber 9. In order to be able to transmit the signals received by the transmitting-receiving units back to the computing device 6 for analysis or signal processing, the corresponding transmitting-receiving units can be optically coupled to the computing device 6 via an optical return channel 20.

[0134] An electrical transmit signal 17 can be transmitted, in particular, into an environment 18 via at least one transmit-receive unit. Similarly, an electrical receive signal 19 corresponding to the electrical transmit signal 17 can also be received by the transmit-receive unit. The transmit signal 17 can, for example, be reflected by objects in the environment 18 of the vehicle 1 and thus be received as the electrical receive signal 19. The receive signal 19, which can be referred to as a radar signal, can be sent or transmitted to the computing device 6 for analysis or signal processing. To this end, the electrical receive signal can be converted into an optical receive signal 21 by means of the transmit-receive unit. This can be transmitted, for example, via the return channel 9 of the computing device 4. The optical receive signal 21 can then be converted back into an electrical signal 23 by means of an optoelectronic converter unit 22 or a detector unit of the computing device 6. This unit 22 can, for example, serve as an optical detection device. For this purpose, the conversion can be performed, for example, by homodyne or heterodyne detection. Furthermore, this unit 22 can perform phase and / or phase length measurements.

[0135] Subsequently, digitization can be performed again with the aid of a digital interface 24. In particular, an analog-to-digital conversion can be performed here. The digital interface 24 can include an analog-to-digital converter for this purpose. A processing unit 14 can then be arranged. This processing unit can, for example, perform signal processing, particularly in the case of "low-level signals." For this purpose, a fast Fourier transform ("FFT") can be used, for example. The digitized electrical signal 23 can then be supplied to a CPU 25 of the computing device 6. In particular, radar information or environmental information contained in the electrical signal 23 can be analyzed or processed here. Furthermore, an electrical feedback channel 26 can be provided, which provides feedback from at least one of the transmitting and receiving units to the computing device 6, particularly to the digital interface 24.

[0136] In order to enable the sensor system 2 to detect or detect the environment as stably and low-noise as possible, the optical transmission signal 8 can be adapted using frequency synthesis or gigahertz frequency synthesis. The computing device 6 can have a synthesis unit 27 for this purpose. The optical transmission signal 8 can be input or transmitted to the synthesis unit 27. Before the optical transmission signal 8 is provided to the synthesis unit 27, it can be modulated, for example. For this purpose, a modulator or modulation unit 28 can be provided. This can be configured as an arbitrary waveform generator or arbitrary function generator (AWG), for example. For example, an optical control unit 29 and an optical switch or distributor 30 can be provided in the computing device 6 after the synthesis unit 27 to provide the correspondingly processed signal of the synthesis unit 27 to the transmitting and receiving unit via the glass fiber 9. In addition, a control unit 31 can be controlled by the analysis unit 25, in particular to monitor or control the generation of the optical transmission signal. In addition, a control unit or feedback loop 32 can be provided.

[0137] Furthermore, the computing device 6 is electrically connected to the transmitting / receiving unit by means of an electrical transmission path 33. Electrical control signals 34 for controlling or activating the transmitting / receiving unit or the antenna element 4 can be transmitted via this electrical transmission path 33.

[0138] The computing device 6 is used, in particular, to generate an optical carrier signal, i.e., an optical transmission signal 8, and feed it to a gigahertz frequency synthesis unit, such as synthesis unit 27. The synthesized gigahertz signal can be transmitted to the transmitter-receiver unit via an optical fiber, i.e., a glass fiber 9, within the spectral range, so that, for example, a 77 gigahertz signal can be transmitted or emitted by the transmitter-receiver unit. Signal detection can also be performed in the reverse manner. All data can be processed or manipulated in the computing device 6.

[0139] exist Figure 6In the diagram of FIG, optical carrier signal 8 can be referred to as an optical frequency modulated carrier signal. This carrier signal can be fed into a gigahertz frequency synthesis unit, such as synthesis unit 27, and the synthesized gigahertz signal can be forwarded to transmitting device 15 within the spectral range in order to be simulated as a 77 GHz signal, for example.

