Method for detecting periphery of vehicle by means of sensor system on the basis of chain connection of sub-arrays of sensor system, and sensor system and vehicle

Abstract

To provide a method or the like for detecting the periphery of a vehicle by means of a sensor system on the basis of chain connection of sub-arrays of the sensor system.SOLUTION: The present invention relates to a method for detecting a periphery 18 by using a sensor system, including: detecting a peripheral region 35 of the periphery 18 by using a first partial array 37, and allowing the first partial array 37 to have a first field of view 39; detecting the peripheral region 35 by using a second partial array 38, and allowing the second partial array 38 to have a second field of view 40; specifying an overlap region 41 of the first field of view 39 and the second field of view 40 based on overlapping edge regions 42, 43; and checking the overlap region 41 to determine whether or not an object 46 exists in the overlap region 41, wherein if the object 46 exists in the overlap region 41, a combination array 47 has a combination field of view 48, the object 46 can be detected by using the combination field of view 48, and the peripheral region 35 of the periphery 18 is detected by using the combination array 47.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a method for detecting the surroundings of a vehicle using a sensor system, the sensor system having an antenna array, the antenna elements of the antenna array being distributed and arranged on the vehicle.

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

[0003] Similarly, the present invention relates to a vehicle comprising a sensor system.

[0004] For example, US Patent Application Publication No. 2020 / 00031291 discloses a model-based method for 360-degree surround detection around a vehicle. In this document, a plurality of cameras and a plurality of radar sensors can be arranged around the vehicle.

[0005] Furthermore, German Patent Application Publication No. 102019203760 discloses a sensor system for detecting an object in the vicinity of a vehicle. This sensor system has a first radar sensor and a second radar sensor which is a frequency-modulated continuous radar sensor.

[0006] Furthermore, German Patent Application Publication No. 102020129293 discloses a signal processing method for radar signals. In this document, the spatial field of view area of a radar system can be detected using radar signals from a radar unit. A discrete global coordinate system of the field of view area can be generated, in which the measurement data generated by the detection of the field of view area is registered with the radar unit. Furthermore, the vector velocity for at least one pixel of the discrete global coordinate system can be determined. Subsequently, at least one spatial sub-region of the field of view area can be reconstructed based on the determined vector velocity for the radar system.

[0007] The object of the present invention is to enable improved detection of the surroundings of a vehicle by being able to adaptively adapt the antenna array of a sensor system for surrounding detection according to the current situation.

[0008] The above object is solved by the method, sensor system and vehicle described in the independent claims. Preferred developments are described in the dependent claims.

[0009] One aspect of the present invention relates to a method for detecting the surroundings of a vehicle using a sensor system, the sensor system having an antenna array, the antenna elements of the antenna array being distributed and arranged on the vehicle, and the method comprising: · In particular, detecting a peripheral region of the surroundings using a first sub-array of the antenna array, the first sub-array having a first field of view that at least partially extends into the peripheral region; · In particular, detecting a peripheral region of the surroundings using at least one second sub-array of the antenna array, the second sub-array having a second field of view that at least partially extends into the peripheral region; · In particular, identifying an overlapping region between the first field of view and the second field of view based on an edge region that at least partially overlaps the first field of view and the second field of view; · Checking the overlapping region as to whether an object to be detected is present in the overlapping region, and if the object to be detected is present in the overlapping region, · Identifying a combined array composed of the antenna elements of the first sub-array and the second sub-array based on the overlapping region and at least one object to be detected, the combined array having a combined field of view composed of parts of the first field of view and the second field of view, and at least one object to be detected being detectable using the combined field of view, and · Detecting a peripheral region of the surroundings using the combined array. It has.

[0010] With the proposed method, the detection of the surrounding, peripheral or peripheral area of the vehicle can be performed more efficiently. This is because the antenna array can be adapted to the situation according to the current situation regarding the surrounding detection. In particular, in each edge area of the field of view (FoV), the target detection accuracy, especially the resolution, of the antenna array of the sensor system, especially the radar system, can decrease. Therefore, although the surrounding detection should be performed using the antenna array, inaccurate detection may occur if the object to be detected is within the edge area of the field of view of the antenna array or in the outer side area. This can lead to a critical situation, especially when the detection result of the surrounding detection is required for an autonomous driving system or other safety systems.

