Sensor system with a sensor device having a plurality of sensors, vehicle with a sensor system and method for evaluating sensor data of a sensor system

Abstract

The invention relates to a sensor system (2), with - a sensor device (5) which has a plurality of sensors (4), wherein the sensor device (5) is designed to detect an environment (18), - at least one optical matrix processor unit (35) which has a configurable optical matrix structure (36), wherein various matrix computing operations can be carried out with the configurable optical matrix structure (36), wherein - the at least one optical matrix processor unit (35) has an optical input side (38) at which a plurality of optical, analog sensor signals (37) containing sensor data of the sensor device (5) relating to the environment (18) can be provided, and - the at least one optical matrix processor unit (35) is designed to process the plurality of optical, analog sensor signals (37) simultaneously on the basis of the configurable, optical matrix structure (36), so that a plurality of optical, analog output signals (39) can be provided by the optical matrix processor unit (35) for evaluating the environment at an optical output side (40) of the at least one optical matrix processor unit (35). Furthermore, the invention relates to a vehicle (1) and a method.

Description

[0001] The invention relates to a sensor system with a sensor device which has a plurality of sensors, wherein the sensor device is designed to detect an environment.

[0002] Furthermore, the invention relates to a vehicle with a corresponding sensor system.

[0003] The invention also relates to a method for evaluating sensor data of a sensor system, wherein an environment is detected by a sensor device of the sensor system, which has a plurality of sensors.

[0004] For example, WO 2020 / 226732 A1 discloses a microprocessor system comprising an electronic matrix processor and a control unit. This system can be particularly advantageously used in machine learning.

[0005] Furthermore, US 10,747,501 B2 discloses a processor-based system comprising an electronic or digital matrix processor. This can be used to perform "floating-point operations," for example, to increase the performance of computers or processors.

[0006] Furthermore, US 2008 / 0 117 098 A1 discloses an ultra-wideband ("UWB") radar system that can be mounted on a vehicle. This UWB system can have antenna elements that can be mounted on the vehicle. This allows transmitting and receiving antennas to be distributed around the vehicle. This allows for environmental detection.

[0007] An object of the present invention is to improve the data processing of sensor systems so that the data processing can be carried out more quickly while simultaneously reducing power consumption.

[0008] This problem is solved by a sensor system, a vehicle, and a method according to the independent patent claims. Useful further developments arise from the dependent patent claims.

[0009] One aspect of the invention relates to a sensor system with - a sensor device having a plurality of sensors, wherein the sensor device is designed to detect an environment, - at least one optical matrix processor unit, which has a configurable optical matrix structure, wherein various matrix computing operations can be carried out with the configurable optical matrix structure, wherein - the at least one optical matrix processor unit has an optical input side, at which a plurality of optical, analog sensor signals containing sensor data of the sensor device relating to the environment can be provided, and - the at least one optical matrix processor unit is designed to process the plurality of optical, analog sensor signals simultaneously on the basis of the configurable, optical matrix structure, so that a plurality of optical, analog output signals can be provided by the optical matrix processor unit for evaluating the environment at an optical output side of the at least one optical matrix processor unit.

[0010] The proposed sensor system enables environmental detection, such as the detection of a vehicle's surroundings, to be carried out more efficiently. The proposed sensor system offers particular advantages in that the optical matrix processor unit enables increased processing speed for sensor signals or sensor data while simultaneously reducing power consumption. The increased processing speed and simultaneously lower power consumption allow for increased computing capacity for processing data or signals from the sensor system. This can be achieved, in particular, within a small footprint, making the sensor system advantageous for use in the automotive sector. This enables, for example, a maximum degree of miniaturization at the chip level. Consequently, the sensor system can be designed to be more compact and space-saving.This allows the required chip area to be reduced compared to conventional electronics or EPIC technology.

[0011] In particular, the sensor system can be integrated, for example, on semiconductor chips in CMOS, SIN-CMOS, WI-CMOS, hybrid BI-CMOS processes on photonic-electronic cointegrated chips.

[0012] High-resolution sensor systems such as radar or lidar systems can generate increased data volumes. This can be counteracted by the proposed sensor system, as it can reduce the data volume. Furthermore, the proposed sensor system can process raw data for environmental detection in order to extract detections. For this purpose, matrix multiplications such as FFT (Fast Furious Transformation) are typically used in signal processing. This presents challenges for existing sensor systems, which, however, can be overcome with the proposed sensor system. In contrast to conventional systems, which are equipped with massively high-performance GPUs to parallelize the data streams to handle the data load, the proposed sensor system uses an optical matrix processor.However, the aforementioned GPUs have disadvantages in terms of cost and required power. This can be solved just as advantageously with the proposed sensor system.

[0013] Above all, the proposed sensor system uses optical matrix processors for analog, optical calculation of Fourier transforms, compressive sensing algorithms, and wavelet analyses for target detection.

[0014] For conventional data processing, incoherent Doppler processing, coherent angle Doppler processing, or coherent angle Doppler processing based on an FFT can be applied.

[0015] For example, by distributing the EPIC chips over a large area on the vehicle surface and coherently processing the signals of the individual antennas, the resolution of 0.1 degrees can be refined. However, calculating all detections, for example in the form of a range-Doppler matrix, is extremely computationally intensive. This is because, on the one hand, there are many resolution cells, such as in the dimensions of distance, relative velocity, azimuth angle, and elevation angle, and, on the other hand, MIMO methods require the consideration of many combinations of RX and TX antennas. This results in a high overall complexity. Even with parallelized calculations on multiple high-performance GPU chips, the overall effort is very high. For example, with incoherent Doppler processing, the number of multiplications can be between 2.9 5 up to 1.3 8In the case of coherent angle Doppler processing based on a matched filter, the number of necessary multiplications can be, for example, 1.3 11 For coherent angle Doppler processing based on an FFT, the number of required multiplications can be 2.1 8 This very high computational effort and, in particular, power consumption can be reduced or minimized, particularly by a factor of several, with the help of the proposed sensor system.

[0016] For example, the sensor device may have at least one transmitting device and at least one receiving device.

[0017] In particular, a transmitting device and a receiving device, and in particular the sensor device, can be integrated on a single semiconductor chip, for example, in a CMOS, SiM-CMOS, Bi-CMOS, hybrid Bi-CMOS, or with processes on photonic-electronic co-integrated chips. Thus, for example, with the aid of the invention, a radar sensor device or the sensor system can be mass-produced using standardized semiconductor processes.

[0018] In particular, the sensor system can be used to perform frequency conversion of a terahertz carrier signal into the gigahertz frequency range after optical signal transmission and, conversely, reception of gigahertz signals with modulation on terahertz carrier signal.

[0019] In particular, the proposed sensor system can be used in motor vehicles. In particular, the sensor system can be used, for example, in at least partially autonomously operated motor vehicles, especially in fully autonomously operated motor vehicles. Such automated driving requires reliable environmental perception, which can be achieved by the sensor system. The environment can be detected using sensors such as radar, lidar, and cameras. These could be examples of the application area of the radar sensor device. The sensor system can perform a holistic 360-degree three-dimensional detection of the environment, so that all static and dynamic objects can be detected.

