Sensor system

Abstract

The invention relates to a sensor system. The sensor system comprises: an optical sensor comprising an imaging device and a detection device defining a rear side of the optical sensor; the radar transceiver unit is used for generating radar waves to be transmitted and receiving the radar waves to be detected; and at least one antenna element configured to communicate radar waves from the radar transceiver unit to the exterior of the sensor system and from the exterior of the sensor system to the radar transceiver unit. The radar transceiver unit is located at the rear side of the optical sensor.

Description

Technical Field

[0001] This disclosure relates to a sensor system including an optical sensor, a radar transceiver unit, and at least one antenna element. Background Technology

[0002] To monitor a predetermined spatial area, camera systems or ultrasonic sensors are typically used. For example, vehicles like passenger cars may be equipped with a number of ultrasonic sensors and / or camera systems to provide parking distance control, i.e., to assist the driver when parking or for automatic parking. However, ultrasonic systems are expensive, and, for example, a large number of ultrasonic sensors and camera systems may be needed in a vehicle to cover the desired spatial area.

[0003] On the other hand, the use of radar systems for parking applications has also been considered. However, for vehicles, radar systems are primarily limited to traditional mounting locations. For example, corner radar systems can be installed in the bumper, front radar systems can be located in or below the front grille and / or bumper, and side radar systems can be mounted on the B-pillar. Therefore, due to their different installation requirements, the combination of radar systems with other types of sensors (such as camera systems) is generally not considered in vehicles.

[0004] Therefore, there is a need for a sensor system that requires little installation space while allowing reliable monitoring of a spatial area. Summary of the Invention

[0005] This disclosure provides a sensor system. Embodiments are given in the specification and accompanying drawings.

[0006] In one aspect, this disclosure relates to a sensor system comprising: an optical sensor including an imaging device and a detection device defining a rear side of the optical sensor; a radar transceiver unit for generating radar waves to be transmitted and for receiving radar waves to be detected; and at least one antenna element configured to transmit radar waves from the radar transceiver unit to the outside of the sensor system and from the outside of the sensor system to the radar transceiver unit. The radar transceiver unit is located at the rear side of the optical sensor.

[0007] Optical sensors can be configured to detect light in the visible and infrared ranges of the electromagnetic spectrum. The imaging device of an optical sensor may include an objective lens, i.e., one or more objective lenses, which can provide an image or sequence of images related to the external environment of the sensor system at the detection point of the optical sensor. In this way, one or more objects can be monitored in the external environment.

[0008] The detection device may include a semiconductor detection unit, such as a charge-coupled device (CCD) chip comprising a predetermined number of pixels. Therefore, the detection device can convert the detected light into an electrical signal, which can be output by the sensor system and can provide an image of the sensor system's external environment at one or more points in time.

[0009] The radar transceiver unit can generate radar waves in a frequency range of approximately 78 GHz (i.e., within the available radar band from 76 GHz to 81 GHz). Alternatively, the radar transceiver unit can also be used in a frequency range higher than 100 GHz. Conversely, the radar transceiver unit can also be configured to receive radar waves with frequencies within such a frequency range (i.e., within a predetermined range of approximately 78 GHz or higher than 100 GHz). Therefore, the radar transceiver unit and at least one antenna element are part of a radar system that is also configured to monitor one or more objects in the external environment of the sensor system.

[0010] Since a sensor system comprises an optical sensor and a radar system with a radar transceiver unit and at least one antenna element, the optical sensor and the radar system can complement each other when monitoring the external environment of the sensor system. For example, when the light intensity may be too low for an optical sensor to reliably detect an object, the radar system may be able to detect the object in darkness (i.e., at night). Furthermore, the instrument fields of view of the optical sensor and the radar system can differ. For example, a radar system can have a wide field of view relative to both elevation and azimuth directions, covering approximately 150 degrees in the respective directions.

[0011] Because the radar transceiver unit is located behind the optical sensor, the lateral extension of the sensor system is limited. For example, the size of the sensor system can be nearly the same as that of a known purely optical sensor or a small camera, because the radar system (i.e., the radar transceiver unit and associated antenna elements) can be mounted in a narrow space around the optical sensor. Furthermore, at least one antenna element may include one or more antennas communicating with the radar transceiver unit. The antennas can transmit and receive radar waves in a flexible manner at different locations on the outer surface of the sensor system.

