Sensor system for environment detection, as well as vehicle with a corresponding sensor system and method for operating a corresponding sensor system

Abstract

The invention relates to a sensor system (2) for environmental detection, with a transmitting device (15) which is designed to transmit electrical transmission signals (45, 48, 52, 56) which are based on an optical carrier signal (8), comprising: - a first transmission path (41) of the transmission device (15), which is designed to provide a first electrical transmission signal (45) of a first transmission unit (46), - a second transmission path (42) of the transmission device (15), which is designed to generate a second electrical transmission signal (48) and to provide it to a second transmission unit (49), wherein - the transmitting device (15) is designed to generate the second electrical transmission signal (48) such that the second electrical transmission signal (48) has a second frequency which is different from a first frequency of the first electrical transmission signal (45), and - the transmitting device (15) is designed to transmit the first electrical transmission signal (45) with the first transmitting unit (46) and the second electrical transmission signal (48) with the second transmitting unit (49) simultaneously. Furthermore, the invention relates to a vehicle (1) and a method.

Description

[0001] The invention relates to a sensor system for environmental detection. The sensor system comprises an optical device for generating an optical carrier signal. Furthermore, the sensor system comprises a transmitting device comprising a plurality of transmitting units, wherein the transmitting device is configured to transmit electrical signals based on the optical carrier signal.

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

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

[0004] For example, DE 10 2021 118 076 A1 discloses a radar system for detecting a target object of a moving object, wherein the radar system is mounted or mountable on the moving object. The radar system comprises at least a first and at least a second radar module with at least one antenna, wherein the radar modules are arranged or can be arranged distributed over the moving object, wherein at least one first radar module is configured differently from at least one second radar module.

[0005] US 2022 / 0 268 921 A1 discloses a frequency-modulated continuous-wave radar system. This system operates in particular in a frequency range between 77 gigahertz and 81 gigahertz.

[0006] Furthermore, US 2023 / 0 131 090 A1 discloses a radar system for vehicles based on FMCW radar signals.

[0007] An object of the present invention is to improve environmental detection by enabling targets, such as radar targets, to be detected more clearly.

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

[0009] One aspect of the invention relates to a sensor system for environmental detection, with - In particular, an optical device for generating an optical carrier signal, a transmitting device which has a plurality of transmitting units, wherein - In particular, the transmitting device is designed to transmit electrical transmission signals based on the optical carrier signal, comprising: - In particular, a first transmission path of the transmission device, which is designed to provide a first electrical transmission signal, which is based on the optical carrier signal, to a first transmission unit of the plurality of transmission units, which is arranged on the first transmission path, - In particular, at least one second transmission path of the transmission device, which is different from the first transmission path and is designed to generate a second electrical transmission signal based on the optical carrier signal and to provide it to a second transmission unit of the plurality of transmission units, which is arranged on the second transmission path, wherein - In particular, the transmitting device is designed to generate the second electrical transmission signal in such a way that the second electrical transmission signal has a second frequency which is different from a first frequency of the first electrical transmission signal, and - In particular, the transmitting device is designed to transmit the first electrical transmission signal with the first transmitting unit and the second electrical transmission signal with the second transmitting unit simultaneously in one transmission process.

[0010] The proposed sensor system enables improved environmental detection, particularly through the simultaneous transmission of different transmission signals, enabling improved target or object detection. In other words, the proposed sensor system enables simultaneous, concurrent, or synchronous emission of frequency-shifted and / or frequency-modulated transmission signals. Thus, the proposed sensor system can transmit multiple signals with mutually different frequencies, such as electrical transmission signals, into the environment in order to perform target detection or environmental detection based on corresponding return signals or reflected signals.

[0011] A further advantage of the simultaneous transmission or emission of frequency-shifted transmission signals or electrical transmission signals is that it enables improved generation of virtual antenna arrays. The generation of virtual antenna arrays is particularly advantageous for signal processing and thus for environmental detection. Based on the transmitted and received signals, several virtual antenna elements or a virtual antenna array can be spanned, thereby increasing, for example, the resolution of the sensor system. For this purpose, the proposed transmitter system can be designed, in particular, as a photonic multiband radar.

[0012] The proposed sensor system can increase the signal-to-noise ratio (SNR). Furthermore, the proposed sensor system can reduce phase noise. Furthermore, the proposed sensor system can be used to perform flexible chirp generation. Furthermore, the number of optical phases can be reduced using the proposed sensor system.

[0013] For example, using the first transmission path, a signal corresponding to the frequency of the optical carrier signal can be transmitted as the first electrical transmission signal. It is also conceivable for the first electrical transmission signal to transmit a signal with a frequency different from the optical carrier signal.

[0014] For example, the proposed sensor system can be cointegrated in EPIC processes in SiGe-SiN, CMOS, hybrid BI-CMOS.

[0015] In particular, the proposed sensor system can be manufactured and operated at a reduced cost. Furthermore, the proposed sensor system can exhibit higher resolution. Furthermore, the proposed sensor system offers the advantage of an increased range. And with the help of the proposed sensor system, virtual devices can be generated directly.

[0016] The transmitting device can, for example, comprise various transmitting antennas, transmitting elements, or antenna elements, which can transmit the electronic transmission signals into the environment. For example, a transmitting unit can be a transmitting element such as an antenna element. For this purpose, one or more transmitting units can be arranged on a respective transmission path of the transmitting device. Thus, for example, an antenna array can be arranged.

[0017] The transmission components can, for example, be designed as circuits, so that each transmission path or circuit can be used to transmit a respective electrical transmission signal. In particular, each transmission path or transmission module can be used to transmit such a signal, which has a different or frequency-shifted frequency compared to the other transmission paths and the signals transmitted therein.

[0018] The optical carrier signal, if it can be referred to as an optical transmission signal, can be generated by an optical device, such as an optical signal source or a laser device, and made available to the transmitting device. Based on the optical carrier signal, the transmitting device or a respective transmission path can generate, convert, and / or drive a respective electrical transmission signal such that mutually different electrical transmission signals are present.

[0019] As already mentioned at the beginning, the proposed transmission system allows the transmission pairs, and in particular the various transmission units, to be controlled in such a way that, during a given transmission process or transmission mode, all transmission units simultaneously transmit the electrical transmission signals, which are frequency-shifted. This allows for improved environmental detection and, in particular, target detection.

[0020] For example, the transmitting device can control a transmission process or the transmitting device receives a corresponding control signal from a higher-level system of the transmitting system to carry out the transmission process.