[0140] Figure 7 Another view of a transmitter 15 and a receiver 16 is shown as an example. This shows a variant for the simultaneous transmission of frequency-shifted signals. An optical carrier signal 8 can first be input or transmitted to the transmitter via an optical fiber 9 at an input end or coupling region. The optical transmission carrier signal 8, which can be referred to as an optical multiband signal, can first be converted into an electrical signal, in particular a multiband electrical signal, by means of an optoelectronic converter unit, such as a photodiode 39. This signal can then optionally be amplified or processed by an amplifier 40.

[0141] In order to transmit signals of different frequency shifts, the transmitting device 15 can be divided into different or multiple transmitting paths 41 to 44. The electrical output signal, which can be referred to as the first electrical output signal 45 after amplification by the amplifier 40, can be transmitted by the first transmitting device 46, for example. Therefore, the first electrical transmit signal 45 can be a basic signal, which has the same frequency as the optical carrier signal 8, for example.

[0142] In particular, the electrical signal converted by the photodiode 39 can be provided or transmitted to all transmission paths 41 to 44 .

[0143] Furthermore, the second transmission path 42 may include a second frequency conversion unit 47, which generates a second electrical transmission signal 48. This may include the optical carrier signal 8 and predetermined frequency shift information. The second electrical transmission signal 48 may be transmitted by a second transmission unit 49. The second electrical transmission signal 49 may be amplified, for example, by a second amplifier unit 50 before transmission.

[0144] The optional third transmission path 43 can also include a frequency conversion unit, namely a third frequency conversion unit 51, by which a third electrical transmission signal 52 can be generated accordingly, so that this third electrical transmission signal can be transmitted via the third transmission unit 53. For this purpose, the third electrical signal output 52 can also be amplified by means of the third amplifier unit 45 before transmission.

[0145] In addition to the configurations associated with the second and third transmission paths 42, 43, further transmission paths 44 can also be provided, which in turn have further frequency conversion units 55 for providing or converting further electrical transmission signals 56. These signals can thus in turn be transmitted via further transmission units 57. The further transmission paths 44 can also have further amplifier units 58.

[0146] In other words, depending on how many different electrical transmit signals 45, 48, 42, 56 are to be transmitted, the transmitting device 15 can have a corresponding number of transmit paths 41 to 44. The respective transmit paths can in particular have or include a frequency conversion unit, an amplification unit and a transmit unit.

[0147] For the electrical emission signals 45, 48, 52, 56, reference can be made to Figure 4 and Figure 5 Related Designs. As already explained there, electrical transmission signals 45, 48, 42, 56 are frequency-shifted signals and therefore have different frequencies or frequency bands relative to one another. Transmitting device 15 can be designed, in particular, to emit electrical transmission signals 45, 48, 52, 56 in a time-coordinated or simultaneous manner during transmission.

[0148] The optical frequency modulated carrier signal, i.e., the optical carrier signal 8, can be optically fed into the transmitter 15, in particular by means of the computing device 6, and converted from the optical domain to the electrical domain upon reaching the photodiode 39. A downstream frequency conversion unit, such as the individual frequency conversion units of the transmission paths 41 to 44, can convert the incoming high-frequency signal into the target frequency to be transmitted, i.e., the electrical transmission signals 45, 48, 52, 56. Amplification can optionally be performed before the corresponding transmitting antenna elements, i.e., the transmission units 46, 49, 53, 57, emit radiation.

[0149] After the simultaneous transmission of electrical transmit signals 45, 48, 52, 56, corresponding electrical receive signals 59 to 61 can be received. For this purpose, the receiving device 16 can include a plurality of receive units 62 to 65. The receive units 62 to 65, which can be receive antennas, can receive the electrical receive signals 59 to 61 based on the transmitted electrical transmit signals 45, 48, 52, 56. After reception, the received signals can be processed or amplified by amplifier units 66 to 69 for subsequent better processing, in particular, transmission.