[0012] The outer surface of the imaging device can define the front of the optical sensor and the entire sensor system, and the relative boundary of the detection device can define the area at the rear of the optical sensor, where the radar transceiver unit is located. Therefore, the sensor system can have a small footprint, allowing for flexible installation at different locations on vehicles, such as passenger cars. Furthermore, the sensor system is also suitable for monitoring, for example, enclosed rooms in buildings. Because of the radar system, the sensor system can operate without an external light source when performing such surveillance tasks.

[0013] According to an embodiment, the sensor system may further include a common housing that surrounds the optical sensor, the radar transceiver unit, and at least one antenna element. In addition to openings for the imaging device (e.g., a front lens) and one or more openings for the at least one antenna element, the common housing may surround components of the sensor system such that the sensor system can interact with its external environment, i.e., by emitting radar waves into the external environment and by receiving light and radar waves from the external environment of the sensor system.

[0014] For example, the common housing may be a specific housing provided only for the optical sensor initially, and the radar system (i.e., the radar transceiver unit and at least one antenna element) may be combined in a second installation step such that the radar transceiver unit is installed in a small space behind or to the rear of the detection device, and one or more antenna elements may extend through the specific housing of the optical sensor.

[0015] Because a common housing encloses all components of the sensor system, the sensor system can be a compact unit that allows for flexible installation at various locations, such as on a vehicle. Therefore, such a sensor system can be a cost-effective and flexible solution for tasks involving monitoring specific areas within the sensor system's external environment, such as when installed on a vehicle or inside an enclosed room of a building.

[0016] The outer surface of the imaging device can define the front side of the sensor system. At least one antenna element can be configured to transmit radar waves from the radar transceiver unit to the front side of the sensor system. In other words, the optical sensor and the radar system, including the radar transceiver unit and one or more antenna elements, can be viewed in the same direction starting from the front side of the sensor system. Therefore, redundant and / or supplementary information can be provided by the optical sensor and the radar transceiver unit, thereby improving the reliability of the sensor system.

[0017] At least one antenna element can extend parallel to the optical axis of the optical sensor. In other words, one or more antenna elements can be aligned parallel to the optical sensor. This facilitates the installation of one or more antenna elements.

[0018] At least one antenna element may include at least one air waveguide antenna. One or more air waveguide antennas may provide a wide field of view, for example + / -75°, relative to the optical axis of the optical sensor in both elevation and azimuth directions. One or more air waveguide antennas may be open air waveguide antennas that provide excellent transmission of radar waves. However, open air waveguide antennas may be covered, for example, by a closure or radome, to protect the interior of the sensor system from external interference (e.g., moisture, dust, etc.).

[0019] At least one antenna element may include a set of transmitting elements and a set of receiving elements. Each set (i.e., the set of transmitting elements and the set of receiving elements) may be arranged in separate spatial regions within the sensor system. For example, the corresponding transmitting elements and corresponding receiving elements of each set may be arranged as corresponding groups of adjacent elements with a predetermined phase relationship relative to each other. Furthermore, the respective sets may be arranged close to and surrounding the imaging device of the optical sensor, enabling a compact arrangement. For example, the transmitting and receiving elements may terminate at an opening at the front of the optical sensor and the entire sensor system.

[0020] For example, a radar system with a sensor system may include four transmitting elements and four receiving elements, and these elements can be distributed horizontally and vertically. In such a configuration, the phase difference between the antenna elements can be determined to measure the azimuth and elevation angles of an object. With four transmitting elements and four receiving elements, accuracy can be improved when determining the angle of an object, for example, relative to the longitudinal direction of a vehicle in which the sensor system can be mounted. Alternatively, limitations regarding available installation space can be met by providing no more than four transmitting elements and four receiving elements.

[0021] The set of transmitting and receiving elements can be aligned along corresponding predetermined directions. For example, the predetermined directions can each be arranged linearly along corresponding lines. This facilitates the mounting of the transmitting and receiving elements and their predetermined relationship with respect to phase. For example, these two lines can be at an angle relative to each other. This allows for a compact arrangement of the antenna elements relative to the imaging device of the optical sensor.