[0020] The sensor system can be used as an alternative to Lidar, since Lidar in particular plays a key role in redundant, robust environment detection, as this type of sensor can measure distances and angles more precisely in environment detection and can also be used for classification.

[0021] In particular, the sensor system can be used in at least partially autonomous vehicles, but especially in fully autonomous vehicles. However, to enable such automated driving, reliable environmental perception is essential. The environment is recorded using sensors such as radar, lidar, or cameras. A holistic 360-degree three-dimensional recording of the environment is particularly important so that all static and dynamic objects can be detected. The sensor system can be used for this purpose. In particular, lidar plays a key role in redundant, robust environment detection, as this type of sensor can measure distances more precisely in environment detection and can also be used for classification. However, these lidar sensors are cost-intensive and their construction complex.360-degree three-dimensional environment detection is particularly problematic, as it requires either many smaller individual sensors, which typically operate with many individual light sources and detector elements, or large lidar sensors. Furthermore, lidar sensors are susceptible to weather influences such as rain, fog, or direct sunlight. This sensor system can remedy this.

[0022] Radar sensors and radar sensor devices are also established in automotive engineering and provide reliable and fail-safe data in all weather conditions. Even poor visibility conditions, such as rain, fog, snow, dust, or darkness, barely affect their detection reliability. However, according to the state of the art, their resolution is currently limited; in particular, series-produced radars in use are only designed with an angular resolution of approximately 2 degrees. To meet the requirements for increased automation in automotive engineering with safe driving functions, radar sensor devices are designed to provide three-dimensional images with a high angular resolution in the range of 0.1 degrees and below, with high immunity to disturbances from their surroundings.This cannot be achieved with conventional radar technology according to the state of the art, as the resolution of such systems is too low. The sensor system according to the invention advantageously intervenes precisely in this area.

[0023] The sensor system can be designed as a photonic radar sensor device, which achieves an increase in resolution by cointegrating electronic and photonic components into a single semiconductor chip. The tracking of an FMCW signal as well as all signal processing and evaluation are performed at the central station. Each transmit and receive module has an electronic-photonic cointegrated chip, a so-called EPIC chip. Silicon photonics technology is used for the cointegration. This enables the monolithic integration of photonic components, radio-frequency electronics, and digital electronics together on a single chip. The technical innovation of such a system lies in the signal transmission of gigahertz signals using the optical carrier signal in the terahertz frequency range.A central station, which can also be referred to as a central electronic processing unit, generates an optical carrier frequency in terahertz. The transmitted signal is modulated at one-eighth the radar frequency and sent via the optical fiber to the antenna chips. Frequency multiplication occurs there, allowing the radar radiation to be emitted by the antenna chips. Signal detection occurs in the opposite direction. All data is processed at the central station.

[0024] However, such a design is very complex in the implementation of gigahertz electronics at the chip level. In particular, the on-chip frequency multiplication following detection by a photodiode is technically challenging and poses a significant challenge with regard to gigahertz signal generation with a high signal-to-noise ratio and the lowest possible jitter. The gigahertz signal must be extensively stabilized in subsequent steps. Furthermore, gigahertz electronics are cost-intensive. Furthermore, high performance requirements are placed on the optical carrier, especially the laser, since a high level of optical power is required to generate a high-precision gigahertz signal, making single-phase loops difficult to implement for a radar array with many distributed radar semiconductor chips.In particular, two photonic-electronic semiconductor chips are still required for each transmit and receive channel, which leads to additional costs. The above-mentioned problems are at least partially, and in particular completely, solved by the sensor system according to the invention.

[0025] In particular, the invention utilizes an optical interface to couple the radiation of the laser device, which can also be configured as a CW laser, into a photonic semiconductor. This can be the optical transmission signal or a carrier signal of the CW laser.

[0026] The generation of the FMCW signal, as well as the entire signal processing and evaluation, are carried out by a central station, for example, the computer. Each transmit and receive module consists of an electronic-photonic cointegrated chip (so-called "EPIC chip"), and silicon photonics technology is used for cointegration. This enables the monolithic integration of photonic components, radio-frequency electronics, and digital electronics on a single chip ("electronic-photonic cointegration"). The technical innovation of such a system lies in the signal transmission of GHz signals using an optical carrier signal in the THz frequency range. A central station generates an optical carrier frequency (THz). The signal to be transmitted is modulated onto this frequency at 1 / 8 of the radar frequency and sent to the antenna chips via optical fiber.The frequency is multiplied eightfold on these, allowing the radar radiation to be emitted by the antenna chips. Signal detection occurs in the opposite direction. All data is processed at the central station.

[0027] The principle of electronic-photonic cointegration in a single chip, with silicon-on-insulator regions for the photonic components and bulk silicon regions for the electronic circuits, is a globally unique technology. Especially at high data rates, it enables high signal quality with low parasitic interference. The connection of the RF circuits for the radar antennas, including the frequency multiplier, to the optical transceiver can be implemented without additional wire or flip-chip bonding. Furthermore, chips can be optically and electrically tested at the wafer level, enabling a high yield in the subsequent module design. This technology enables extremely compact form factors and thus has significant relevance for the application of optical technologies based on silicon photonics in the automotive industry.

[0028] The hurdle to the productive use of optical fibers lies in the lack of scalability of currently available technologies. This scalability to large volumes is made possible by the technology for highly integrated manufacturing of electronic photonic integrated circuits. The result is a significant reduction in assembly costs and a more efficient cost structure. The development of data center solutions has resulted in comprehensive libraries of electronic and photonic components for data transmission at high bandwidths, which will be utilized in the project.

[0029] The sensor system can comprise at least one optical matrix processor or optical matrix processor unit. In particular, the sensor unit can comprise several such optical matrix processor units. In particular, the optical matrix processor unit is an analog optical matrix processor unit. The optical matrix processor unit, which can also be referred to as an optical matrix processor, can be configured as required depending on the application. The configurable optical matrix structure is used for this purpose. This optical matrix structure can be used to perform various matrix computing operations.The optical matrix structure, which can be adjusted, parameterized, or configured, for example, by a control unit of the sensor system, allows for adaptation depending on the processing or data processing to be performed within the sensor system. Thus, the optical matrix processor unit can be used to perform the currently required or desired signal or data processing.

[0030] A plurality of optical and, in particular, analog sensor signals can be provided at the optical input side of the optical matrix processor unit. In other words, optical, analog sensor signals from the plurality of sensors of the sensor device can be transmitted or conveyed to the optical input side in order to be able to process these sensor signals, which can be, for example, received signals from the sensors, efficiently and, in particular, simultaneously. Depending on the configurable optical matrix structure, simultaneous, in particular essentially simultaneous, processing of the plurality of optical, analog sensor signals can be carried out. In other words, with the aid of the optical matrix structure, a plurality of optical, analog sensor signals can be processed or processed synchronously.This means that multiple processing steps or signal processing steps can be carried out simultaneously with the help of a single optical matrix processor unit, so that the processing speed can be increased while simultaneously reducing power consumption. Above all, the optical matrix processor unit is designed to process analog, optical signals. This means that analog optical signal processing can be carried out here. The simultaneously processed optical, analog sensor signals can be provided as optical, analog output signals after processing at the optical output side. These multiple optical, analog output signals can then be further processed so that they can be used in particular for environmental detection and in particular for detecting the environment or an environmental area.This means that the sensor system can be deployed and, in particular, operated more efficiently, faster and with minimal power.