[0150] After reception, the received electrical receive signals 59 to 61 can be provided or transmitted to a signal processing unit 70. This can be an electrical or electronic unit coupled to the receiving units 62 to 65. The signal processing unit 40 can be designed to mix the electrical receive signals 59 to 61 with an electrical carrier signal 71 generated by conversion by an optoelectronic converter 72, for example, using a photodiode 72. The original information of the optical transmit signal is thus mixed with the received signal for the optical transmit signal to enable corresponding target detection or environmental monitoring. Thus, the optical receive signal 21 or a plurality of such optical receive signals can be transmitted, for example, to a computing device 6 for environmental monitoring or target detection. To this end, a corresponding optical modulator 73 can also be arranged downstream of the signal processing unit 70, which can modulate the electrical signal downstream of the signal processing unit 70 with the optical carrier signal 8, for example, and can accordingly generate or provide the optical receive signal 71.

[0151] In other words, on the receiving side, all receiving units 62 to 65 can receive signals, which can be delayed multi-band signals. These signals can optionally be amplified and mixed with the original transmit signal.

[0152] For example, electrical emission signals 45, 48, 52, 56 can be simulated simultaneously. Figure 5 The different frequency shifted signals 38 in correspondence or are formed in a similar manner.

[0153] Figure 8 FIG. 1 shows another example of a transmitting device 15 and a receiving device 16. The transmitting device 15 can be connected to Figure 7 The transmitting device 15 in is designed similarly.

[0154] In this example, the receiving device 16 can be divided into receiving paths 74 to 77. Figure 7 As shown, the corresponding receiving paths 74 to 77 can each have a receiving unit and, for example, an amplifier unit. The receiving device 16 can thus be designed more flexibly, since the individual transmitting paths 74 to 77 can be treated, for example, like individual modules or circuits and can therefore be positioned differently. Figure 7 Another embodiment of the receiving device 16 is shown. Figure 9 Another exemplary embodiment of the launch device 15 is shown. Figure 7 and Figure 8 Compared to the transmitter device 15 shown, the transmission paths 41 to 44 in this embodiment can be physically and / or spatially separated units, modules and / or circuits. This allows for flexible positioning of the individual transmission paths 41 to 44 and the corresponding transmission units 46, 49, 53, 57 depending on the application area of the sensor system 2.

[0155] Figure 9 The design scheme particularly provides the following advantage, namely that the transmitting device 15 can be described as a photonic multi-band transmission unit, thereby achieving a modular design and being able to simultaneously transmit signals of different frequency bands to flexibly generate a virtual antenna array.

[0156] exist Figure 10 Another embodiment of the transmitting device 15 is shown in FIG. Figures 7 to 9 Compared to the embodiment in FIG. 1 , the difference here is that the individual transmission paths 41 to 44 no longer have separate frequency conversion units 47, 51, and 55, but instead have a central frequency device 78. This frequency device 78 can be connected or arranged between the input of the transmission device 15 and the transmission paths 41 to 44 and can generate or provide different electrical transmission signals 45, 48, 52, and 56 based on the optical carrier signal 8 and the frequency shift information. To this end, the frequency device 78 can include a first frequency conversion unit 79, such as a frequency converter, and a frequency multiplexer 80, such as an integrated FDM (Frequency Division Multiplexing) system. Thus, for example, the multi-band signal generated by the frequency converter, i.e., the first frequency conversion unit 79, i.e., the converted optical carrier signal 8, can be multiplexed into different frequency bands by means of the frequency multiplexer 80 and provided to the corresponding transmission paths 41 to 44. Each transmission path can amplify the corresponding signal in accordance with the previously described design. Other designs shown in the previously described figures are also contemplated.

[0157] based on Figure 10 , Figure 11 Another schematic diagram of the launch device 15 is shown. Figure 10 The same design scheme, where Figure 10 The same paths 41 to 44 and frequency device 78 are arranged on separate modules or integrated circuits, so that these units are physically and / or spatially separated from each other. This allows for a more flexible and universal use or utilization of transmitting device 15 depending on the application of sensor system 2.