[0022] According to another embodiment, the sensor system may further include a first printed circuit board (PCB) and a feed device for the at least one antenna element. The radar transceiver unit and the feed device may be arranged on the same side of the first printed circuit board. The feed device may be configured to provide radio communication between the radar transceiver unit and the at least one antenna element for transmitting and receiving radar waves. Arranging the radar transceiver unit and the feed device on the same side of the first printed circuit board defines a spatial relationship between them and facilitates their installation through connection to the first printed circuit board.

[0023] Furthermore, the sensor system may also include a second printed circuit board associated with the detection device of the optical sensor. The radar transceiver unit and feed device can be arranged on the side of the first printed circuit board facing the second printed circuit board. For example, the detection device of the optical sensor can be arranged on top of the second printed circuit board, i.e., on the side facing the imaging device. Because the radar transceiver unit and feed device can be arranged with themselves facing the second printed circuit board, a compact arrangement can be achieved for the entire radar system including the radar transceiver unit, the feed device, and at least one antenna element. That is, other components such as plated vias in the printed circuit board may not be required.

[0024] Optionally, the radar transceiver unit and the feed device can be arranged on the side of the first printed circuit board opposite to the second printed circuit board. In other words, the detection device of the optical sensor and the radar transceiver unit (along with the feed device) can be arranged on opposite sides of their respective printed circuit boards. Therefore, interference between the electronic components of the optical sensor and the radar system can be reduced or avoided. Furthermore, the radar transceiver unit and the feed device can have good accessibility when arranged on the side opposite to the second printed circuit board and the optical sensor (i.e., compared to being arranged on the inside facing the second printed circuit board and the optical sensor). However, plated holes may be needed in the first printed circuit board to connect one or more feed devices to one or more antenna elements.

[0025] According to another embodiment, the detection device of the optical sensor can be arranged on a first side of the first printed circuit board, and the radar transceiver unit and the feeding device can be arranged on a second side of the first printed circuit board opposite to the first side. In other words, the detection device and the radar transceiver unit (together with the feeding device) can be arranged on opposite sides of the same printed circuit board, such that the sensor system can include a detection device for the optical sensor only and a printed circuit board for the radar system (i.e., for the radar transceiver unit and the feeding device). This embodiment can further enhance the compactness of the sensor system. Furthermore, the first printed circuit board, serving as a common printed circuit board, can facilitate the acquisition and unification of output signals and output data provided by the optical sensor and the radar transceiver unit.

[0026] The first and second printed circuit boards may include a processing unit, at least one memory unit, and at least one non-transitory data storage device. The non-transitory data storage device and / or memory unit may include a computer program for instructing a computer to perform several or all of the steps or aspects of processing data provided by the optical sensor and radar transceiver units described herein.

[0027] Non-transitory data storage devices and / or memory units may also include computer-readable media, which may be configured as: optical media, such as optical discs (CDs) or digital versatile discs (DVDs); magnetic media, such as hard disk drives (HDDs); solid-state drives (SSDs); read-only memory (ROM), such as flash memory; and so on. Furthermore, the computer-readable media may be configured as a data storage device accessible via a data connection, such as an internet connection. Computer-readable media may be, for example, an online database or cloud storage.

[0028] According to another embodiment, the imaging device may include at least one lens. That is, the optical sensor may be configured as a camera system, wherein one or more objective lenses can generate an image of the external environment of the sensor system at the detection device.

[0029] According to another embodiment, the imaging device may be enclosed by a housing made of a solid material. This housing may include at least one slot forming at least one antenna element. In other words, one or more slot antennas are formed by the housing, which may be part of the housing of the optical sensor. In this way, a compact and reliable arrangement of one or more antennas around the optical sensor can be achieved.

[0030] Furthermore, the end of at least one antenna element may be covered by a radome or a closure with high transmittance to radar waves. For example, the ends of one or more antenna elements may be arranged on the front side of the sensor system, which may be defined by the outer surface of the imaging device of the optical sensor. With this arrangement, the respective ends of one or more antenna elements can provide a connection between the respective antenna element and the outside of the sensor system. The radome or one or more closures can protect the respective ends of one or more antenna elements from the external environment of the sensor system, such as from moisture or dust. Attached Figure Description

[0031] This document describes exemplary embodiments and functions of the present disclosure in conjunction with the following schematically illustrated figures:

[0032] Figure 1 This is a front view of the sensor system according to this disclosure;

[0033] Figures 2A to 2C This is a cross-sectional view of the first embodiment of the sensor system;

[0034] Figures 3A to 3C This is a cross-sectional view of a second embodiment of the sensor system;

[0035] Figures 4A to 4B This is a cross-sectional view of a third embodiment of the sensor system; and

[0036] Figure 5 This is an exploded perspective view of the fourth embodiment of the sensor system.