[0031] In one embodiment, it is provided that the at least one optical matrix processor unit has a control interface by means of which the at least one optical matrix processor unit can be coupled to a configuration unit, wherein the optical matrix structure can be configured with the configuration unit. With the aid of the control interface, the optical matrix processor unit can be arranged or positioned as desired in the sensor system, since a corresponding communication exchange or signal processing can be carried out via the control interface in order to be able to control the optical matrix processor unit. The control interface can be an optical, an electronic and / or an electrical interface, for example. The optical matrix processor unit can be coupled to the, in particular electronic, configuration unit via the control interface.These units can thus be communicatively networked or connected. The optical matrix structure can be adapted or configured accordingly via the configuration unit, which can also be referred to as the control unit. This can take into account the further analysis of the surrounding area for which the sensor signals should be processed or the current purpose for which the sensor system is being used. The configuration unit can transmit or transmit corresponding configuration signals or configuration commands to the control interface, allowing the optical matrix structure to be configured accordingly to perform the desired matrix calculation operation.

[0032] In particular, depending on which sensor data the optical, analog sensor signals contain, a corresponding computational operation can be performed using the optical matrix structure. This, in turn, can be transmitted to the control interface and thus to the optical matrix processor unit using the configuration unit.

[0033] In one embodiment, the configurable optical matrix structure of the at least one optical matrix processor unit comprises a plurality of adjustable weighting factor elements, wherein the plurality of weighting factor elements can be adjusted based on the plurality of optical analog sensor signals, the plurality of optical analog output signals, and / or an evaluation specification relating to the evaluation of the surrounding area. As a result, depending on which sensor data processing or sensor signal processing or environmental detection is to be performed, the optical matrix processor unit can be configured in a situation-dependent, situation-specific, or individual manner. For this purpose, the optical matrix structure can comprise a plurality of adjustable weighting factor elements or weighting factors.

[0034] The adjustable weighting factor elements can be optical weights. These can be set so that the optical matrix structure can perform the desired calculation operation. The provided input signals, i.e. the analog, optical sensor signals, as well as the required output signals, i.e. the analog, optical output signals, can be taken into account in order to adapt the optical matrix structure accordingly. Furthermore, a corresponding evaluation specification or evaluation condition can be specified or provided by the sensor system, for example. This can be determined, for example, depending on the application of the sensor system and how and in what way environmental detection is to be carried out.Furthermore, the type of sensors can be taken into account so that, depending on the type of sensor, the optical matrix processor unit can be adapted, adjusted or configured accordingly.

[0035] In one embodiment, it is further provided that the configuration unit is designed to configure the configurable optical matrix structure based on a Fourier transform matrix, a compressed detection matrix, a detection matrix, a synthetic aperture matrix, a signal model, or a signal hypothesis. This allows signal processing to be performed using an optical, analog matrix processor. Depending on the configuration, the analog, optical sensor signals can be processed to obtain information regarding azimuth, elevation, distance, class, RCS value, amplitude value, phase, and / or frequency with respect to the detection of the surrounding area.

[0036] For example, the optical matrix structure can be configured so that the evaluated signals can be used to calibrate the sensor system. Furthermore, the configuration can be such that target hypotheses regarding potential sensor targets in the surrounding area can be calculated or provided in matrix form.

[0037] The compressed acquisition matrix can be a "compressive sensing matrix." The synthetic aperture matrix can be a "synthetic aperture signal processing matrix."

[0038] In particular, the optical matrix structure can be configured with the help of the configuration unit depending on which computing operation is to be performed with the optical matrix processor unit.

[0039] In one embodiment, the sensor system comprises at least one analog-to-digital converter, wherein the at least one analog-to-digital converter is configured to digitize the plurality of optical, analog output signals. In order to efficiently process the processed or evaluated analog, optical sensor signals for further processing with regard to environmental detection or the detection of the surrounding area and, in particular, the detection of objects in the surrounding area, the optical output signals provided on the output side can be digitized using the analog-to-digital converter. Thus, an analog-to-digital conversion (AD conversion) of the data or the analog, optical output signals can be performed.Thus, the evaluated output signals can be passed on or transmitted to other functions such as environmental models, driving functions, neural networks or other systems for evaluating the surrounding area.

[0040] In particular, the sensor system can have several analog-to-digital converters.

[0041] The analog-to-digital converter can, for example, be integrated into the optical matrix processor unit. In this case, the analog-to-digital converter can be located near the output side. It is also conceivable for the analog-to-digital converter to be located at a different location or position in the sensor system than the optical matrix processor unit. In this case, the analog-to-digital converter can be connected to the output side via signal lines to transmit the signals for conversion.

[0042] In one embodiment, the sensor system has a computing device designed to evaluate the surrounding area with regard to environmental detection based on the plurality of optical, analog output signals. Furthermore, in this embodiment, the sensor system has a sensor interface unit of the computing device, which is coupled to the sensor device for providing the plurality of optical, analog sensor signals. The computing device can, for example, be the central unit or central station of the sensor system mentioned above. Thus, the surrounding area and in particular an environment can be evaluated accordingly, so that target objects in particular can be detected. For this purpose, the plurality of optical, analog output signals can be transmitted to the computing device via communication connections, such as via fiber optic cables.

[0043] For example, the computing device and the sensor device, and thus the computing device and the plurality of sensors, can be separate or different units. To transmit the corresponding signals or data and, in particular, to provide them to the respective units, the sensor interface unit can be used. This can be an electrical, electronic, and / or optical interface.

[0044] In one embodiment, the sensor interface unit comprises at least one digital-to-analog converter, with which optical, digital sensor signals from the sensor device can be converted into optical, analog sensor signals. Depending on the type of sensor in the sensor system and, in particular, the sensor device, the received sensor signals from the sensor device can be processed such that they can be provided to the analog, optical matrix processor or the matrix processor unit. This allows the sensor system to be used more universally and in a wider variety of ways. For example, the sensor system can combine several sensor technologies, so that the sensor device can have different transmitting units depending on the sensor system's field of application.Depending on the signal format in which the transmitting device provides received signals, these can either be made available directly to the matrix processor unit. If these received signals are digital, at least one or more digital-to-analog converters can be used.

[0045] Additionally or instead, the sensor interface unit has at least one modulation device, wherein the at least one modulation device is designed to generate optical, analog sensor signals by modulating an electrical sensor signal from the sensor device onto an optical carrier signal. If electrical sensor signals are provided as received signals by the sensor device, in particular by individual sensors of the sensor device, these can be converted accordingly before being made available to the matrix processor unit. In this case, an optical source, such as a CW laser, can provide an optical carrier signal. Based on this optical carrier signal, the electrical sensor signals can be converted into optical, analog sensor signals with the aid of the modulation device.

[0046] In particular, the sensor interface unit is designed such that suitable signals, such as analog optical signals, are provided to the optical matrix processor unit with the aid of the sensor interface unit.