[0158] As shown here by way of example, the inputs of the transmitting device 15, such as the photodiode 39 and the coupling point for the frequency device 78, can also be arranged on the chip. Figure 10 In the embodiment, all components in the transmitting device 15 are arranged or integrated on a chip or module.

[0159] A schematic sequence is shown below, illustrating how improved environmental detection can be performed with the aid of the proposed sensor system 2 .

[0160] 1. A central unit, such as a computing device 6 , provides control signals and optical signals, such as carrier signals.

[0161] 2. The optical signal is transmitted in a GHz frequency synthesis unit.

[0162] The 3 GHz signal is modulated onto an optical carrier signal and transmitted to the radar front end (EPIC chip).

[0163] 4. Detecting the optical carrier signal in the EPIC chip through a photodiode is equivalent to performing frequency conversion in the low GHz spectrum range, such as 6 or 9 GHz.

[0164] 5. Forward the GHz signal to two circuits:

[0165] a. Amplify the low GHz spectrum range and transmit it through the antenna.

[0166] b. Frequency conversion, for example into the 77 GHz spectrum range, amplification via an antenna and transmission.

[0167] 6. Forward the electronic GHz signal to the antenna.

[0168] 7. The reflected radiation is detected by the antenna and the received signal is returned to the central station by modulating it onto an optical carrier signal

[0169] 8. Detection of optical radiation, ADC sampling and coherent processing in the central station

[0170] 9. Perform separate and / or joint coherent or non-coherent processing on the data of the two frequency bands.

[0171] 10. Forwarding data, for example, to an environment model.

[0172] In the following Figures 12 to 17 , other designs or embodiments of the computing unit 6, the transmitting device 15, and the receiving device 16 are described in . These designs or embodiments are slightly modified here to enable simultaneous transmission or transfer of the transmit signals 45, 48, 52, 56.

[0173] The descriptions regarding the computing device 6, the transmitting device 15 and the receiving device 16 apply at least partially here ( Figures 6 to 11 ).

[0174] Figure 12 Shown based on Figure 6 Other schematic designs of the computing device 6. Figures 6 to 11 In a different embodiment, the optical transmission signals 81 can be generated by the computing device 6 based on the optical carrier signal 8 and in particular based on the frequency shift data. These optical transmission signals 81 can be generated by modulating the optical carrier signal 8. These optical transmission signals 81 can in particular be frequency-shifted and / or frequency-modulated relative to each other. For this purpose, reference can be made to Figure 4 and Figure 5In a similar embodiment, the optical transmit signals 81 can be designed with respect to their relative frequency shift. In this case, for example, a GHz signal can be modulated onto the optical carrier signal 8 and transmitted to the transmitting device 15. To select or divide the different relative frequency shifted optical transmit signals 81, an optical switch or optical distributor 30 can be advantageously used or utilized.

[0175] based on Figure 12 , Figure 13 Schematic diagram of the launch device 15 is shown. Figures 7 to 11 Unlike the design of , optical transmit signal 81 is transmitted to all transmit paths 41 to 44. In this variation, transmit device 15 may include a signal providing device 82, which may be composed of multiple components. Signal providing device 82 may include multiple optical filter units and photoelectric converter units. Signal providing device 82 can generate electrical transmit signals 45, 48, 52, and 56 based on optical transmit signal 81, and assign these generated electrical transmit signals 45, 48, 52, and 56 to the corresponding transmit paths 41, 42, 43, and 44 based on their respective frequencies or frequency bands.

[0176] The signal providing device 82 may, for example, include a first optical filter unit 83, which may be arranged in the first transmission path 41. The first optical filter unit 83 can be used to select or filter out an optical transmission signal that is compatible with the first electrical transmission signal 45 from the plurality of optical transmission signals 81. Thus, the transmission path 41 itself can filter or select a compatible signal using the optical filter unit 83 (which may be an optical filter). The selected optical transmission signal can then be converted into the first electrical transmission signal 45 using a photoelectric converter unit 84, such as a photodiode or phototransistor. Unlike the designs shown in the previous figures, the first transmission path 41 may also include an amplifier unit 91.