[0037] List of reference numerals

[0038] 100 Sensor Systems

[0039] 110 Optical Sensor

[0040] 112 Imaging device, camera lens assembly

[0041] 114 Detection Device

[0042] 116 optical axes

[0043] 117 The outer surface of the imaging device

[0044] 118 Rear side of optical sensor

[0045] 120 radar system

[0046] 122 Antenna Components

[0047] 123 Transmitting Antenna

[0048] 124 receiving antenna

[0049] 126 Radar transceiver unit

[0050] 128 Power Supply Unit

[0051] 130 housing

[0052] 132 Narrow opening

[0053] 134 Large opening

[0054] 210 First Printed Circuit Board or Radar PCB

[0055] 212 Electroplating holes

[0056] 220 Second printed circuit board or camera PCB

[0057] 230 Additional Printed Circuit Board

[0058] 250 casing

[0059] 252 slot

[0060] 254 Center opening of the casing

[0061] 260 radome

[0062] 264 The central opening of the radome Detailed Implementation

[0063] Figure 1 A schematic front view of a sensor system 100, including an optical sensor 110 and a radar system 120, is depicted. The optical sensor 110 is configured as a camera and includes an imaging device 112, which is configured as a camera lens assembly including an objective lens. The radar system 120 includes a plurality of antenna elements 122. For the first, second, and third embodiments (see also...), see... Figures 2A to 4B Antenna element 122 includes four transmit or Tx antennas 123 and four receive or Rx antennas 124.

[0064] The sensor system 100 includes a common housing 130 surrounding the optical sensor 110 and the radar system 120. The housing 130 includes a narrow opening or slot 132 in which a corresponding end of the antenna element 122 is disposed. Furthermore, the housing 130 includes a large opening 134 for a first lens of the imaging device 112 of the optical sensor 110.

[0065] like Figure 1 The front view of the sensor system 100 shown is for each of the following: Figures 2A to 2B , Figures 3A to 3B and Figures 4A to 4BThe first, second, and third embodiments of the sensor system 100 shown are also effective. In other words, the sensor system 100 is provided with... Figure 1 The front view shown is the same as the front view shown, regardless of whether it is... Figures 2A to 2C , Figures 3A to 3C and Figures 4A to 4B The diagram shows its internal configuration.

[0066] Figure 2A A cross-sectional side view of the sensor system 100 according to the first embodiment is schematically depicted. In addition to the imaging device or camera lens assembly 112, the optical sensor 110 also includes a camera chip or detection device 114. That is, the imaging device or camera lens assembly 112 is configured to provide an image of the exterior of the sensor system 100 at the surface of the detection device 114. The detection device 114 includes, for example, a plurality of pixels and is configured as a semiconductor device such as a charge-coupled device (CCD) for converting light entering the detection device 114 into an electrical signal.

[0067] exist Figure 2A The centerline of the optical sensor 110 is depicted, which also forms the optical axis 116 for imaging within the optical sensor 110. The imaging device 112 has an outer surface 117, which serves as the outer surface of the first lens of the imaging device 112, defining the front side of the optical sensor 110 and the entire sensor system 100.

[0068] Figures 2A to 2C The diagram shows one antenna element from antenna elements 122 of radar system 120. Antenna element 122 extends between an opening 132 within housing 130 of sensor system 100 and a first printed circuit board (PCB) 210. Since the first PCB 210 is associated with radar system 120, it is also referred to as radar PCB 210. At radar PCB 210, a radar transceiver unit 126 is arranged, configured to generate radar waves to be transmitted and receive radar waves to be detected by sensor system 100. At radar PCB 210, a feed system or feed device 128 is also arranged, configured to couple the radar transceiver unit 126 to one of the antennas in antenna elements 122. That is, the corresponding feed device 128 provides radio communication between radar transceiver unit 126 and antenna element 122. For this purpose, the first PCB or antenna PCB 210 is provided with corresponding plated holes 212 associated with each antenna element 122.

[0069] Antenna elements 122 extend parallel to the optical axis 116 of the optical sensor 110 and are each configured as open air waveguide antennas. These open air waveguide antennas transmit and receive radar waves with frequencies in the range of approximately 78 GHz and higher. This open air waveguide antenna configuration provides antenna element 122 with a wide instrument field of view of approximately + / -75° in both the elevation and azimuth directions.