[0021] Due to physical relationships, the angular resolution of a sensor system, especially a radar system, is determined by the size of its antenna aperture. The antenna aperture is the area over which the individual antennas are distributed. Current sensor systems are usually modules measuring approximately 10 x 10 cm. 2 , limited by the ability to integrate into vehicles. The angular resolution is accordingly limited to approximately 2 degrees. The resolution improves proportionally with the size of the aperture. If two objects are to be resolved in angle, i.e., in azimuth and elevation, an aperture extended in two directions is required. This is where the present invention is advantageous and can provide a remedy.

[0022] The second important parameter in an antenna array is the spacing between the individual antenna elements. This determines the measurable angular range. Larger antenna spacings lead to ambiguities, such as secondary peaks in the angle measurement. Radar systems in the automotive sector therefore use so-called virtual antenna elements. Such a virtual element is created by combining a transmitting antenna with a receiving channel, precisely at the center of the connection vector. With n transmitting antennas and m receiving antennas, a virtual array of a maximum of nxm elements can be created. This principle is commonly known as "multiple input multiple output (MIMO)." The proposed sensor system can increase the clearly measurable angular range of the antenna array.

[0023] To detect the surroundings as reliably as possible, the sensor requires a high signal-to-noise ratio and stable signal generation. This is particularly necessary for large apertures with thinned antenna arrays to clearly detect targets. The proposed sensor system can provide a solution here.

[0024] In particular, today's 77 GHz radars are limited in their range by the maximum emitted power and the array pattern.

[0025] In particular, the transmitting device and an optional receiving 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Radar sensors and sensor systems are also established in automotive engineering and deliver 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, the current state of the art has limited resolution; in particular, standard radars currently 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 sensors are designed to deliver three-dimensional images with a high angular resolution in the range of 0.1 degrees and below, with high immunity to interference 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] In one embodiment, the sensor system comprises a third transmission path of the transmission device that is different from the first and second transmission paths. The third transmission path is configured to generate a third electronic transmission signal based on the optical carrier signal and to provide it to a third transmission unit, the plurality of transmission units arranged on the third transmission path. Thus, in addition to the two electrical transmission signals, the sensor system can simultaneously transmit a further electrical transmission signal during the transmission process. In addition to the third transmission path, further transmission paths can be provided so that a corresponding number of different signals can be transmitted for the transmission process.The third electrical transmission signal can have a different third frequency compared to the first frequency of the first electrical foreign signal and / or the second frequency of the second electrical transmission signal. This can be done by the transmitting device. Thus, the transmitting device can be configured to generate three electrical transmission signals with mutually offset frequencies, so that they can be transmitted simultaneously by the respective transmitting unit. Thus, the transmitting device can be configured to transmit the various available electrical transmission signals synchronously or simultaneously during the transmission process. For this purpose, the transmitting device can, for example, have a control unit.

[0038] In one embodiment, it is provided that the transmitting device has a frequency device, wherein the frequency device has a first frequency conversion unit and a frequency multiplex, wherein the first frequency device is designed to generate at least the second and third electrical transmission signals based on the optical carrier signal and frequency shift information. In other words, the transmitting device can use the frequency device to provide a corresponding electrical transmission signal for each transmission path and thus for each transmission unit or transmission element. For this purpose, the optical carrier signal can be converted and modulated with the aid of the frequency device, so that electrical transmission signals that are frequency-shifted relative to one another can be generated and provided.The frequency device can have corresponding modulation units and / or conversion units and / or processing units in order to generate the mutually frequency-shifted transmission signals and to agree to the respective transmission conditions.

[0039] For example, the optical carrier signal transmitted to the transmitter device can first be converted into an electrical signal. A photodiode or a phototransistor, for example, can be used for this purpose. This converted signal can then be converted or modulated into the multiple electrical transmission signals by the first frequency conversion unit, such as a frequency converter. For example, a multiband signal can be generated as a higher-level signal with the help of the first frequency conversion unit. The individual, different electrical transmission signals can be generated on the basis of this multiband signal. After the first frequency conversion unit, the frequency multiplexer can select or assign the electrical transmission signals to the transmission paths accordingly. The frequency multiplexer can be an integrated FDM (Frequency Division Multiplex).The multiband signal generated by the frequency converter can be multiplexed into the individual frequency bands using the FDM and assigned to the respective transmission paths.

[0040] In one embodiment, it is provided that the second transmission path has a second frequency conversion unit, wherein the second frequency conversion unit is designed to generate the second electrical transmission signal based on the optical carrier signal and a predetermined frequency shift information. Thus, the second transmission path and in particular each further transmission path can independently generate the respective electrical transmission signal. For example, an optical carrier signal can be provided on the input side of the transmission device and transmitted from there to the respective transmission paths, so that each transmission path can generate the respective electrical transmission signal with the aid of its own frequency conversion unit. In this case, the optical carrier signal takes the predetermined frequency shift information into account.

[0041] The frequency shift information can be used to specify the frequency of the respective electrical transmission signal. For example, each transmission path and each frequency conversion unit of a respective transmission path can be provided with a control signal using the frequency shift information. This allows the frequency conversion units to be set or parameterized such that they generate signals with frequencies that are frequency-shifted relative to one another. Thus, a respective transmission path can be provided with an electrical transmission signal that differs in frequency from the other transmission paths, allowing the transmission units to transmit signals that are frequency-shifted and / or frequency-modeled relative to one another.

[0042] Additionally or instead, the second transmission path can have an amplifier unit arranged between the second frequency conversion unit and the second transmission unit, wherein the second amplifier unit is configured to amplify the second electrical transmission signal for transmission. Thus, after the optical carrier signal has been converted into the second electrical transmission signal, it can optionally be electrically amplified again before the actual transmission in order to be able to transmit the second electrical transmission signal with sufficient signal strength. This is advantageous for target detection and, in particular, environmental detection.

[0043] In other words, a respective transmission path can have an amplifier unit, in particular an electrical amplifier, in order to further amplify the respective electrical transmission signals of a respective transmission path for transmission in order to improve the quality for transmission and the corresponding environmental detection.

[0044] In one embodiment, it is provided that the first transmission path and at least the second transmission path are arranged together on a common integrated circuit. Thus, the transmission device can include the corresponding transmission paths, so that the transmission device can be implemented more compactly. Thus, all corresponding units required for the simultaneous transmission of the frequency-shifted electrical transmission signals can be integrated on one module or circuit. For example, the transmission device can be designed as a single-chip system. Thus, the transmission device can be designed as a "one-chip solution."

[0045] Alternatively, it is also conceivable for the first transmission path and at least the second transmission path to each be arranged on a separate integrated circuit. Thus, a separate chip can be provided for each transmission path, so that the respective transmission paths, in which the respective transmission units are arranged or integrated, can be used flexibly depending on the application of the sensor system. This is particularly important if the sensor system is used in the automotive sector. The respective transmission paths, which in turn can have individual antenna elements, can be designed separately, for example, to allow them to be distributed around the vehicle.