[0177] The second transmission path 42 may further include a second optical filter unit 45, which can filter and select the optical transmission signal 81 corresponding to the second electrical transmission signal 48. The second electrical transmission signal 48 can then be generated or converted by the photoelectric converter unit 48.

[0178] The third transmission path 43 may also include a third optical filter unit 87, which can filter out an optical signal corresponding to the third electrical transmission signal 52 from the optical signal 81. The optical signal range can then be converted into an electrical signal range using an optoelectronic converter unit 88. The other transmission paths 44 may also each include an optical filter unit 89 and a corresponding optoelectronic converter unit 90 to provide corresponding other transmission signals 56 for transmission.

[0179] In other words, each transmission path 41 to 44 can select the desired electrical transmission signal 45 , 48 , 52 , 56 by means of an optical filter by selecting the optical signal 81 with regard to the relevant frequency and frequency ramp.

[0180] In the case of a design for transmitting a signal shifted in time, the reception or reception process can be performed using Figures 7 to 11 The receiving device 16 in the previous embodiment of the invention can be mixed with the delayed receiving signal and the frequency modulated optical transmitting signal after the simultaneous emission of the frequency-shifted frequency-modulated transmitting signal.

[0181] In this case, the transmitting device 15 is provided, in particular by way of example, in such a way that the transmitting paths 41 to 44 are physically and / or spatially separated units.

[0182] In a configuration similar to the above configuration, the transmitting device 15 can here again simultaneously transmit the electrical transmitting signals 45 , 48 , 52 , 56 .

[0183] Figure 14 based on Figure 13 FIG. 1 shows another conceivable embodiment of the transmitting device 15. On the one hand, it is shown here that all components of the transmitting device are integrated on one chip, so that the transmitting paths 41 to 44 are all arranged on a common chip.

[0184] Furthermore, the signal providing device 82 is connected to Figure 13 Designed differently.

[0185] Here, the signal providing device 82 has an optical filter unit 92, which is used to provide signals for all transmission paths 41 to 44. Figure 13 Compared to the embodiment in FIG, transmission paths 41 and 44 do not have their own independent optical filters. Instead, they are supplied with the corresponding signal technology by a higher-level optical filter unit 92. Optical filter unit 92 can filter optical transmission signal 81 based on the corresponding frequency or frequency band. The filtered optical signal 81 is then converted into the corresponding electrical transmission signals 45, 48, 52, and 56 by an optoelectronic conversion unit 93. Furthermore, signal supply device 82 can include an electronic distributor 94. This electronic distributor 94, or "switch," can be used to supply the corresponding signals to each transmission path 41 through 44 via an electronic switching device.

[0186] Figure 15 It also shows that based on Figure 14A variation of this embodiment. The signal supply device 82 can again include a higher-level optical filter unit 92. However, this optical filter unit 92 can be controlled by an electronic filter control unit 95, in particular a higher-level electronic filter control unit 95. An optical distributor, such as an optical distributor 94, can be used to distribute the optical signal to the channels or transmission paths 41 to 44. An optical switch, such as the optical distributor 94, can be controlled program-controlled to provide the corresponding signal to the corresponding transmission paths 41 to 44. This distribution can take place optically, and optoelectronic converter units 84, 86, 88, and 90 can be provided in the corresponding transmission paths 41 to 44.

[0187] The following Figure 16 based on Figure 14 and Figure 15 Another embodiment is shown, which is at least a partial combination of these two designs. Here again, the optical filter unit 92 can be controlled by means of the filter control unit 95. Figure 14 As shown, the corresponding signal can then be converted into an electrical range by the photoelectric converter unit 93. Figure 14 and Figure 15 The difference from the design scheme in is that the optical distributor can be discarded here, and the corresponding transmission paths 41 to 44 can instead have respective electronic filter units 96 to 99 to filter the corresponding filtered and converted signals, so that the correspondingly assigned electrical transmission signals 45, 48, 52, 56 are filtered out or selected for the corresponding transmission paths 41 to 44.