[0011] The antenna array can have a plurality of antenna elements such as transmitting elements and receiving elements. These antenna elements can be distributed and arranged on the vehicle, and thus, some of each of these antenna elements can be used to form sub-arrays. For example, one sub-array can be arranged in the front area, a further sub-array on the passenger door, a further sub-array on the driver side, or one sub-array in the rear area. Further possible arrangement configurations of the sub-arrays can similarly be considered in the outer area of the vehicle.

[0012] For example, depending on the driving situation or in reality, the peripheral area around can be detected. In this case, the peripheral area can be an area in the periphery that is important for the vehicle. In particular, the peripheral area can be an area in the periphery that is important for performing the current driving operation and / or future driving operations of the vehicle. If the vehicle is in the area of an intersection, the peripheral area can include this intersection.

[0013] The antenna array can have a first sub-array and a second sub-array. Similarly, further sub-arrays are conceivable.

[0014] In particular, depending on which peripheral region is to be detected, a plurality of sub-arrays of the antenna array can be used. The first sub-array can be used to detect the peripheral region at least regionally. For this purpose, the first sub-array has a first field of view that extends at least partially, in particular completely, within the peripheral region. Thus, the first sub-array can perform detection or target detection in the peripheral region. The second sub-array also has here a second field of view that extends at least partially, in particular completely, within the peripheral region. Thus, using the first sub-array and the second sub-array, the peripheral region can be detected or covered at least partially, in particular completely. Both fields of view have an outer edge region, respectively. In this case, again, the problem mentioned at the beginning can be considered. Because in the edge region, the direction accuracy, in particular the direction accuracy of the resolution or angular resolution, may be inaccurate, poor, or not very accurate. For example, if an object such as a potential collision object is present within the edge region, it may be difficult to perform detection compared to another region of the field of view. In particular, the central region of the field of view surrounded by the edge region can be used for accurate detection. These two fields of view may at least partially or regionally overlap or superimpose. This occurs because the same peripheral region is to be detected using both sub-arrays. In particular, the two fields of view may be formed adjacent to each other. In particular, these edge regions of the fields of view arranged adjacent to each other may at least partially overlap or overlap. Thus, here there are regions such as overlapping regions that can only be detected insufficiently by both sub-arrays. Therefore, if an object such as a potential collision object for the vehicle is present within this overlapping region here, there is a possibility that an inaccurate detection of this object will be performed, and in the worst case, there is a possibility that target detection cannot be performed at all.

[0015] The overlapping region can be checked regarding whether the first sub-array and / or the second sub-array can or has detected the object to be detected at least partially.

[0016] For example, in this specification, the first partial array and / or the second partial array can detect or sense shading or anomalies that can at least partially estimate potential objects such as objects to be detected. Thus, here it can be confirmed that on the system side, an overlapping area that can only perform insufficient target detection or object detection can be a problem for peripheral detection. To take countermeasures in this regard, a combined array can be specified or generated. In other words, based on both partial arrays, a reconstruction is performed, whereby a combined array is assembled from the individual antenna elements of both partial arrays. In this case, the overlapping area and the object to be detected are considered. In other words, the specification of the combined array is performed such that one or more objects to be detected existing in the edge area of the fields of view of the first partial array and the second partial array are now, in the combined field of view of the combined array, not in the edge area but rather, in particular, in the central area of the combined field of view. Thus, the fields of view of both partial arrays can be changed so as to obtain an improved combined field of view. A partial area of the peripheral area that could only be detected insufficiently by the first partial array and the second partial array can now be detected using the combined array.

[0017] In particular, by the proposed method, a chained connection of sub-arrays of the antenna array, i.e., a temporally subsequent connection, can be made. Thus, depending on which area around the vehicle is to be detected, the corresponding partial arrays can be used, and if these partial arrays are not sufficient, these individual partial arrays can also be joined here in order to be able to perform a substantially accurate detection, thereby enabling a detection suitable for or improved for this detection situation to be performed.

[0018] A further application case is that a partial array of an antenna array can individually have a field of view area blocked by an obstacle. Thus, for the purpose of taking countermeasures here, corresponding partial arrays can also be combined here to obtain an improved array, thereby enabling the identification of relevant surrounding areas respectively for each driving situation of the vehicle.

[0019] These proposed methods can realize a small and photonic-integrated radar chip in a coherently distributed, sparse array or antenna array. This antenna array can be integrated over a large area inside or in contact with the vehicle. Furthermore, it is possible to perform the conversion of the optical transmission of radar signals on a semiconductor circuit co-integrated with electronic photonics to at least two different frequencies. These can be the signals of individual partial arrays.