[0046] In one embodiment, the sensor system comprises a receiving device having a plurality of receiving units, wherein the receiving device is configured to electrically receive received signals based on the transmitted electrical transmission signals. The receiving device can, for example, be a separate or separate unit from the transmitting device. With the aid of the receiving device, the electrical transmission signals transmitted simultaneously during the transmission process can be received when they are reflected by objects, such as target objects, in the environment. This receiving device can comprise a plurality of receiving units, such as receiving antennas or antenna elements.

[0047] It is also conceivable for a respective receiving unit to be arranged on a receiving path. Thus, in a similar configuration, the transmitting device and the receiving device can have multiple receiving paths, with at least one receiving unit being assigned to each receiving path. After a respective receiving antenna has received an electrical signal, this can optionally be amplified by a respective amplifier unit, before the actual signal processing or environmental detection is performed.

[0048] For example, the receiving device can be designed as a single unit or an integrated circuit, so that all receiving units are arranged or integrated on a common unit or on a common integrated circuit. It is also conceivable for the individual receiving units to be arranged on their own integrated circuits or modules, whereby the receiving units are physically and spatially separated from one another. This, in turn, allows the receiving device to be used flexibly.

[0049] In one exemplary embodiment, it is further provided that the receiving device has a signal processing unit which is coupled to the receiving units, wherein the signal processing unit is designed to mix a respective electrical received signal of the electrical received signals with an electrical carrier signal which can be generated by an optically required electrical conversion of the optical carrier signal. With the aid of the signal processing unit, which can be an electrical and / or electronic system, pre-processing of the received signals from the receiving units can be carried out, so that subsequent environmental detection or target detection can be carried out more easily and, in particular, more efficiently as a result of this pre-processing. For this purpose, the signal processing unit can, for example, mix the received electrical received signals from the receiving units with the original transmitted signal.The original transmission signal refers to an electrical reception signal that travels along the optical carrier signal. In other words, the optical carrier signal from the transmitting device is transmitted to the receiving device, so that the relevant information can be extracted from the received information signals in order to perform appropriate target direction and / or environment detection.

[0050] A further aspect of the invention relates to a vehicle with a sensor system according to the preceding aspect or an advantageous further development.

[0051] For example, the vehicle may be manually operated, partially autonomous, or fully autonomous. In other words, the vehicle may be a highly automated vehicle.

[0052] In particular, the vehicle may be a motor vehicle, such as a passenger car or a truck.

[0053] For example, the antenna array may comprise multiple antenna elements 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.

[0054] 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.

[0055] 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.

[0056] A further aspect of the fulfillment relates to a method for operating a sensor system according to the previous aspect or an advantageous development thereof, wherein the method comprises the following: - Generating the optical carrier signal, - Transmission of the optical carrier signal to the transmitting device, - Providing the first electrical transmission signal to the first transmitting unit, - generating the second electrical transmission signal depending on a frequency shift specification, - Providing the second electrical transmission signal to the second transmitting unit, - Simultaneous transmission of the first and second electrical transmission signals in the transmission process.

[0057] The proposed method allows a sensor system, such as the sensor system according to the previous aspect, to be operated more efficiently. In particular, the proposed method enables improved environmental detection and, in particular, more accurate or precise target detection of targets in the vicinity of a sensor system.

[0058] In particular, the electrical transmission signals, which comprise a multitude of signals, can be transmitted simultaneously, concurrently, or synchronously. In other words, the proposed method allows the sensor system to be operated in such a way that a simultaneous emission of mutually frequency-shifted and / or frequency-modeled signals can be carried out in a single transmission process. Based on these simultaneous emissions of the transmitted signals, corresponding return signals or reflected signals can be received in the environment, so that environmental detection and / or target detection can be carried out based on the simultaneously transmitted transmission signals and the corresponding received signals.

[0059] In a further embodiment of the aforementioned aspect, it is provided that immediately after the transmission process, electrical reception signals based on the transmitted electrical transmission signals are received, wherein a virtual antenna array relating to the sensor system is generated on the basis of the temporally spaced electrical transmission signals and the received electrical reception signals, wherein signal processing for environmental detection can be carried out with the generated virtual antenna array. Through this virtual generation of virtual antennas, for example in order to increase the smaller number of physical antennas using software, i.e., virtually, the resolution capability of the sensor system can be increased. In particular, cost savings can be achieved because the number of physical, i.e., actual, antennas can be reduced.Based on the transmitted and received signals and the arrangement of the real or physical receiving units and / or transmitting units, additional virtual antenna elements can be reconstructed. For example, a virtual antenna can be generated between two physical antennas, allowing the processing of data, information, and / or signals to be carried out more efficiently or in a more effective manner. Above all, this can improve the sensor system's environmental detection, particularly its target detection.

[0060] With the present invention, for example, a single-shot method for generating virtual antenna arrays using a photonic multiband radar can be realized or implemented.

[0061] A further aspect of the invention relates to a vehicle with a sensor system according to the preceding aspect or an advantageous further development.

[0062] For example, the vehicle may be manually operated, partially autonomous, or fully autonomous. In other words, the vehicle may be a highly automated vehicle.

[0063] In particular, the vehicle may be a motor vehicle, such as a passenger car or a truck.

[0064] For example, the antenna array can be configured to comprise multiple antenna elements 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, in particular, enables 360-degree detection of the surroundings.

[0065] 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.

[0066] 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.

[0067] Advantageous embodiments of the method(s) are to be regarded as advantageous embodiments of the sensor system and the vehicle. The sensor system and the vehicle have specific features that enable implementation of the method or an advantageous embodiment thereof.

[0068] 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.

[0069] The invention also includes further developments of the method according to the invention and the vehicle 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 method according to the invention and the vehicle according to the invention are not described again here.

[0070] The invention also includes combinations of the features of the described embodiments.