[0188] Figure 17 based on Figure 13 Another conceivable embodiment of the transmitting device 15 is shown. In addition to the corresponding optical filter units and optoelectronic converter units, additional electronic frequency conversion units 100 to 103 can be arranged in the respective transmitting paths 41 to 44. Thus, the respective transmitting paths 41 to 44 can have their own or separate electronic frequency conversion units 100 to 103. This allows the electrical output signals 45, 48, 52, 56 to be provided to the respective transmitting units 46, 49, 53, 57 to be processed again.

[0189] A further conceivable schematic sequence is shown below, which illustrates how improved environmental detection can be performed with the aid of the proposed sensor system 2 .

[0190] 1. The central unit provides control signals and light signals.

[0191] 2. The optical carrier signal is transmitted in the GHz frequency synthesis unit.

[0192] The 3 GHz signal is modulated onto an optical carrier signal and transmitted to the radar front end (EPIC chip).

[0193] 4. Time multiplexing or frequency / wavelength multiplexing of each optical signal when necessary

[0194] 5. For channels Important signals are selected by optical filters and front-end EPIC

[0195] 6. Detecting the optical carrier signal in the EPIC chip through a photodiode is equivalent to performing frequency conversion in the low GHz spectrum range, such as 6, 9 or 77 GHz.

[0196] 7. Forward GHz signals to the circuit

[0197] a. Amplify the low GHz spectrum range and transmit it through the antenna

[0198] b. Perform additional frequency conversion if necessary

[0199] 8. Forward the electrical GHz signal to the antenna(s).

[0200] 9. The reflected radiation is detected by the antenna(s) and the received signal is returned to the central station by modulation onto an optical carrier signal.

[0201] 10. Detection of optical radiation, ADC sampling and coherent processing are performed in the central station.

[0202] 11. Perform separate and / or joint coherent or non-coherent processing on the data of the two frequency bands.

[0203] 12. Forwarding data, for example, to an environment model.