[0070] When the sensor system 100 is operating, the antenna element 122 transmits radar waves from the radar transceiver unit 126 to the outside of the sensor system 100 and from the outside of the sensor system 100 to the radar transceiver unit 126. Specifically, the antenna element 122 transmits radar waves from the radar transceiver unit 126 to the front side of the sensor system defined by the outer surface 117 of the optical sensor 110.

[0071] Furthermore, the rear side 118 of the optical sensor 110 is defined by the detection device 114 of the optical sensor 110. That is, the detection device 114 of the optical sensor 110 is mounted on a second printed circuit board 220, which can also be represented as a camera PCB 220. The back side of the detection device 114 and the back side of the second printed circuit board 220 define the rear side 118 of the optical sensor 110. Therefore, the radar transceiver unit 126, arranged on the first printed circuit board or radar PCB 210, is located at the rear side 118 of the optical sensor 110. In other words, the first printed circuit board or radar PCB 210, which carries the radar transceiver unit 126 and the power supply device 128, is located at the rear side 118 of the second printed circuit board or camera PCB 220, which carries the detection device 114 of the optical sensor 110, or behind the second printed circuit board or camera PCB 220.

[0072] Figure 2B Depicting in Figure 2A The cross-section at the plane indicated by "B" is the cross-section viewed from the rear side 118 at the second printed circuit board 220, as shown by the small arrow. Figure 2B The image depicts a detection device 114 mounted on a second printed circuit board 220, but the detection device 114 is actually arranged on the opposite side of the second printed circuit board 220. Figure 2A As seen in the image. Furthermore, antenna element 122, comprising a transmitting or Tx antenna 123 and a receiving or Rx antenna 124, is schematically shown.

[0073] exist Figure 2C In, it is shown that in Figure 2A The corresponding cross-section at the plane represented by "C". That is to say, Figure 2C A cross-section of the first printed circuit board or radar PCB 210 is shown. Figure 2C The diagram illustrates how the radar transceiver unit 126 and feed device 128 for each antenna element 122 are arranged or mounted on top of the first printed circuit board or radar PCB 210. The radar transceiver unit 126 and feed device 128 are arranged on the rear side 118 of the first printed circuit board 210, opposite to or facing away from the optical sensor 110, and on one side of the second printed circuit board 220 (see also...). Figure 2A Therefore, the detection device 114 and the radar transceiver unit 126 are oriented in opposite directions relative to the corresponding printed circuit boards 210, 220 on which they are arranged.

[0074] Because the radar transceiver unit 126 is located at the rear 118 of the optical sensor 110, and because the antenna elements 122 are arranged parallel to the optical axis 116 of the optical sensor 110 and are configured as open air antenna waveguides, the sensor system 100 has a small footprint and requires only a small space for installation, such as in a vehicle like a passenger car or in an enclosed room in a building. Due to this low installation space requirement, the combined optical and radar sensor system 100 can be flexibly installed, for example, in locations where known sensor systems are unavailable.

[0075] The first printed circuit board 210 and the second printed circuit board 220 are also provided with connection and / or communication devices, such as cables (not shown), to provide the output signals of the detection device 114 of the optical sensor 110 and the radar system 120 for further processing. To process the output signals of the detection device 114 and the radar system 120, i.e., the signals provided by the radar transceiver unit 126, the sensor system 100 also includes an additional printed circuit board 230. Figure 2A The diagram shows two additional printed circuit boards 230, but the sensor system 100 may also include one or more of these additional printed circuit boards 230. The additional printed circuit boards 230 may be configured to acquire signals from the detection device 114 of the optical sensor 110 via a second printed circuit board 220 and signals provided by the radar transceiver unit 126 via a first printed circuit board 210. Furthermore, the additional printed circuit boards 230 may be configured to process these signals to provide output signals or output data for the entire sensor system 100.

[0076] Figures 3A to 3C A second embodiment of the sensor system 100 is schematically depicted, which generally includes the same components as the first embodiment. That is, apart from the differences described below, the above description of... Figure 1 and Figures 2A to 2C The provided description is for, for example Figures 3A to 3C The second embodiment shown is also effective.