[0071] 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 the vehicle from Fig. 1, where a real antenna array and a virtual antenna array for environment detection are shown; Fig. 4 different transmission signals which are frequency shifted from each other; Fig. 5 starting from the Fig. 3 and Fig. 4 a schematic representation of the simultaneous emission of frequency-shifted signals in order to virtually generate a virtual antenna array based thereon; Fig. 6 a schematic representation of an electronic computing device for providing an optical carrier signal for a transmitting device and receiving device of the sensor system. Fig. 7 shows a schematic embodiment of a sensor device of the sensor system, wherein a respective transmission path performs its own frequency conversion, as well as a corresponding reception device in order to be able to receive the simultaneously transmitted signals; Fig. 8 starting from the Fig. 7 a further variant, wherein the receiving device is formed from several integrated circuits; Fig. 9 starting from the Fig. 7 and Fig. 8 another possible design of the transmitting device; Fig. 10 starting from the Fig. 7, Fig. 8 and Fig. 9 a further embodiment of the transmitting device; Fig. 11 shows a further embodiment of the transmitting device; Fig. 12 a schematic further embodiment of the computing device of the sensor system; Fig. 13 shows a further embodiment of the transmitting device, wherein each transmitting path filters or selects the appropriate signal from a plurality of optical signals by means of a respective optical filter unit; Fig. 14 starting from the Fig. 13 another conceivable embodiment of the transmitting device; Fig. 15 starting from the Fig. 13 and Fig. 14 a further embodiment of the transmitting device; Fig. 16 starting from the Fig. 13 to 15 show a further embodiment of the transmitting device; and Fig. 17 starting from the Fig. 13 another conceivable design of the transmitting device.

[0072] 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.

[0073] In the figures, functionally identical elements are provided with the same reference numerals.

[0074] 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.

[0075] 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.

[0076] For example, the sensor system 2 has at least one antenna array 3 or multiple antenna arrays. The antenna array 3 can in turn be formed from a plurality of antenna elements 4. The antenna elements 4 can be arranged at a distance from one another on the vehicle 1, particularly for 360-degree surroundings detection.

[0077] The Fig. Figure 2 shows a conceivable embodiment of the sensor system 2. The sensor system 2 can comprise at least one radar sensor device 5 and a central electronic computing device 6. For example, the radar sensor device 5 and the central electronic computing device 6 can be separate and physically distinct units. The radar sensor device 5 can, for example, comprise the at least one antenna array 3. Otherwise, the antenna array 3 can function as the radar sensor device 5.

[0078] 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 actuated 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 radar sensor device 5. In this way, an eightfold frequency increase can take place.Again, with the aid of the radar sensor device 5, signals in the gigahertz frequency range can be received and transmitted to the central electronic computing device 6.

[0079] For example, the central electronic computing device 6 can be coupled to an optical input 10 and an optical output 11 of the radar 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.

[0080] For example, the central electronic computing device 6 can be referred to as an electronic evaluation unit.

[0081] 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 radar sensor device 5. Thus, the central electronic computing device 6 can be coupled to the radar sensor device 5 via an optical fiber or electronic interface, such as Ethernet. In particular, multiple 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.

[0082] In particular, the central electronic computing device 6 can have or provide all necessary control signals, data processing signals, modules and interfaces.

[0083] For example, the radar 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 radar 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.

[0084] 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.

[0085] For example, the transmitting device 15 may have at least one antenna or one antenna unit or several antennas for transmitting.

[0086] 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.

[0087] Sensor system 2 can be used to modulate the radar frequency at 1 / 8 and transmit it via optical fiber to the antenna chips or antenna elements 4. These undergo a frequency multiplication by eight times, allowing the radar radiation to be emitted by the antenna chips. Signal detection can optionally be performed in the reverse direction. All data can be processed at the central station.

[0088] Fig. Figure 3 shows a further schematic representation of vehicle 1, wherein, for example, antenna array 3 or another antenna array of sensor system 2 is arranged on vehicle 1 in such a way that the surroundings can be detected to the side of vehicle 1. In other words, an arrangement of transmitting or receiving antennas, such as antenna array 3, is shown in elevation. A further embodiment with an azimuthal extension is also conceivable and feasible.

[0089] To achieve improved environmental detection, it is advantageous if the respective sensor system or the sensor data processing is not limited to a single frequency band. In the automotive sector, for example, 77 GHz or 24 GHz are typically used today for the sensors. However, the maximum range of both frequencies can be limited by the maximum emitted power. Furthermore, two different photonic-electronic semiconductor chips are required for the transmit and receive channels, which leads to additional costs. To remedy this, miniaturized, photonically cointegrated radar chips can be used in a coherent distributed antenna array, which is extensively integrated in and on the vehicle.In this case, a conversion of the optically transmitted radar signal to an electronic-photonic cointegrated semiconductor circuit at at least two different frequencies can be considered. For this purpose, a simultaneous synchronous emission of a frequency-shifted and / or frequency-modulated transmission signal is also carried out. An optical connection of the radar chips to form a coherent overall system is also conceivable, and a mixing of time-delayed received signals with a frequency-modulated transmission signal can be performed. These approaches are applied by the present invention to improve environmental detection with the sensor system 2.

[0090] To simultaneously achieve cost savings, particularly due to fewer antenna elements, while still achieving higher resolution and thus better directional probability, a virtual antenna array 35 can be generated using computer-based technology. In other words, this means that a virtual antenna array 35 can be generated by simultaneously transmitting transmission signals that are frequency-shifted from one another. In other words, the virtual antenna array 35 is generated by simultaneous emission of frequency-modulated multiband radar signals.

[0091] In the following Fig. 4 shows two schematic frequency representations 36, 37 as examples. In representation 36, exemplary frequency-modulated multi-band transmission signals 38 are shown. These can be transmitted simultaneously, for example, by several transmission units, such as the antenna elements 4. The respective frequency deviation by which the different frequency bands of the signals 38 are shifted from one another can, as in representation 36, not interfere with one another, or, as in representation 37, the different signals 38 can interfere in a respective adjacent frequency band or in the frequency of the subsequent signal 38. In other words, in representation 36 the signals do not overlap in their frequency bands. In representation 37 the frequency bands of the signals 38 can overlap. The overlapping has the particular advantage that a larger virtual apparatus 35 can be spanned.

[0092] For example, in the Fig. 3, the virtual apparatus 35 can thus be used to virtually observe such an arrangement of antenna elements, such as transmitting and receiving elements, for the environment detection, which is larger in comparison to the real antenna array 3, as in the Fig. 3 shown as an example.

[0093] In particular, the virtual antenna array 35 can be spanned by simultaneous transmission of frequency-modulated multiband transmission signals 38. The frequency-modulated multiband transmission signal used can be diverse in the frequency domain. Objects that may fall within the spectral range of the individual modulation bandwidth can be detected and resolved into innervation by the enlarged virtual apparatus 35. For this purpose, two different circuits can be integrated into an electronic-photonic and co-integrated semiconductor circuit, so that two different gigahertz frequency bands can be generated with an optical carrier signal. This utilizes the present idea and, in particular, the proposed sensor system 2.