[0204] Reference Signs List

[0205] 1. Transportation

[0206] 2 Sensor system

[0207] 3 Antenna Array

[0208] 4 antenna elements

[0209] 5 Radar sensor device

[0210] 6 Central Electronic Computing Unit

[0211] 7 Optical Devices

[0212] 8 Optical carrier signal

[0213] 9. Fiberglass

[0214] 10 Optical input port

[0215] 11 Optical output port

[0216] 12 receiving unit

[0217] 13 Output signal

[0218] 14 processing units

[0219] 15 Launcher

[0220] 16 Receiving device

[0221] 17 Electrical emission signal

[0222] 18 Environment

[0223] 19 Electrical reception signal

[0224] 20 return channel

[0225] 21 Optical receiving signal

[0226] 22 Photoelectric converter unit

[0227] 23 Electrical reception signal

[0228] 24 digital interfaces

[0229] 25 CPU

[0230] 26 Electrical Return Channel

[0231] 27 Synthesis Unit

[0232] 28 Modulator

[0233] 29 Optical control unit

[0234] 30 Optical Distributor

[0235] 31 control unit

[0236] 32 Feedback Loop

[0237] 33 Electron emission path

[0238] 34 electrical control signals

[0239] 35 Virtual Antenna Array

[0240] 36, 37 Frequency range view

[0241] 38 frequency-shifted transmitted signal

[0242] 39 Photodiode

[0243] 40 amplifiers

[0244] 41 to 44 emission paths

[0245] 45 First electrical emission signal

[0246] 46 First Launch Unit

[0247] 47 First frequency conversion unit

[0248] 48 Second electrical emission signal

[0249] 49 Second Launch Unit

[0250] 50 Second Amplifier Unit

[0251] 51 Second frequency conversion unit

[0252] 52 third electrical emission signal

[0253] 53 Third Launch Unit

[0254] 54 Third Amplifier Unit

[0255] 55 Other frequency conversion units

[0256] 56 Other electrical emission signals

[0257] 57 Other launch units

[0258] 58 Other amplifiers

[0259] 59 to 61 Electrical reception signal

[0260] Receiving units 62 to 65

[0261] 66 to 69 amplifiers

[0262] 70 signal processing unit

[0263] 71 Electrical carrier signal

[0264] 72 photoelectric converter unit or photodiode

[0265] 73 Optical Modulator

[0266] 74 to 77 receive path

[0267] 78 Frequency Device

[0268] 79 First frequency conversion unit

[0269] 80 Frequency Multiplexer

[0270] 81 optical transmission signal

[0271] 82 signal providing device

[0272] 83 First optical filter unit

[0273] 84 Photoelectric converter unit

[0274] 85 Second optical filter unit

[0275] 86 Photoelectric converter unit

[0276] 87 Third optical filter unit

[0277] 88 Photoelectric converter unit

[0278] 89 Other optical filter units

[0279] 90 Other photoelectric converter units

[0280] 91 Amplifier

[0281] 92 optical filter units

[0282] 93 Photoelectric converter unit

[0283] 94 Electronic Dispenser

[0284] 95 Filter Control Unit

[0285] 96 to 99 Electronic filter units

[0286] 100 to 103 frequency conversion units.

Claims

1. A sensor system (2) for performing environmental detection, comprising - an optical device (7) for generating an optical carrier signal (8), - a transmitting device (15) having a plurality of transmitting units, wherein: The transmitting device (15) is designed to transmit electrical transmitting signals (45, 48, 52, 56), It is characterized by: a first transmission path (41) of the transmission device (15), which is designed to provide a first transmission unit (46) of the plurality of transmission units, which is arranged on the first transmission path (41), with a first electrical transmission signal (45) based on the optical carrier signal (8), - at least one second transmission path (42) of the transmission device (15), different from the first transmission path (41), which is designed to generate a second electrical transmission signal (48) based on the optical carrier signal (8) and to supply it to a second transmission unit (49) of the plurality of transmission units, which is arranged on the second transmission path (42), wherein - a calculation device (6) designed to generate a plurality of optical transmit signals (81) that are frequency-shifted relative to one another based on the optical carrier signal (8) and to supply these optical transmit signals to the transmitting device (15), - a signal providing device (82) of the transmitting device (15), which is designed to generate electrical transmitting signals (45, 48, 52, 56) based on the optical transmitting signal (81) and to assign the electrical transmitting signals (45, 48, 52, 56) to corresponding transmitting paths (41 to 44) based on corresponding frequencies, The transmitting device (15) is designed to transmit a first electrical transmitting signal (45) via a first transmitting unit (46) and simultaneously transmit a second electrical transmitting signal (48) via a second transmitting unit (49) during a transmitting process.

2. The sensor system (2) according to claim 1, It is characterized by: - at least one third transmission path (43) of the transmission device (15), different from the first transmission path and the second transmission path, designed to provide a third electrical transmission signal (52) different from the first and / or second electrical transmission signal (45, 48) of a third transmission unit (53) of the plurality of transmission units, the third transmission unit being arranged on the third transmission path (43), wherein The signal providing device (82) is designed to generate a third electrical transmission signal (52) based on the optical transmission signal (81), and to assign the third electrical transmission signal to the third transmission path (43) based on its frequency, and The transmitting device (15) is designed to simultaneously transmit a first electrical transmitting signal (45) via a first transmitting unit (46), a second electrical transmitting signal (48) via a second transmitting unit (49), and a third electrical transmitting signal (52) via a third transmitting unit (53) during a transmitting process.