[0077] Figure 3A A cross-sectional side view of a second embodiment of the sensor system 100 is shown in the figure. The second embodiment is... Figures 2A to 2C The difference in the first embodiment shown is that the radar transceiver unit 126 and the power supply device 128 are arranged on opposite sides of the first printed circuit board or radar PCB 210. Therefore, the radar transceiver unit 126 and the power supply device 128 are arranged on the side of the first printed circuit board 210 facing the second printed circuit board 220 and on the rear side 118 of the optical sensor 110. Due to this arrangement, the first printed circuit board 210 does not have plating holes 212 (see...). Figure 2A In the first embodiment, the electroplated hole 212 is required as a means of transmitting radar waves, that is, to provide a connection between the feeding device 128 and the antenna element 122. Therefore, as Figures 3A to 3C The second embodiment of the sensor system 100 shown has a greater... Figures 2A to 2C The first embodiment shown has a more compact arrangement.

[0078] Figure 3B It schematically shows that in Figure 3A The cross-section at the plane represented by "B" in the middle. Figure 3B The cross-section includes the same as that of the first embodiment. Figure 2B The components and arrangement shown have the same cross-section. Therefore, Figure 2B The description for Figure 3B It is also effective.

[0079] Figure 3C A schematic depiction of in Figure 3A The cross-section at the plane represented by "C" in the middle, that is, in relation to the first embodiment of the sensor system 100 Figure 2C The cross-section shown is depicted in a similar manner. However, plane C along the optical axis 116 towards the optical sensor 110 (i.e., relative to...). Figure 2A Slightly shifted in the direction of the opposite side of the first printed circuit board 210. Therefore, due to Figure 3C For the reasons explained, it is assumed that the first printed circuit board 210 is transparent. The radar transceiver unit 126 and the power supply device 128 are directly arranged on top of the first printed circuit board 210, as shown below. Figure 3A As shown. Additionally, the corresponding ends of antenna element 122 are also... Figure 3C As shown, these ends are directly connected to the corresponding power supply device 128.

[0080] Figures 4A to 4B A third embodiment of the sensor system 100 is described, which includes, as... Figures 2A to 2C The components shown in the first embodiment are almost identical. Therefore, apart from the differences described below, the above regarding... Figure 1 and Figures 2A to 2C The provided description is for, for example Figures 4A to 4B The third embodiment shown is also effective.

[0081] exist Figure 4A The third embodiment, shown in the cross-sectional side view, is... Figures 2A to 2C The difference in the first embodiment shown is that only one printed circuit board (i.e., the first printed circuit board 210) is provided to carry the detection device 114, the radar transceiver unit 126, and the feed device 128. That is, the detection device 114 of the optical sensor 110 is arranged on one side of the PCB 210, and the radar transceiver unit 126 together with the feed device 128 is arranged on the opposite side of the PCB 210. Due to this arrangement, the third embodiment of the sensor system 100 also requires plated holes 212, i.e., as a means for feeding radar waves transmitted to and received from the antenna element 122, i.e., to... Figures 2A to 2C The same approach is used in the first embodiment shown. By arranging the detection device 114 and the radar transceiver unit 126 (together with the power supply device 128) on different sides of the same printed circuit board 210, an even more compact arrangement of the sensor system 100 can be achieved compared to the first and second embodiments.

[0082] Figure 4B Depicting in Figure 4A The cross-section at the plane indicated by "B" (i.e., when viewed from the rear side 118 of the optical sensor 110). For illustrative purposes, the first printed circuit board 210 is... Figure 4B It is depicted as transparent. Therefore, Figure 4B The detection device 114 is shown positioned on the opposite side of the printed circuit board 210 relative to the optical sensor 110, while the radar transceiver unit 126 is positioned on the upper side of the first printed circuit board 210. Furthermore, the feeding device 128 for the radar element 122 is located on... Figure 4B As shown, it is arranged on the upper side of the printed circuit board 210, that is, on the same side as the radar transceiver unit 126.

[0083] As in Figures 1 to 3CAs can be understood, the transmitting antenna 123 and the receiving antenna 124 are arranged in separate spatial regions within the sensor system 100. That is, the transmitting antenna 123 and the receiving antenna 124 form different groups of antenna elements 122 that are spatially separated from each other. These groups of transmitting elements 123 and receiving elements 124 are further aligned along corresponding predetermined directions, i.e., arranged linearly along corresponding lines. These two lines used for aligning the transmitting elements 123 and receiving elements 124 are at an angle relative to each other. Therefore, a predetermined phase relationship can be provided for the antenna elements 122 in each group or each group of transmitting elements 123 and receiving elements 124.