[0094] In the Fig. Based on the previous explanations, Figure 5 shows a schematic representation of the generation of the virtual antenna array 35. In the Fig. Figure 5 shows an example of the transmitting device 15, which can have various transmitting elements. The various signals 38 of the graphic 36 can each be transmitted with its own transmitting antenna. Subsequently, corresponding responses or backscattered signals can be received by the receiving device 16 with receiving antennas. Based on this, the virtual antenna array 35 can be generated, which, compared to the real antenna elements of the device 15, 16, has a plurality of antennas, since real antennas and virtual antennas are combined. The calculation of the virtual antenna array 35 takes place after receiving the real received signals, for example.

[0095] In particular, the Fig. 5 a representation of the virtual antenna array 35 or a virtual apparatus which is imitated by simultaneous transmission of frequency-modulated multiband signals.

[0096] In the following figures, various variants are explained in order to be able to carry out the simultaneous transmission of signals that are frequency-shifted to one another in order to be able to span or generate the virtual antenna array 35.

[0097] The Fig. 6 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.

[0098] The sensor system 2 specifically comprises a plurality of transmitting / receiving units, such as the antenna elements 4, which can be arranged distributed on the vehicle 1, in particular for environmental detection.

[0099] The transmit-receive units or antenna elements 4 can be used for both transmitting and receiving signals. Thus, the transmit-receive units are combined units for transmitting and receiving signals.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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 4. 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.

[0104] 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.

[0105] In order to be able to carry out the most stable and low-noise environmental detection 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.

[0106] 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 4 can be transmitted via this electrical transmission path 33.

[0107] 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.

[0108] In the presentation in the Fig. 6, the optical carrier signal 8 can be referred to as an optically frequency-modulated carrier signal. This can be fed into a gigahertz frequency synthesis unit, such as synthesis unit 27, and the synthesized gigahertz signal can be forwarded in the optical spectral range to the transmitting device 15 to be imitated, for example, as a 77 GHz signal.

[0109] In the Fig. Figure 7 shows a further exemplary representation of the transmitting device 15 and the receiving device 16. This shows a variant of how the simultaneous transmission of frequency-shifted signals can be carried out. First, the optical carrier signal 8 can be supplied or transmitted to the transmitting device via fiber optic cable 9 at an input side or coupling area. The optical transmission carrier signal 8, which can be referred to, for example, as an optical multiband signal, can first be converted into an electrical signal, in particular an electrical multiband signal, by means of an optical-electronic converter unit, such as a photodiode 39. This can then optionally be amplified or processed using an amplifier 40.

[0110] For transmitting the various frequency-shifted signals, the transmitting device 15 can be divided into different or multiple transmission paths 41 to 44. For example, the electrical transmission signal amplified after the amplifier 40, which can be referred to as the first electrical transmission signal 45, can be transmitted by a first transmission unit 46. Thus, the first electrical transmission signal 45 can be a basic signal, which, for example, has the same frequency as the optical carrier signal 8.

[0111] The electrical signal after conversion with the photodiode 39 can in particular be made available or transmitted to all transmission paths 41 to 44.

[0112] Furthermore, the second transmission path 42 can have a second frequency conversion unit 47, with which a second electrical transmission signal 48 can be generated. The optical carrier signal 8 and a predetermined frequency shift information can be taken into account. The second electrical transmission signal 48 can be transmitted using a second transmission unit 49. For example, the second electrical transmission signal 49 can be amplified using a second amplifier unit 50 before transmission.

[0113] The optional third transmission path 43 can also have a frequency conversion unit, i.e., a third frequency conversion unit 51, with which a third electrical transmission signal 52 can be generated, so that it can be transmitted by a third transmission unit 53. For this purpose, the third electrical transmission signal 52 can be amplified by a third amplifier unit 45 before transmission.

[0114] In addition to the explanations regarding the second and third transmission paths 42, 43, additional transmission paths 44 can be provided, which in turn have additional frequency conversion units 55 for providing or converting additional electrical transmission signals 56. Thus, these signals can in turn be transmitted using additional transmission units 57. The additional transmission paths 44 can also have additional amplifier units 58.

[0115] In other words, the transmitting device 15 can have a corresponding number of transmission paths 41 to 44 depending on how many different electrical transmission signals 45, 48, 42, 56 are to be transmitted. In particular, the respective transmission path can have or include the frequency conversion unit, the amplified unit, and the transmission unit.

[0116] Regarding the electrical transmission signals 45, 48, 52, 56, please refer to the explanations regarding the Fig. 4 and Fig. 5. As already explained there, the electrical transmission signals 45, 48, 42, 56 are frequency-shifted and thus have different frequencies or frequency bands from one another. In particular, the transmission device 15 can be configured to transmit the electrical transmission signals 45, 48, 52, 56 simultaneously or concurrently in a transmission process.

[0117] In particular, with the aid of the computing device 6, the optical frequency-modulated carrier signal, i.e., the optical carrier signal 8, can be optically fed into the transmitting device 15 and converted from the optical to the electrical domain upon impingement on the photodiode 39. A downstream frequency conversion unit, such as the individual frequency conversion units of the transmitting paths 41 to 44, can convert the incoming high-frequency signal to the target frequency to be emitted, i.e., the electrical transmission signals 45, 48, 52, 56. Amplification can optionally be performed before transmission by a corresponding transmitting antenna element, i.e., the transmitting units 46, 49, 53, 57.

[0118] After the simultaneous transmission of the electrical transmission signals 45, 48, 52, 56, corresponding electrical reception signals 59 to 61 can be received. For this purpose, the receiving device 16 can have a plurality of receiving units 62 to 65. With the aid of the receiving units 62 to 65, which can be receiving antennas, the electrical reception signals 59 to 61, which are based on the transmitted electrical transmission signals 45, 48, 52, 56, can be received. After reception, the received signals can be conditioned or amplified by means of amplifier units 66 to 69 in order to be able to process them better and, in particular, to transmit them.

[0119] The received electrical reception signals 59 to 61 can be provided or transmitted after receiving a signal processing unit 70. This can be an electrical or electronic unit that can be coupled to the reception units 62 to 65. The signal processing unit 40 can be configured to mix a respective electrical reception signal 59 to 61 with an electrical carrier signal 71, which was generated by an optical-electronic conversion 72, for example, by means of a photodiode 72. Thus, the original information regarding the optical transmission signal would be mixed with the received signals in order to be able to carry out corresponding target detection or environmental detection.As a result, for example, the optical reception signal 21 or several such optical reception signals can be transmitted to the computing device 6 for environmental detection or target detection. For this purpose, a corresponding optical modulator 73 can be arranged downstream of the signal processing unit 70, which can modulate the electrical signals downstream of the signal processing unit 70, for example, with the optical carrier signal 8, and can accordingly generate or provide the optical reception signal 71.