[0047] It is also conceivable that the sensor interface unit has several modulation devices.

[0048] In one embodiment, it is further provided that the sensor device, the computing device, and the at least one optical matrix processor unit are physically and / or spatially separate units from one another. Thus, the sensor device, the computing device, and the optical matrix processor unit can be arranged or installed at different positions within the sensor system. Thus, these three units are to be understood as three separate units in this example.

[0049] Alternatively, the sensor device, the computing device, and the at least one optical matrix processor unit can be formed together as a common unit. Thus, all devices or units can be arranged as a single system or unit, in particular on a common substrate or chip.

[0050] In a further alternative, the computing device and the at least one optical matrix processor unit can be formed together as a common unit, and this unit can be physically and / or spatially separated from the sensor device. Thus, the sensor device, which must be arranged at the respective location for environmental detection, can be arranged. In contrast, the data processing units or the units performing computational operations, such as the computing device and the matrix processor unit, can be arranged remotely. This has the advantage that the computing device and the matrix processor unit can be more sensitive, so that they can be safely positioned or arranged remotely from the sensor device.

[0051] The above-mentioned conceivable configurations of the sensor device, the computing device, and the matrix processor unit are to be understood as examples. Depending on where the sensor system is used and the prevailing conditions, the sensor device, the computing device, and the optical matrix processor unit can be adapted to this situation.

[0052] A further aspect of the invention relates to a vehicle with a sensor system according to the preceding aspect or an advantageous further development.

[0053] For example, the vehicle may be manually operated, partially autonomous, or fully autonomous. In other words, the vehicle may be a highly automated vehicle.

[0054] In particular, the vehicle may be a motor vehicle, such as a passenger car or a truck.

[0055] In an embodiment of the further aspect, the antenna array comprises a plurality of antenna elements that are distributed and spaced apart from one another 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 enables, in particular, 360-degree detection of the surroundings.

[0056] For example, the antenna elements of the antenna array can be configured in a sparse array configuration. In particular, the antenna elements of the antenna array can be arranged on the vehicle in a sparsely populated or weakly populated configuration.

[0057] A further aspect of the invention relates to a method for evaluating sensor data of a sensor system, wherein - an environment is detected by a sensor device of the sensor system, which has several sensors, wherein - several optical, analogue sensor signals, which contain sensor data of the sensor device relating to the environment, are provided to at least one optical matrix processor unit, - the at least one optical matrix processor unit has a configurable optical matrix structure, wherein various matrix calculation operations can be carried out with the configurable optical matrix structure, wherein - with the at least one optical matrix processor unit based on the configurable optical matrix structure, the several optical, analog sensor signals are processed simultaneously, whereby several optical, analog output signals are provided by the optical matrix processor unit for evaluation of the environment.

[0058] The proposed method enables sensor data, sensor signals, and / or other information from a sensor to be processed and evaluated more efficiently. The use of an optical matrix processor can increase the processing speed of the sensor data evaluation while simultaneously reducing power consumption. Furthermore, the proposed method can make the application areas and applications of a sensor system more diverse and efficient, for example, in the automotive sector.

[0059] In particular, the method just described can be carried out with the aid of the sensor system mentioned at the beginning according to one of the previous aspects.

[0060] In particular, with the aid of the optical matrix processor unit, several, in particular a plurality, of optical, analog sensor signals, i.e. received signals, can be processed simultaneously, in particular essentially simultaneously.

[0061] Embodiments of individual aspects of the invention are to be considered advantageous embodiments of other aspects. In particular, the respective embodiments of individual aspects can be considered advantageous embodiments of all other aspects. This also applies in reverse.

[0062] Advantageous embodiments of the sensor system are considered advantageous embodiments of the method and the vehicle. The sensor system and the vehicle have specific features that enable implementation of the method or an advantageous embodiment thereof.

[0063] For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and / or a request to enter user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0064] The invention also includes further developments of the vehicle according to the invention and the method according to the invention that have features already described in connection with the further developments of the sensor system according to the invention. For this reason, the corresponding further developments of the vehicle according to the invention and the method according to the invention are not described again here.

[0065] The invention also includes combinations of the features of the described embodiments.

[0066] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 a schematic representation of a vehicle with a sensor system which has antenna elements of an antenna array arranged distributed on the vehicle; Fig. 2 a schematic representation of a block diagram of the sensor system from Fig. 1; Fig. 3 a schematic representation of another embodiment of the radar system from Fig. 1; Fig. 4 a schematic representation of an optical matrix processor unit of the sensor system for signal processing; Fig. 5 is a schematic representation of matrices, such as a detection matrix, for signal processing, which are assigned to the optical matrix processor unit of Fig. 4 can be made available; Fig. 6 a schematic representation of a signal model in matrix form for storing matrix entries of the optical matrix processor unit; Fig. 7 an exemplary representation of a reading process of an acquisition matrix and the optical processing of the DOA snapshot measurement with the optical matrix processor unit; Fig. 8 shows a further schematic representation of the optical matrix processor unit; and Fig. 9 a schematic process regarding the evaluation or processing of sensor data of the sensor system.

[0067] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0068] In the figures, functionally identical elements are provided with the same reference numerals.

[0069] The Fig. Figure 1 shows various schematic views (front view, rear view, side view) of a vehicle 1, which may be a motor vehicle. The vehicle 1 includes, for example, a sensor system 2.

[0070] The sensor system 2 can, for example, be a radar system or an environmental sensor system of the vehicle 1. For this purpose, the sensor system 2 can be communicatively networked with one or more driver assistance systems or other vehicle systems. For example, the sensor system 2 can be a radar sensor or a lidar sensor or another type of sensor, particularly for vehicles. In addition to the use of the sensor system 2 in the vehicle 1, it can also be used in systems external to the vehicle.

[0071] For example, the sensor system 2 has several sensors 4. It is also conceivable that the sensor system has at least one antenna array 3 or several antenna arrays.

[0072] The antenna array 3 can in turn be formed from a plurality of antenna elements, such as the sensors 4. The antenna elements can be arranged at a distance from one another on the vehicle 1, particularly for 360-degree surroundings detection.

[0073] The Fig. Figure 2 shows a conceivable embodiment of the sensor system 2. The sensor system 2 can comprise at least one sensor device 5 and a central electronic computing device 6. For example, the sensor device 5 and the central electronic computing device 6 can be separate and physically distinct units. The sensor device 5 can, for example, comprise the at least one antenna array 3. Otherwise, the antenna array 3 can function as the sensor device 5.

[0074] The central electronic computing device 6 is a central processing unit. For example, the central electronic computing device 6 can generate an electrical control signal with which a laser device 7 can be activated or controlled. The laser device 7 can be a CW laser, for example. With the help of the laser device 7, an optical transmission signal or a carrier signal 8 can be generated. The optical transmission signal 8 can in particular be referred to as an optical carrier signal in the terahertz frequency range. The central electronic computing device 6 can, for example, generate the optical carrier frequency. The signal to be transmitted is modulated onto this optical carrier frequency with one eighth of a radar frequency and transmitted, for example, to the sensor device 5. In this way, the frequency can be increased eightfold.Again, with the help of the sensor device 5, signals in the gigahertz frequency range can be received and transmitted to the central electronic computing device 6.