[0084] Figure 5 An exploded perspective view of a fourth embodiment of the sensor system 100 is depicted. (As shown) Figure 5 The fourth embodiment shown is similar to that shown below. Figures 3A to 3C The second embodiment shown makes the following differences as described below: Figures 3A to 3C The description is usually also for Figure 5 efficient.

[0085] exist Figure 5 On the right side, the imaging device 112 of the optical sensor 110 is shown together with the second printed circuit board or camera PCB 220 mounted on top of the first printed circuit board or radar PCB 210. Components of the radar system 120, such as the radar transceiver unit 126 (hidden by the second printed circuit board 220) and the power supply device 128, are arranged on the side of the first printed circuit board 210 facing the second printed circuit board 220 and the optical sensor 110.

[0086] like Figure 5 The fourth embodiment shown is similar to... Figures 3A to 3C The difference in the second embodiment shown is that the sensor system 100 is provided with... Figure 5 The housing 250 is shown in the middle. In the assembled state of the sensor system 100, the imaging device 112 is surrounded by the housing 250, which is made of, for example, a solid material (i.e., metal or metallized plastic). The housing 250 includes components aligned with the optical axis 116 of the optical sensor 110 (see [reference]). Figures 2A to 4B Different slots 252 extend through the housing 250 in a parallel direction. Therefore, the slots 252 within the housing 250 form the antenna elements 122 of the radar system 120. In a fourth embodiment of the sensor system 100, the slots 252 also serve as open air waveguide antennas, such as... Figures 2A to 2C , Figures 3A to 3C and Figures 4A to 4B The first, second, and third embodiments are shown and described above.

[0087] In addition, such as Figure 5The radome 260 shown on the left covers the front side of the housing 250 to protect the slot 252 from environmental influences from the sensor system 100. Furthermore, the radome 260 allows the radar antenna element 122 to be tuned via its dielectric properties.

[0088] The housing 250 and the radome 260 are provided with corresponding central openings 254 and 264, into which the imaging device 112 of the optical sensor 110 is inserted when the sensor system 100 is assembled. Furthermore, as... Figure 5 The sensor system 100 according to the fourth embodiment shown also includes similar features as described above. Figures 1 to 4B The housing 130 shown is the housing. However, for illustrative purposes, for the fourth embodiment, in Figure 5 The housing of the sensor system 100 is omitted.

[0089] According to this disclosure, a sensor system may include: an optical sensor, which may include an imaging device and a detection device defining a rear side of the optical sensor; a radar transceiver unit for generating radar waves to be transmitted and for receiving radar waves to be detected; and at least one antenna element configured to transmit radar waves from the radar transceiver unit to the outside of the sensor system and from the outside of the sensor system to the radar transceiver unit. The radar transceiver unit may be located at the rear side of the optical sensor.

[0090] According to various embodiments, the sensor system may also include a common housing surrounding the optical sensor, the radar transceiver unit, and the at least one antenna element.

[0091] According to various embodiments, the outer surface of the imaging device may define the front side of the sensor system, and the at least one antenna element may be configured to transmit radar waves from the radar transceiver unit to the front side of the sensor system.

[0092] According to various embodiments, the at least one antenna element may extend parallel to the optical axis of the optical sensor.

[0093] According to various embodiments, the at least one antenna element may include at least one air waveguide antenna.

[0094] According to various embodiments, the at least one antenna element may include a set of transmitting elements and a set of receiving elements, and each set may be arranged in a separate spatial region within the sensor system.

[0095] According to various embodiments, the set of transmitting elements and the set of receiving elements can be aligned along corresponding predetermined directions.

[0096] According to various embodiments, the predetermined directions can each be arranged linearly along a corresponding line, and the two lines can be at an angle relative to each other.

[0097] According to various embodiments, the sensor system further includes a first printed circuit board and a feeding device for the at least one antenna element, and the radar transceiver unit and the feeding device may be arranged on the same side of the first printed circuit board.

[0098] According to various embodiments, the sensor system may further include a second printed circuit board associated with the detection device of the optical sensor, and the radar transceiver unit and the power supply device may be arranged on the side of the first printed circuit board facing the second printed circuit board.