[0120] In other words, on the receiving side, all receiving units can receive 62 to 65 signals, which can be a time-delayed multiband signal. This can optionally be amplified and mixed with the original transmitted signal.

[0121] For example, the electrical transmission signals 45, 48, 52, 56 can be imitated simultaneously. These signals can, for example, correspond to the various frequency-shifted signals 38 in the Fig. 5 or can be designed in an analogous manner.

[0122] In the Fig. 8 shows a further example of the transmitting device 15 and receiving device 16. Here, the transmitting device 15 can be analogous to the transmitting device 15 in the Fig. 7 be designed.

[0123] In this example, the receiving device 16 can be divided into receiving paths 74 to 77. In this case, a respective receiving path 74 to 77 can each have a receiving unit and, for example, an amplifier unit, as in the Fig. 7. Thus, the receiving device 16 can be designed more flexibly, since the individual transmission paths 74 to 77 can be treated, for example, like individual modules or circuits, and thus can be positioned differently. The other embodiments of the receiving device 16 from the Fig. 7 can also be applied here. In the Fig. 9 shows a further schematic embodiment of the transmitting device 15. In comparison to the transmitting device 15 shown in the Fig. 7 and Fig. 8, in this embodiment, the transmission paths 41 to 44 can be physically and / or separately connected units, modules, and / or circuits. Thus, the individual transmission paths 41 to 44 and the corresponding transmission units 46, 49, 53, 57 can be flexibly positioned depending on the application area of ​​the sensor system 2.

[0124] In particular, the design in the Fig. 9 has the advantage that the transmitting device 15 can be referred to as a photonic multi-band transmission unit, which enables modular design with simultaneous emission on different frequency bands for the flexible generation of a virtual antenna array.

[0125] In the Fig. 10 shows a further embodiment of the transmitting device 15. The difference here is compared to the embodiments in the Fig. 7 to 9 in that the individual transmission paths 41 to 44 no longer have individual frequency conversion units 47, 51, 55, but rather a central frequency device 78. With this frequency device 78, which can be interconnected or arranged between the input side of the transmission device 15 and the transmission paths 41 to 44, the various electrical transmission signals 45, 48, 52, 56 can be generated or provided based on the optical carrier signal 8 and the frequency shift information. For this purpose, the frequency device 78 can have a first frequency conversion unit 79, such as a frequency converter, and a frequency multiplexer 80, such as an integrated FDM (frequency division multiplexing).Thus, for example, the multiband signal generated by the frequency converter, i.e., the first frequency conversion unit 79, i.e., the converted optical carrier signal 8, can be multiplexed into the individual frequency bands by means of the frequency multiplexer 80 and provided to the corresponding transmission paths 41 to 44. The individual transmission paths can, in turn, amplify the corresponding signals according to the previous explanations. The other explanations of the previous figures can also be considered here.

[0126] In the Fig. 11 is based on the Fig. 10 shows a further schematic representation of an embodiment of the transmitting device 15. The same explanations apply here as for the Fig. 10, where compared to the Fig. 10, the same paths 41 to 44 and the frequency device 78 are arranged on separate modules or integrated circuits, so that these units are physically and / or spatially separated from each other. This allows the transmitting device 15 to be deployed or used more flexibly and universally depending on the application of the sensor system 2.

[0127] As can be seen here by way of example, the input side of the transmitting device 15, such as the photodiode 39 and the coupling point, can also be arranged on the chip with respect to the frequency device 78. In contrast, in the Fig. 10 comparatively all components in the transmitting device 15 are arranged or integrated on one chip or one module.

[0128] In the following, a schematic process is explained how improved environment detection can be carried out using the proposed sensor system 2. 1. Central unit, such as the computing device 6, provides control signals and optical signal, such as the carrier signal 2. Optical signal is transmitted in GHz frequency synthesis unit 3. GHz signal is modulated onto optical carrier signal and transmitted to radar frontend (EPIC chips) 4. Detection of the optical carrier signal in the EPIC chip by photodiode corresponds to frequency conversion in low GHz spectral range, such as 6 or 9 GHz 5. Forwarding the GHz signal into two circuits: a. Amplification of the low GHz spectral range and emission by an antenna b. Frequency conversion, e.g. into the 77 GHz spectral range, amplification and emission through an antenna 6. Forwarding the electronic GHz signal to the antenna 7. Detection of reflected radiation by antenna and return of the received signal to the central station by modulation on optical carrier signal 8. Detection of optical radiation in the central station, ADC sampling and coherent processing 9. Individual and / or joint coherent or incoherent processing of data from both frequency bands. 10. Forwarding of data, e.g. to an environment model

[0129] In the following Fig. Figures 12 to 17 explain further embodiments of the computing unit 6, the transmitting device 15, and the receiving device 16. These include, in particular, minor modifications to realize the simultaneous transmission of the electrical transmission signals 45, 48, 52, 56.

[0130] The statements regarding the computing device 6, the transmitting device 15 and the receiving device 16 apply here at least in part ( Fig. 6 to 11).

[0131] In the Fig. 12 is a further schematic embodiment of the computing device 6 starting from the Fig. 6. Here, contrary to the explanations regarding Fig. 6 to 11, optical transmission signals 81 are generated by the computing device 6 on the basis of the optical carrier signal 8 and in particular a frequency shift specification. In particular, the generation of these optical transmission signals 81 can be carried out by modulating the optical carrier signal 8. In particular, these optical transmission signals 81 can be frequency-shifted and / or frequency-modulated relative to one another. For this purpose, reference may be made to the configuration of the frequency-shifted signals 38 in the Fig. 4 and in the Fig. 5. In a similar embodiment, the optical transmission signals 81 can be configured with respect to their frequency shift relative to one another. In particular, for example, a gigahertz signal can be modulated onto the optical carrier signal 8 and transmitted to the transmission device 15. In order to be able to select or subdivide the various optical transmission signals 81 with their frequency shift relative to one another, the optical switch or distributor 30 can advantageously be used or applied here.

[0132] In the Fig. 13 is then based on the Fig. 12 shows a schematic representation of the transmitting device 15. Contrary to the statements in the Fig. 7 to 11, the optical transmission signals 81 are transmitted to all transmission paths 41 to 44. In this variant, the transmission device 15 can have a signal provision device 82, which can consist of several components. The signal provision device 82 can have several optical filter units and optical-electrical converter units. With the signal provision device 82, the electrical transmission signals 45, 48, 52, 56 can be generated based on the optical transmission signals 81, and these generated electrical transmission signals 45, 48, 52, 56 can be assigned to the respective corresponding transmission paths 41, 42, 43, 44 based on the respective frequencies or frequency bands.