[0075] For example, the central electronic computing device 6 can be coupled to an optical input 10 and an optical output 11 of the sensor device 5 via at least one optical fiber 9. Thus, bidirectional signal transmission can occur between the central electronic computing device 6 and the radar sensor device 5.

[0076] For example, the central electronic computing device 6 can be referred to as an electronic evaluation unit.

[0077] The central electronic computing device 6 can further comprise an optical receiving unit 12, which is configured to receive an optical output signal 13 provided by the optical output 11 of the sensor device 5. Thus, the central electronic computing device 6 can be coupled to the sensor device 5 via an optical fiber or electronic interface, such as Ethernet. In particular, a plurality of radar sensor devices or antenna arrays can be coupled to the central electronic computing device 6. For example, the central electronic computing device 6 can comprise a processing unit 14 or a computing unit, with which the received optical output signal can be processed. Thus, signal acquisition and subsequent data processing of the received output signal 11 can be carried out.

[0078] In particular, the central electronic computing device 6 can have or provide all necessary control signals, data processing signals, modules and interfaces.

[0079] For example, the sensor device 5 can have, in addition to the optical input 10 and the optical output 11, at least one transmitting device 15 or transmitting antenna and at least one receiving device 16 or receiving antenna. Thus, the sensor device 5 has a receiving module and / or transmitting module. In particular, the transmitting device 15 and the receiving device 16 can be integrated on one and the same chip. It is also conceivable for them to be located on different semiconductor chips.

[0080] With the aid of the transmitting device 15, an electrical radar transmission signal 17, which is based on the optical transmission signal 8, can be transmitted into an environment 18 of the vehicle 1. Thus, a corresponding radar signal 17 can be transmitted depending on the optical transmission signal 8. If this signal 17 is reflected in the environment 18 by objects such as road users, roads, trees, or other objects, an electrical reception signal 19 corresponding to the electrical radar transmission signal 17 and reflected in the environment 18 can be received.

[0081] For example, the transmitting device 15 may have at least one antenna or one antenna unit or several antennas for transmitting.

[0082] For example, the transmitted radar transmission signal 17 or electrical transmission signal and the received reception signal 19 can be in the terahertz frequency range or gigahertz frequency range. Thus, with the aid of the sensor system 2, a frequency conversion of a terahertz carrier signal, in particular a transmission signal 8, into the gigahertz frequency range for transmission can be performed. Conversely, the reception of gigahertz signals can be performed with modulation onto the terahertz carrier signal. For example, the transmission device 15 can have at least one grating coupler and one photodiode for transmission. The reception device 16 can, for example, have two jitter couplers, a photodiode, and a modulator for reception.

[0083] Sensor system 2 can be modulated at 1 / 8 of the radar frequency and transmitted via optical fiber to the antenna chips or antenna elements. These undergo a special frequency multiplication by eight, allowing the radar radiation to be emitted from the antenna chips. Signal detection can optionally be performed in the reverse direction. All data can be processed at the central station.

[0084] The Fig. 3 shows a further conceivable embodiment of the sensor system 2. Here, the sensor system also has the computing device 6, which in this embodiment can have a different configuration or equipment.

[0085] The sensor system 2 specifically comprises a plurality of transmitting-receiving units, such as the antenna elements, which can be arranged distributed on the vehicle 1, in particular for environmental detection.

[0086] The transceiver units or antenna elements can be used for both transmitting and receiving signals. Thus, the transceiver units are combined units for transmitting and receiving signals.

[0087] In particular, such a transmitting / receiving unit can be referred to as a transmitting and receiving module. This can be referred to or formed from an electronic-photonic co-integrated chip (so-called "EPIC chip"). The computing device 6, which can be referred to as the central processing unit, can also be formed from an electronic-photonic co-integrated chip. In particular, the computing device 6 is a physically and / or spatially separate unit from the transmitting / receiving units.

[0088] For example, the computing device 6 can have an optical unit or the laser device 7 or a laser. In particular, the optical unit can be designed as an optical source or as a CW laser. With the help of the optical unit, the optical transmission signal 8 or a carrier signal can be generated and thus provided. 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. The signal to be transmitted can be modulated onto this optical carrier frequency with one-eighth of a radar frequency and transmitted, for example, to the transceiver units. In this way, frequency multiplication can take place. In turn, signals in the gigahertz frequency range can be received with the help of the transceiver units.

[0089] For example, the computing device 6 can be connected to a respective transmitting / receiving unit via a fiber optic cable 9, forming an optical transmission link. Signals, in particular optical signals, can be transmitted from the computing device 6 to the individual transmitting / receiving units via the fiber optic cable 9. In order to be able to send received signals from the transmitting / receiving units back to the computing device 6 for evaluation or signal processing, a respective transmitting / receiving unit can be optically coupled to the computing device 6 via an optical return channel 20.

[0090] The electrical transmission signal 17 can be transmitted, in particular into the environment 18, by at least one of the transmission / reception units. An electrical reception signal 19 corresponding to the electrical transmission signal 17 can also be received by the transmission / reception unit. For example, the transmission signal 17 can be reflected by an object in the environment 18 of the vehicle 1 and thus received as an electrical reception signal 19. The reception signal 19, which can be referred to as a radar signal, for example, can be transmitted or transferred to the computing device 6 for evaluation or signal processing. For this purpose, the electrical reception signal can be converted into an optical reception signal 21 by means of the transmission / reception unit. For example, this can be transmitted via the return channel 9 of the computing device 6. By means of an optical-electrical converter unit 22 orThe detector unit of the computing device 6 can convert the optical received signal 21 into an electrical signal 23. Unit 22 can be used, for example, for optical detection. For this purpose, the conversion can be performed, for example, via homodyne detection or heterodyne detection. Furthermore, unit 22 can perform a phase measurement and / or a phase length measurement.

[0091] Digitization can then again be performed via a digital interface 24. In particular, an analog-to-digital conversion can be performed here. For this purpose, the digital interface 24 can have an analog-to-digital converter. A processing unit 14 can be arranged downstream. This can be used, for example, for signal processing, particularly for a "low-level signal." For example, a Fast Fourier Transformation ("FFT") can be used for this purpose. The digitized, processed electrical signal 23 can then be made available to a CPU 25 of the computing device 6. In this case, radar information or environmental information contained in the electrical signal 23 can be evaluated or processed, respectively.Furthermore, an electrical return channel 26 can be provided, which provides feedback from at least one of the transmitting-receiving units to the computing device 6 and in particular to the digital interface 24.