[0099] According to various embodiments, the sensor system may further include a second printed circuit board associated with the detection device of the optical sensor, and the radar transceiver unit and the power supply device may be arranged on the side of the first printed circuit board opposite to the second printed circuit board.

[0100] According to various embodiments, the detection device of the optical sensor can be arranged on a first side of the first printed circuit board, and the radar transceiver unit and the power supply device can be arranged on a second side of the first printed circuit board opposite to the first side.

[0101] According to various embodiments, the imaging device may include at least one lens.

[0102] According to various embodiments, the imaging device may be enclosed by a housing made of solid material, and the housing may include at least one slot forming the at least one antenna element.

[0103] According to various embodiments, the end of the at least one antenna element may be covered by an antenna radome or a closure that has high transmittance to radar waves.

Claims

1. A sensor system (100), the sensor system (100) comprising: An optical sensor (110) includes an imaging device (112) and a detection device (114) defining a rear side (118) of the optical sensor (110); A radar transceiver unit (126) is used to generate radar waves to be transmitted and to receive radar waves to be detected. as well as At least one antenna element (122) is configured to transmit radar waves from the radar transceiver unit (126) to the outside of the sensor system (100) and from the outside of the sensor system (100) to the radar transceiver unit (126). The radar transceiver unit (126) is located on the rear side (118) of the optical sensor (110).

2. The sensor system (100) according to claim 1, wherein, The sensor system (100) also includes a common housing (130) surrounding the optical sensor (110), the radar transceiver unit (126), and the at least one antenna element (122).

3. The sensor system (100) according to claim 1 or 2, wherein, The outer surface (117) of the imaging device (112) defines the front side of the sensor system (100), and The at least one antenna element (122) is configured to transmit radar waves from the radar transceiver unit (126) to the front side of the sensor system (100).

4. The sensor system (100) according to any one of claims 1 to 3, wherein, The at least one antenna element (122) extends parallel to the optical axis (116) of the optical sensor (110).

5. The sensor system (100) according to any one of claims 1 to 4, wherein, The at least one antenna element (122) includes at least one air waveguide antenna.

6. The sensor system (100) according to any one of claims 1 to 5, wherein, The at least one antenna element (122) includes a set of transmitting elements (123) and a set of receiving elements (124), each set arranged in a separate spatial region within the sensor system (100).

7. The sensor system (100) according to claim 6, wherein, The set of transmitting elements (123) and the set of receiving elements (124) are aligned along their respective predetermined directions.

8. The sensor system (100) according to claim 7, wherein, The predetermined directions are all arranged linearly along the corresponding lines. The two lines are at an angle relative to each other.

9. The sensor system (100) according to any one of claims 1 to 8, wherein, The sensor system (100) further includes a first printed circuit board (210) and a feeding device (128) for the at least one antenna element (122), and The radar transceiver unit (126) and the power supply device (128) are arranged on the same side of the first printed circuit board (210).

10. The sensor system (100) according to claim 9, wherein, The sensor system (100) also includes a second printed circuit board (220) associated with the detection device (114) of the optical sensor (110), and The radar transceiver unit (126) and the power supply device (128) are arranged on the side of the first printed circuit board (210) facing the second printed circuit board (220).

11. The sensor system (100) according to claim 9, wherein, The sensor system (100) also includes a second printed circuit board (220) associated with the detection device (114) of the optical sensor (110), and The radar transceiver unit (126) and the power supply device (128) are arranged on the side of the first printed circuit board (210) opposite to the second printed circuit board (220).

12. The sensor system (100) according to claim 9, wherein, The detection device (114) of the optical sensor (110) is arranged on the first side of the first printed circuit board (210), and The radar transceiver unit (126) and the power supply device (128) are arranged on the second side of the first printed circuit board (210) opposite to the first side.

13. The sensor system (100) according to any one of claims 1 to 12, wherein, The imaging device (112) includes at least one lens.

14. The sensor system (100) according to any one of claims 1 to 13, wherein, The imaging device (112) is surrounded by a shell (250) made of solid material, and The housing (250) includes at least one slot (252) forming the at least one antenna element (122).

15. The sensor system (100) according to any one of claims 1 to 14, wherein, The end of the at least one antenna element (122) is covered by an antenna radome (260) or a closure that has high transmittance to radar waves.

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