[0133] For example, the signal provision device 82 can have a first optical filter unit 83, which can be arranged in the first transmission path 41. With the help of the first optical filter unit 83, the optical transmission signal matching the first electrical transmission signal 45 can be selected or filtered from the plurality of optical transmission signals 81. Thus, the transmission path 41 can itself filter or select the appropriate signal with the help of the optical filter unit 83, which can be an optical filter. The selected optical transmission signal can then be converted into the first electrical transmission signal 45 by means of an optical-electrical converter unit 84, such as a photodiode or a phototransistor. Contrary to the embodiments in the previous figures, the first transmission path 41 can also have an amplifier unit 91.

[0134] The second transmission path 42 can in turn have a second optical filter unit 45, with which an optical transmission signal from the optical transmission signals 81 can be filtered and selected that corresponds to the second electrical transmission signal 48. Subsequently, the second electrical transmission signal 48 can be generated or converted using an optical-electrical converter unit 48.

[0135] The third transmission path 43 can in turn have a third optical filter unit 87, with which an optical signal corresponding to the third electrical transmission signal 52 can be filtered from the optical signals 81. Subsequently, the optical signal range can be converted into the electrical signal range by means of an optical-electrical converter unit 88. The further transmission paths 44 can each also have an optical filter unit 89 and corresponding optical-electrical converter units 90 in order to be able to provide the corresponding further electrical transmission signals 56 for transmission.

[0136] In other words, each transmission path 41 to 44 can use an optical filter to select the required electrical transmission signal 45, 48, 52, 56 by selecting the optical signals 81 with regard to the relevant frequencies and frequency ramps.

[0137] In this embodiment, with regard to the temporal transmission of the frequency-shifted signals, the receiving device 16 can be used in the previous embodiments in the Fig. 7 to 11 can be used. After the simultaneous emission of the frequency-shifted, frequency-modulated transmission signals, the time-delayed reception signals can be mixed with the frequency-modulated optical transmission signal.

[0138] In particular, the transmitting device 15 is here again designed, by way of example, such that the transmitting paths 41 to 44 are physically and / or spatially separate units from one another.

[0139] In an analogous embodiment to the previous ones, the transmitting device 15 can again transmit the electrical transmission signals 45, 48, 52, 56 simultaneously.

[0140] In the Fig. 14 is based on the Fig. 13 shows another conceivable embodiment of the transmitting device 15. Here, it is shown that all components of the transmitting device are integrated on one chip, so that the transmission paths 41 to 44 are arranged on a common chip.

[0141] Furthermore, the signal providing device 82 is designed differently compared to the Fig. 13.

[0142] Here, the signal provision device 82 has an optical filter unit 92, which carries out the signal provision for all transmission paths 41 to 44. Thus, the transmission paths 41, 44 have, in comparison to the embodiment in Fig. 13 do not each have their own optical filters, but are supplied with the corresponding signals by the higher-level optical filter unit 92. The optical filter unit 92 can in turn filter the optical transmission signals 81 based on the respective frequencies or frequency bands. Subsequently, the filtered optical signals 81 can be converted into the respective electrical transmission signals 45, 48, 52, 56 using an optical-electrical converter unit 93. Furthermore, the signal provision device 82 can have an electronic distributor 94. With this electronic distributor 94 or "switch", the individual transmission paths 41 to 44 can be supplied with the respective associated signals by electronic switching.

[0143] In the Fig. 15 is again a variant based on the Fig. 14. Here, the signal provision device 82 can in turn have a higher-level optical filter unit 92. However, this optical filter unit 92 can be controlled by a, in particular higher-level, electronic filter control unit 95. In this case, the distribution of the optical signals to the channels or to the transmission paths 41 to 44 can take place by means of an optical distributor, such as the optical distributor 94. In this case, an optical switch, such as the optical distributor 94, can be controlled accordingly in a program-controlled manner in order to make the appropriate signals available to the respective transmission paths 41 to 44. In this case, the distribution can take place in the optical range, and the optical-electrical converter units 84, 86, 88, 90 can in turn be provided in a respective transmission path 41 to 44.

[0144] In the following Fig. 16 is based on the Fig. 14 and Fig. 15 shows a further embodiment, which is at least a partial combination of these two embodiments. Here, the optical filter unit 92 can again be controlled with the aid of the filter control unit 95. Subsequently, as in the Fig. 14 with an optical-electrical converter unit 93, the respective signals are converted according to an electrical range. In contrast to the embodiments in the Fig. 14 and Fig. 15, the optical distributor can now again be dispensed with and instead a respective transmission path 41 to 44 can have its own electronic filter unit 96 to 99 in order to filter the correspondingly filtered and converted signals in order to filter out or select the associated electrical transmission signal 45, 48, 52, 56 for the respective transmission path 41 to 44.

[0145] In the Fig. 17 is based on the Fig.13 shows another conceivable embodiment of the transmitting device 15. In this case, an additional electronic frequency conversion unit 100 to 103 can be arranged in a respective transmitting path 41 to 44, in addition to the respective optical filter units and optical-electrical converter units. Thus, a respective transmitting path 41 to 44 can have a respective or separate electronic frequency conversion unit 100 to 103. Thus, the electrical transmission signal 45, 48, 52, 56 to be provided for the respective transmitting unit 46, 49, 53, 57 can be reprocessed.