[0092] In order to be able to carry out the most stable and low-noise environmental sensing or detection of the sensor system 2, the optical transmission signal 8 can be adapted by means of frequency synthesis or gigahertz frequency synthesis. For this purpose, the computing device 6 can have a synthesis unit 27. For this purpose, the optical transmission signal 8 can be fed to or transmitted to the synthesis unit 27. For example, modulation can be carried out before the optical transmission signal 8 is made available to the synthesis unit 27. For this purpose, a modulator or modulation unit 28 can be provided. This can be designed, for example, as an arbitrary generator or arbitrary function generator (AWG). After the synthesis unit 27, for example, an optical control unit 29 and an optical switch orA distributor 30 may be provided in the computing device 6 in order to make appropriately processed signals from the synthesis unit 27 available to the transmitting / receiving units via the fiber optic cable 9. Furthermore, a control unit 31 may be controlled by the evaluation unit 25, in particular to monitor or control the generation of the optical transmission signal. Furthermore, a control unit or feedback loop 32 may be provided.

[0093] Furthermore, the computing device 6 is electrically connected to the transmitting / receiving units via an electrical transmission path 33. An electrical control signal 34 for controlling or driving the transmitting / receiving units or antenna elements can be transmitted via this electrical transmission path 33.

[0094] In particular, the computing device 6 serves to generate an optical carrier signal, the optical transmission signal 8, and feed it into a gigahertz frequency synthesis unit, e.g., the synthesis unit 27. The synthesized gigahertz signal can be transmitted in the optical spectral range via fiber, i.e., the fiber optic cable 9, to the transceiver units, so that, for example, a 77 gigahertz signal can be emitted or transmitted by the transceiver units. Signal detection, in turn, can be performed in the reverse direction. All data can be processed or processed in the computing device 6.

[0095] The configurations of the computing device 6 in Fig. 2 and Fig. 3 can be combined as desired.

[0096] In the Fig. Figure 4 schematically illustrates an optical matrix processor unit 35 or an optical matrix processor. The optical matrix processor unit 35 can, in particular, be a component of the sensor system 2. Optionally, the sensor system 2 can comprise several such optical matrix processor units. The optical matrix processor unit 35 serves, in particular, for signal processing for the evaluation of the environment 18 or an environmental region.

[0097] The optical matrix processor unit 35 can be designed as a configurable or adaptable unit. Efficient sensor data processing can be performed with it, for example. For this purpose, the optical matrix processor unit 35 has a configurable optical matrix structure 36. Using the optical matrix structure, a wide variety of matrix calculation operations, i.e., various matrix calculation operations, can be performed. As shown in the Fig. 4 by way of example, a plurality of optical, analog sensor signals 37 can be processed with the aid of the matrix structure 36. This allows a large number of signals from the sensor device 5 to be processed simultaneously. This occurs in an analog, optical manner. This makes it possible to reduce power consumption and increase processing speed. The optical, analog sensor signals 37 can be made available to the optical matrix processor unit 35, for example, via an optical transmission link such as fiber optics. In this regard, the optical matrix processor unit 35 can have an optical input side. In this case, a respective signal from the analog, optical sensor signals 37 can be fed to a corresponding coupling or coupling point on the optical input side 38 of the optical matrix processor unit 35.This means that optical signals are provided and these, particularly analogue, signals are optically processed.

[0098] For example, the optical matrix processor unit 35 can be arranged or integrated on a semiconductor or semiconductor chip.

[0099] The optical, analog sensor signal 37 can be used to characterize sensor data relating to the surrounding area 18. Thus, based on this sensor data, an evaluation of the surrounding area 18 can be performed, particularly with regard to objects such as collision objects.

[0100] With the help of the optical matrix processor unit 35, the multiple optical, analog sensor signals 37 can be processed simultaneously, concurrently, or synchronously based on the optical matrix structure 36. This allows for efficient and time-minimized processing of a large number of sensor signals and thus sensor data. After the processing of the sensor signals 37, optical, analog output signals 39, i.e., the processed results of the sensor signals 37, can be provided at an optical output side of the matrix processor unit 35.

[0101] In other words, the Fig. 4 shows a schematic representation of the optical matrix processor unit 35 for signal processing. The signals 37 are present optically in the area and are coupled via optical interfaces into a chip, in particular the optical matrix structure 36, via various channels and optical transmission paths. Using waveguides in the semiconductor chip, the signals 37 can be guided or coupled into the optical matrix structure 36, in which the processing is carried out optically and analogically. Accordingly, the analog optical output signals 39 of the computing device 6 or the central unit for environmental detection or for evaluating the environmental area 18 can be transmitted or provided, for example, via optical transmission paths.This allows adjustments or settings to be made with the aid of the optical matrix structure 36 depending on the application or depending on which evaluation with regard to the environment 18, in particular which signals the sensor system 2 supplies or requires. For this purpose, the optical matrix structure 36 can have a plurality of adjustable, in particular optical, weighting factor elements 41. These can be optical weights or optically based weighting factors. These can be set or configured accordingly in order to be able to carry out the desired computing operations. These weighting factor elements 41 can be set, for example, based on the plurality of optical, analog sensor signals 37, the plurality of optical, analog output signals 39 and / or an evaluation specification relating to the evaluation of the environment 18.

[0102] For setting purposes, the sensor system 2 can have a configuration unit 42 (cf. Fig. 8) With this electronic unit, the weighting factor elements 41 can be set or configured according to the situation or requirements. Thus, depending on which calculation operations are to be performed, the weighting factor elements can be configured or adjusted using the configuration unit 42. For this purpose, the individual weighting factor elements 41 can be connected to the system via an integrated BUS system 43 (see Fig. 8) can be coupled or connected to the control unit 42 or an electronic control interface. Thus, the optical weights or the weighting factor elements 41 can be adjusted depending on the application or the evaluation specifications. By adjusting or setting the weighting factor elements 41, the signal processing matrix or the optical matrix structure 36 can be changed. The control unit or configuration unit 42 can be connected to the control unit 42 via an electronic coupling 44 (see Fig. 8) be coupled to the computing device 5.

[0103] In particular, the configuration unit 42 can be used to change or adjust the optical matrix structure 36 such that a special or specific computing operation can be carried out as required.

[0104] For example, the optical matrix structure 36 can be based on a detection matrix 45 (cf. Fig. 5). Thus, a "sensing matrix" in particular can be stored in the optical matrix processor. For example, the configuration unit 42 can have a memory unit in which the detection matrix 45 can be stored or temporarily stored in order to be able to adapt or set the weighting factor elements 41 accordingly based on these specifications. With the detection matrix 45, various sensors S1, S2, SN (cf. Fig. 5) The respective antenna measurements or sensor measurements for the respective sensors are entered in the respective rows as a matrix. A hypothesis for the azimuth angle ϕ for the respective sensors can be entered in the columns. This allows you to specify how the analog, optical sensor signals 37 are to be processed or calculated.

[0105] Furthermore, the optical matrix structure 36 can be based on a signal model 46 (cf. Fig. 6). Using the signal model, which can be stored in matrix form in the matrix processor unit 35, various target hypotheses can be stored as matrix entries in the optical processor, for example, to reconstruct a specific target in the surrounding area 18 from the sensor data. Furthermore, it is conceivable that the matrix structure 36 is configured based on a Fourier transform matrix, a compressed detection matrix, or a synthetic aperture matrix.

[0106] For example, to use the optical matrix processor for angle estimation and thus as a computing instance for literal aperture signals ("snapshot") and hypotheses (parameterizable local aperture signals), hypotheses can be read in as time-varying weights, i.e., optical weighting factors, in order to implement, for example, the detection matrix 45. In this example, DoA ("Direction of Arrival") snapshots can be provided with the sensor signals 37.