3. The sensor system (2) according to claim 1 or 2, It is characterized by: The signal providing device (82) has an optical filter unit (92) which is designed to filter the optical emission signal (81) according to its respective frequency, The signal providing device (82) has a photoelectric conversion unit (93) designed to convert the filtered optical emission signal (81) into an electrical emission signal (45, 48, 52, 56), and The signal providing device (82) has an electronic distributor (94) which is designed to provide the transmission paths (41 to 44) with respectively assigned converted electrical transmission signals (45, 48, 52, 56).

4. The sensor system (2) according to claim 1 or 2, It is characterized by: the signal providing device (82) has an optical filter unit (92) which is designed to filter the optical transmission signal (81) based on its corresponding frequency, wherein the optical filter unit (92) can be controlled by means of an electronic filter control unit (95), The signal providing device (82) has an optical distributor (94) which is designed to provide the transmission paths (41 to 44) with optical transmission signals (81) respectively assigned thereto, and - The corresponding transmission paths (41 to 44) each have an optoelectronic converter unit (84, 86, 88, 90) which is designed to convert an optical transmission signal (81) provided by an optical distributor (94) into an electrical transmission signal (45, 48, 52, 56) correspondingly assigned to the transmission path (41 to 44).

5. The sensor system (2) according to claim 1 or 2, It is characterized by: The signal providing device (82) has an optical filter unit (92) which is designed to filter the optical emission signal (81) according to its respective frequency, The signal providing device (82) has a photoelectric conversion unit (93) designed to convert the filtered optical emission signal into an electrical emission signal (45, 48, 52, 56), The respective transmission paths each have an electronic filter unit which is designed to select the electrical transmission signal (45, 48, 52, 56) assigned to the respective transmission path from the converted electrical transmission signals (45, 48, 52, 56).

6. Sensor system (2) according to claim 1 or 2, It is characterized by: The signal providing device (82) comprises a first optical filter unit (83) and at least one second optical filter unit (85), wherein the first optical filter unit (83) is integrated into the first transmission path (41) and the second optical filter unit (85) is integrated into the second transmission path (42), - a first optical filter unit (83) designed to filter out the optical transmission signal from the plurality of optical transmission signals (81), on which the first electrical transmission signal (45, 48, 52, 56) is based, The second optical filter unit (85) is designed to filter out the optical transmission signal from the plurality of optical transmission signals (81), on which the second electrical transmission signal (45, 48, 52, 56) is based.

7. Sensor system (2) according to one of the preceding claims, It is characterized by: - the first transmission path (41) and at least the second transmission path (42) are arranged together on a common integrated circuit, or The first transmission path (41) and at least the second transmission path (42) are each arranged on a respective integrated circuit.

8. Sensor system (2) according to one of the preceding claims, It is characterized by: The receiving device (16) has a plurality of receiving units (62 to 65), wherein the receiving device (16) is designed to receive electrical receiving signals (59 to 61) based on the transmitted electrical transmitting signals (45, 48, 52, 56), and wherein The receiving device (16) has a plurality of receiving paths (74 to 77), wherein each receiving path (74 to 77) has a receiving unit from a plurality of receiving units (62 to 65), in particular The receiving device (16) comprises a signal processing unit (70) coupled to the receiving units (74 to 77), wherein the signal processing unit (70) is designed to mix one of the electrical receive signals (59 to 61) with an electrical transmit signal (71), which can be generated by photoelectric conversion of a corresponding optical transmit signal (81).

9. A vehicle (1) having a sensor system (2) according to one of the preceding claims.

10. A method for operating a sensor system according to claim 1, comprising: - generating an optical carrier signal (8), - generating a plurality of optical emission signals (81) which are frequency-shifted relative to one another, - generating an electrical emission signal (45, 48, 52, 56) based on the optical emission signal, - assigning the electrical transmission signals (45, 48, 52, 56) to the respective transmission paths (41 to 44) based on the respective frequencies of the electrical transmission signals, - providing a first electrical transmission signal to a first transmission unit, - providing a second electrical transmission signal to the second transmission unit, - simultaneously transmitting the first and second electrical transmission signals during the transmission process.

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