[0146] In the following, another conceivable schematic sequence is explained how an improved environment detection can be carried out with the help of the proposed sensor system 2. 1. Central unit provides control signals and optical signals 2. Optical carrier signal is transmitted in GHz frequency synthesis unit 3. GHz signals are modulated onto optical carrier signals and transmitted to radar frontend (EPIC chips) 4. If necessary, time multiplexing or frequency / wavelength multiplexing of the individual optical signals 5. Signal relevant for channel n (n ∈ ℕ) is selected by optical filter and frontend EPIC 6. Detection of the optical carrier signal in the EPIC chip by photodiode corresponds to frequency conversion in low GHz spectral range, such as 6, 9, or 77 GHz 7. Forwarding the GHz signal in circuit a. Amplification of the low GHz spectral range and emission by an antenna b. Additional frequency conversion if necessary 8. Forwarding the electronic GHz signal to the antenna(s) 9. Detection of the reflected radiation by antenna(s) and return of the received signal to the central station by modulation on optical carrier signal 10. Detection of optical radiation in the central station, ADC sampling and coherent processing 11. Individual and / or joint coherent or incoherent processing of data from both frequency bands. 12. Forwarding of the data, e.g. to an environment model List of reference symbols 1 vehicle 2 Sensor system 3 antenna array 4 antenna elements 5 Radar sensor device 6 central electronic computing device 7 optical device 8 optical carrier 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 virtual antenna array 36, 37 Frequency domain representations 38 frequency-shifted transmission signals 39 Photodiode 40 amplifiers 41 to 44 transmission paths 45 first electrical transmission signal 46 first transmitting unit 47 first frequency conversion unit 48 second electrical transmission signal 49 second transmitter unit 50 second amplifier unit 51 second frequency conversion unit 52 third electrical transmission signal 53 third transmitting unit 54 third amplifier unit 55 additional frequency conversion units 56 additional electrical transmission signal 57 additional transmitter units 58 additional amplifiers 59 to 61 electrical reception signals 62 to 65 reception units 66 to 69 amplifiers 70 Signal processing unit 71 electrical carrier signal 72 optical-electrical converter unit or photodiode 73 optical modulator 74 to 77 receive paths 78 Frequency device 79 first frequency conversion unit 80 frequency division multiplex 81 optical transmission signal 82 Signal provision device 83 first optical filter unit 84 optical-electrical converter unit 85 second optical filter unit 86 optical-electrical converter unit 87 third optical filter unit 88 electrical-optical converter unit 89 additional optical filter unit 90 additional optical-electrical converter units 91 amplifiers 92 optical filter unit 93 optical-electrical converter unit 94 electronic distribution lists 95 Filter control unit 96 to 99 electronic filter unit 100 to 103 frequency conversion unit 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] DE 10 2021 118 076 A1

[0004] US 2022 / 0 268 921 A1

[0005] US 2023 / 0 131 090 A1

[0006]

Claims

[1] Sensor system (2) for environment detection, with - an optical device (7) for generating an optical carrier signal (8), - a transmitting device (15) which has a plurality of transmitting units, wherein the transmitting device (15) is designed to transmit electrical transmission signals (45, 48, 52, 56) which are based on the optical carrier signal (8), characterized by , - a first transmission path (41) of the transmission device (15), which is designed to provide a first electrical transmission signal (45), which is based on the optical carrier signal (8), to a first transmission unit (46) of the plurality of transmission units, which is arranged on the first transmission path (41), - at least one second transmission path (42) of the transmission device (15), which is different from the first transmission path (41), and which is designed to generate a second electrical transmission signal (48) based on the optical carrier signal (8) and to provide it to a second transmission unit (49) of the plurality of transmission units arranged on the second transmission path (42), wherein - the transmitting device (15) is designed to generate the second electrical transmission signal (48) such that the second electrical transmission signal (48) has a second frequency which is different from a first frequency of the first electrical transmission signal (45), and - the transmitting device (15) is designed to transmit the first electrical transmission signal (45) with the first transmitting unit (46) and the second electrical transmission signal (48) with the second transmitting unit (49) simultaneously in one transmission process. [2] Sensor system (2) according to claim 1, characterized by - at least one third transmission path (43) of the transmission device (15), which is different from the first and second transmission paths (41, 42), which is designed to generate a third electrical transmission signal (52) based on the optical carrier signal (8) and to provide it to a third transmission unit (53) of the plurality of transmission units, which is arranged on the third transmission path (43), wherein - the transmitting device (15) is designed to generate the third electrical transmission signal (52) such that the third electrical transmission signal (52) has a third frequency which is different from the first frequency of the first electrical transmission signal (45) and / or the second frequency of the second electrical transmission signal (48), and - the transmitting device (15) is designed to transmit the first electrical transmission signal (45) with the first transmitting unit (45), the second electrical transmission signal (48) with the second transmitting unit (49) and the third electrical transmission signal (52) with the third transmitting unit (53) simultaneously in the transmission process. [3] Sensor system (2) according to claim 2, characterized by , that - the transmitting device (15) has a frequency device (78), wherein the frequency device (78) has a first frequency conversion unit (47) and a frequency multiplexer (80), wherein the first frequency device (78) is designed to generate at least the second and third electrical transmission signals (52) on the basis of the optical carrier signal (8) and a predetermined frequency shift information. [4] Sensor system (2) according to claim 1 or 2, characterized by , that - the second transmission path (42) has a second frequency conversion unit (51), wherein the second frequency conversion unit (51) is designed to generate the second electrical transmission signal (48) on the basis of the optical carrier signal (8) and a predetermined frequency shift information, in particular - the second transmission path (42) has a second amplifier unit (50) which is arranged between the second frequency conversion unit (51) and the second transmission unit (49), wherein the second amplifier unit (50) is designed to amplify the second electrical transmission signal (48) for transmission. [5] Sensor system (2 according to one of the preceding claims, characterized in that - the first transmission path (41) and at least the second transmission path (42) are arranged together on a common integrated circuit, or - the first transmission path (41) and at least the second transmission path (42) are each arranged on a separate integrated circuit. [6] Sensor system (2) according to one of the preceding claims, characterized by - a receiving device (16) which has a plurality of receiving units (62 to 65), wherein the receiving device (16) is designed to receive electrical reception signals (59 to 61) which are based on the transmitted electrical transmission signals (45, 48, 52, 56), and wherein - the receiving device (16) has a plurality of receiving paths (74 to 77), wherein each receiving pad (74 to 77) has a respective receiving unit of the plurality of receiving units (62 to 65). [7] Sensor system (2) according to claim 6, characterized byin that the receiving device (16) has a signal processing unit (70) which is coupled to the receiving units (62 to 65), wherein the signal processing unit (70) is designed to mix an electrical received signal of the electrical received signals (59 to 61) with an electrical carrier signal (71) which can be generated by an optical-electrical conversion of the optical carrier signal (8). [8] Vehicle (1) with a sensor system (2) according to one of the preceding claims. [9] Method for operating a sensor system (2) according to claims 1 to 7, comprising: - generating the optical carrier signal (8), - transmission of the optical carrier signal (8) to the transmitting device (15), - Providing the first electrical transmission signal (45) to the first transmission unit (46), - generating the second electrical transmission signal (48) depending on a frequency shift specification, - Providing the second electrical transmission signal (48) to the second transmission unit (49), - Simultaneous transmission of the first and second electrical transmission signals (45, 48) in the transmission process. [10] Method according to claim 9, wherein immediately after the transmission process, electrical reception signals (59 to 61) based on the transmitted electrical transmission signals (45, 48, 52, 56) are received, wherein on the basis of the simultaneously transmitted electrical transmission signals (45, 48, 52, 56) and the received electrical reception signals (59 to 61) a virtual antenna array (35) relating to the sensor system is generated, wherein with the generated virtual antenna array (35) a signal processing for environmental detection can be carried out.

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