[0107] The array manifold, consisting of the Kranecker delta product of the control vectors from the RX antennas and TX antennas as a function of spatial direction (range, azimuth, elevation), can be described as a snapshot. These signals are multiplied and fed into the matrix processor.

[0108] For example, additional hypotheses of the snapshots 47 can be fed into the matrix processor unit 35 as optical signals at a further optical input side 48.

[0109] For example, snapshot 47 can be described with the following equation. s(k,l)=exp(−2πλjd(k,l))

[0110] Such a hypothesis represents a parameterizable expression of a snapshot, as shown in the following equation. d(k,l)=‖p→Tx,k−p→H‖+‖p→Rx,l−p→H‖

[0111] The following equation describes an example sensing matrix for identifying an angle. [s((Tx1,Rx1),r,ϕ1),s((Tx1,Rx2),r,ϕ1),…s((Tx1,RxK),r,ϕ1)s((Tx2,Rx1),r,ϕ1),s((Tx2,Rx2),r,ϕ1),…s((Tx2,RxK),r,ϕ1)…s((Tx1,Rx1),r,ϕ2),s((Tx1,Rx2),r,ϕ2),…s((Tx1,RxK),r,ϕ2)s((Tx2,Rx1),r,ϕ2),s((Tx2,Rx2),r,ϕ2),…s((Tx2,RxK),r,ϕ2)…⋮ ⋮ … ⋮s((Tx1,Rx1),r,ϕ0),s((Tx1,Rx2),r,ϕ0),…s((Tx1,RxK),r,ϕ0)s((Tx2,Rx1),r,ϕ0),s((Tx2,Rx2),r,ϕ0),…s((Tx2,RxK),r,ϕ0)…… s((TxL,Rx1),r,ϕ1),s((TxL,Rx2),r,ϕ1),…s((TxL,RxK),r,ϕ1)… s((TxL,Rx1),r,ϕ2),s((TxL,Rx2),r,ϕ2),…s((TxL,RxK),r,ϕ2)⋮ ⋮ … ⋮… s((TxL,Rx1),r,ϕ0),s((TxL,Rx2),r,ϕ0),…s((TxL,RxK),r,ϕ0)]

[0112] Nachfolgend wird eine Gleichung eines „compressed signals“ beschrieben, welches einem gemessenen Snapshot entspricht. s((Tx1,Rx1),r,ϕ1),s((Tx1,Rx2),r,ϕ1),…s((Tx1,RxK),r,ϕ1) s((Tx2,Rx1),r,ϕ1),s((Tx2,Rx2),r,ϕ1),…s((Tx2,RxK),r,ϕ1) … … s((TxL,Rx1),r,ϕ1),s((TxL,Rx2),r,ϕ1),…s((TxL,RxK),r,ϕ1)

[0113] For the correlation in the optical matrix processor unit 35, a weighting is created with the hypotheses 47 that vary over time. Thus, the weighting factors, i.e., the weighting factor elements 41, change over time.

[0114] For example, the sensor system 2 can have an analog-to-digital converter 50 or several such analog-to-digital converters. This converter can digitize the analog, optical output signals 39 provided at the output side 40. This is particularly advantageous for further processing or evaluation with regard to the surrounding area 18.

[0115] With the output signals 39, for example, information regarding azimuth, elevation, distance, class, RCS value, amplitude, phase, or frequency with respect to the detected environment can be provided by means of the sensor device 5. Furthermore, the computing device 6 can have a sensor interface unit 51 (see. Fig. 3). The plurality of optical, analog sensor signals 37 can be provided by means of this sensor interface unit 51. The sensor interface unit 51 can be analog or digital. Additionally or instead, it can be optically or electronically based. Optionally, the sensor interface unit 51 can have at least one digital-to-analog converter 52 (cf. Fig. 3). By means of this converter 52, optical, digital sensor signals can be converted into optical, analog sensor signals 37. This is advantageous when the sensor devices have two different sensors that provide different output signals. Accordingly, a suitable conversion can be performed here for processing by the matrix processor unit 35.

[0116] In particular, it is thus conceivable that the sensors of the sensor device 5 can be individually coupled electrically and / or optically to the matrix processor unit 35. If the signals 37 are optical, analog signals, the signals or sensor data can be transmitted directly to the matrix processor.

[0117] If the signals 37 are not present in the optical range, they can be provided or converted into optical signals by modulating the signals 37. For this purpose, a modulation device 53 (see Fig. 3) the sensor interface unit 51 onto an optical carrier signal or an optical carrier.

[0118] The sensor interface unit 51 can, as in the Fig. 3, be integrated into the computing device 6. However, this is not mandatory and the latter can also be arranged separately.

[0119] With regard to the data transmission of the sensor data, multiplexing of this sensor data can be carried out if necessary.

[0120] For example, the central unit or computing device 6 can have the sensor interface unit 51. The sensor data can be transferred to the sensor interface unit 51 via an optical or electronic interface. If the sensor data is available digitally, it can be modulated onto an optical carrier system (coherently or incoherently) via a digital-to-analog converter (DAC) via an (electro-)optical modulator. If the data is available in analog format, this step can optionally be omitted. Direct optical data transmission from the sensor is possible, provided the sensor can transmit the data optically. The data processing can then be digitized and passed on to further functions, such as an environment model.

[0121] For example, in one embodiment, the sensor device 5, the computing device 6, and the at least one optical matrix processor unit 35 can be physically and / or spatially separate units. In another alternative, the sensor device 5, the computing device 6, and the optical matrix processor unit 35 can be formed together as a common unit.

[0122] It is also conceivable that the computing device 6 and the at least one optical matrix processor unit 35 are formed together as a common unit and that this unit is physically and / or spatially separated from the sensor device 5.

[0123] Thus, in one example, the central station and optical matrix processor can be integrated on a single chip. It is also conceivable for the central station and the optical matrix processor to be integrated into the sensor front end.

[0124] It is also conceivable for the units to be designed as separate electronic and photonic chips. This would allow for a multi-chip or flip-chip solution. In particular, monolithic cointegration of the units is possible.

[0125] In the following Fig. 9, a schematic representation of the evaluation of sensor data of the sensor system 2 is explained using a flow chart.

[0126] In a step S11, the sensor device 5 can transmit signals, receive signals, and / or provide signal information. In particular, the signals 37 can be provided. In a step S12, the sensor signals 37 can be provided accordingly, so that sensor data can be provided with the sensor signals 37.

[0127] In an optional subsequent step S13, it can be checked whether the sensor signals 37 are analog, optical, digital, or electrical. Depending on the situation, the signals 37, or at least some of these signals 37, can be forwarded or transmitted directly. If this is not the case, a corresponding conversion into an analog, optical signal 37 can be performed, as already mentioned several times.

[0128] In an optional step S14, if at least some of the signals 37 are present as electrical signals, these can be modulated with the optical carrier signal. In an optional subsequent step S15, the sensor data can be multiplexed and, if necessary, the sensor system 2 can be calibrated.

[0129] In a subsequent step S16, the signals 37 can be provided or supplied to the matrix processor unit 35, so that various computing operations can be performed based on the optical matrix structure 36, depending on the application. Here, the optical weighting or the weighting factor elements 41 can be adjusted or configured depending on which operations are to be performed.

[0130] In an optional subsequent step S17, a further calculation of the sensor data 37 can be performed, but this time based on a different arithmetic operation. Thus, it would be conceivable for the sensor signals or sensor data to be processed successively using different arithmetic operations in order to generate different results.

[0131] In an optional subsequent step S18, it can be checked whether the output signals 39 are sufficient for the evaluation of the surrounding area 18. If this is not the case, a matrix parameter adjustment, i.e., the setting of the weighting factor elements 41, can be performed in an optional step S19, and a new calculation can be performed.

[0132] If no reprocessing is performed, the process can then proceed to step S20. In step S20, demultiplexing or optical detection of the optical output signals 39 with respect to target detection and / or environmental detection can be performed.

[0133] In an optional step S21, the detection results, which may be present as measurement results, can be digitized or analog-to-digital converted accordingly in order to make them available to a CPU, GPU, or other environment detection processing unit in an optional step S22. Optionally, in a subsequent step S23, the corresponding results or evaluated sensor data can be made available to an environment model or other driving functions of vehicle 1.

[0134] With the help of the optical matrix processor unit 35, matrices can be multiplied to solve complex problems. The multiplication is performed multiple times, so the runtime for the multiplication can be reduced.

[0135] Furthermore, similar to vector processes or array processors, a calculation of many data items can be performed simultaneously in a vector or array, i.e., in this case, the matrix. Thus, many similar data items, such as the sensor signals 37, can be processed in the same way. List of reference symbols 1 vehicle 2 Sensor system 3 antenna array 4 sensors 5 Sensor device 6 central electronic computing device 7 Laser device 8 optical transmission signal 9 Fiber optic 10 optical input 11 optical output 12 Receiving unit 13 Output signal 14 Processing unit 15 Transmitter 16 Reception device 17 electrical transmission signal 18 Surroundings 19 electrical reception signal 20 return channel 21 optical reception signal 22 optical-electrical converter unit 23 electrical signal 24 digital interface 25 CPU 26 electrical return channel 27 Synthesis unit 28 Modulator 29 optical control unit 30 optical distributors 31 Control unit 32 a feedback loop 33 electrical transmission line 34 electrical control signal 35 optical matrix processor unit 36 optical matrix structure 37 analog, optical sensor signals 38 optical input side 39 analog, optical output signals 40 optical output side 41 adjustable weighting factor elements 42 Configuration unit 43 BUS system 44 Control interface 45 Recording matrix 46 Signal model 47 hypotheses 48 additional optical input sides 49 snapshots 50 analog-to-digital converters 51 Sensor interface unit 52 digital-to-analog converters 53 Modulation device i Sensor measurements ϕ Hypothesis Azimuth S1, S2, SN sensors S11 to S23 steps QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2020 / 226 732 A1

[0004] US 10,747,501 B2

[0005] US 2008 / 0 117 098 A1

[0006]

Claims

[1] Sensor system (2), with - a sensor device (5) which has a plurality of sensors (4), wherein the sensor device (5) is designed to detect an environment (18), characterized by , - at least one optical matrix processor unit (35) which has a configurable optical matrix structure (36), wherein various matrix computing operations can be carried out with the configurable optical matrix structure (36), wherein - the at least one optical matrix processor unit (35) has an optical input side (38) at which a plurality of optical, analog sensor signals (37) containing sensor data of the sensor device (5) relating to the environment (18) can be provided, and - the at least one optical matrix processor unit (35) is designed to process the plurality of optical, analog sensor signals (37) simultaneously on the basis of the configurable, optical matrix structure (36), so that a plurality of optical, analog output signals (39) can be provided by the optical matrix processor unit (35) for evaluating the environment at an optical output side (40) of the at least one optical matrix processor unit (35). [2] Sensor system (2) according to claim 1, characterized by in that the at least one optical matrix processor unit (35) has a control interface (44) by means of which the at least one optical matrix processor unit (35) can be coupled to a configuration unit (42), wherein the optical matrix structure (36) can be configured with the configuration unit (42). [3] Sensor system (2) according to claim 2, characterized byin that the configurable optical matrix structure (36) of the at least one optical matrix processor unit (35) has a plurality of adjustable weighting factor elements (41), wherein the plurality of weighting factor elements (41) can be adjusted on the basis of the plurality of optical analog sensor signals (37), the plurality of optical analog output signals (39) and / or an evaluation specification relating to the evaluation of the environment (18). [4] Sensor system (2) according to claim 2 or 3, characterized by in that the configuration unit (42) is designed to configure the configurable optical matrix structure (36) on the basis of a Fourier transform matrix, a compressed detection matrix, a detection matrix (45), a synthetic aperture matrix, a signal model (46) or a signal hypothesis. [5] Sensor system (2) according to claim 1, characterized by at least one analog-digital converter (50), wherein the at least one analog-digital converter (50) is designed to digitize the plurality of optical, analog output signals (39). [6] Sensor system (2) according to claim 1, characterized by - a computing device (6) which is designed to evaluate the environment detection on the basis of the plurality of optical, analogue output signals (39), and - a sensor interface unit (51) of the computing device (6), which is coupled to the sensor device (5), for providing the plurality of optical, analog sensor signals (37). [7] Sensor system (2) according to claim 1, characterized by , that - the sensor interface unit (51) has at least one digital-to-analog converter (52) with which optical, digital sensor signals of the sensor device (5) can be converted into optical, analog sensor signals (37), and / or - the sensor interface unit (51) has at least one modulation device (53), wherein the at least one modulation device (53) is designed to generate optical, analog sensor signals (37) by modulating an electrical sensor signal of the sensor device (5) onto an optical carrier signal. [8] Sensor system (2) according to claim 1, characterized by , that - the sensor device (5), the computing device (6) and the at least one optical matrix processor unit (35) are physically and / or spatially separate units from one another, or - the sensor device (5), the computing device (6) and the at least one optical matrix processor unit (35) are formed together as a common unit, or - the computing device (6) and the at least one optical matrix processor unit (35) are formed together as a common unit and this unit is physically and / or spatially separated from the sensor device (5). [9] Vehicle (1) with a sensor system (2) according to one of the preceding claims. [10] Method for evaluating sensor data of a sensor system (2), wherein - an environment (18) is detected by a sensor device (5) of the sensor system (2), which has a plurality of sensors (4), characterized by , that - a plurality of optical, analogue sensor signals (37) containing sensor data of the sensor device (5) relating to the environment (18) are provided to at least one optical matrix processor unit (35), - the at least one optical matrix processor unit (35) has a configurable optical matrix structure (36), wherein various matrix calculation operations can be carried out with the configurable optical matrix structure (36), wherein - with the at least one optical matrix processor unit (35) on the basis of the configurable optical matrix structure (36) the several optical, analog sensor signals (37) are processed simultaneously, whereby several optical, analog output signals (39) are provided by the optical matrix processor unit (35) for evaluating the environment (18).

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