[0020] Based on the field of view of the partial array and the received signals of the partial array, individual partial arrays or sub-arrays can be calculated. In this case, in particular, the field of view is checked. If the edge region of the partial array interferes with reliable surrounding detection, a new design of the overall array or the relevant partial array as a subset of the first partial array and the second partial array, especially a new online design, can be adaptively performed according to the driving scenario.

[0021] By the proposed method, an improvement in resolution within the relevant field of view can be achieved. In particular, the accuracy in target detection can be enhanced. Furthermore, the required computing capacity can be reduced. Similarly, the CO2 emissions can be reduced. Additionally, by arranging the antenna array sparsely, especially dispersedly, electrical energy can be saved, thereby, for example, increasing the reach of an electrically operated vehicle. In particular, the proposed method brings about cost savings.

[0022] Based on physical relationships, the angular resolution of a sensor system, especially a radar system, is determined by the extent of its antenna aperture. Antenna aperture is understood to mean the surface on which the individual antennas are distributed. Current sensor systems often have an area of approximately 10 x 10 cm, depending on the integration possibilities in the vehicle. 2 The angular resolution is limited to approximately 2 degrees. The resolution increases proportionally to the size of the aperture. If two objects are to be resolved angularly, i.e., in azimuth and altitude, an aperture extending in two directions is required. The present invention can be used advantageously here and can provide solutions.

[0023] The second important dimension in an antenna array is the spacing between the individual antenna elements, which determines the measurable angular range. Larger antenna spacing leads to ambiguities, such as secondary peaks, in the angular measurement. Therefore, so-called virtual antenna elements are used in radar systems in the automotive field. Such virtual elements arise from the combination of the transmit antennas and the receive channels, specifically in the center of the connection vector. In this way, with n transmit antennas and m receive antennas, a virtual array with up to n × m elements can be generated. This principle is commonly known as "Multiple Input Multiple Output (MIMO)." The proposed method allows for the unambiguously measurable angular range of an antenna array to be increased.

[0024] The individual antenna elements of the antenna array may be distributed 360 degrees and in 3D along the surface of the vehicle, resulting in many channels, especially communication channels, which can be coherently recalculated as a global point cloud.

[0025] The required computational capacity can be increased by arranging the antenna array in a "sparse array configuration", in which case the proposed method can also provide a remedy.

[0026] In particular, the proposed method can reduce the data load in a large-area distributed photonics radar system.

[0027] The peripheral area around the vehicle is, for example, an area in the surroundings where the driving operation of the vehicle is at least partially performed or executed.

[0028] The sensor system of the vehicle may in particular be configured as a surrounding detection system. For this purpose, the sensor system can have one or more such antenna arrays.

[0029] The antenna elements of the antenna array may be configured as transmitting elements, receiving elements or transceiver elements.

[0030] For example, on the system side, it can be checked in which direction or spatial region there is a corresponding peripheral area that is important for the current and future driving characteristics of the vehicle with respect to the vehicle. For this purpose, for example, vehicle data, map data or navigation data can be considered.

[0031] In one embodiment, when checking the overlapping region, it is additionally assumed that it is checked whether at least one object to be detected can be detected by the first partial array and / or the second partial array. On the one hand, this enables checking whether there is an object to be detected, or any other object that is dangerous to the vehicle, in such an overlapping region within the fields of view of both partial arrays. Additionally, the overlapping region can be further checked as to whether the objects within this overlapping region can actually be detected by at least one partial array. If detection by the first partial array or the second partial array is not possible in this overlapping region, it can be assumed that a relevant object such as the object to be detected exists in the region of the peripheral area that cannot be detected by the first partial array and the second partial array. In this case, a further partial array can be utilized, and it can be used to check whether the object can be detected using this further partial array. Therefore, any partial array or sub-array of the antenna array can be arbitrarily combined or joined according to the current situation.

[0032] When checking the overlapping region for whether an object to be detected exists inside, for example, at least partial detection of the object can be performed using the first partial array and / or the second partial array. Thus, it is known to the system side that an object exists in the overlapping region but the object cannot be completely detected. To make it possible to correct this, a combined array can also be formed here.

[0033] This has the advantage that it becomes possible to switch or connect the antenna array so as to perform a substantially accurate and particularly complete peripheral detection of the respective relevant peripheral area for various situations, realities, and / or traffic situations.

[0034] In this embodiment, it is assumed that a combined array is identified when at least one object to be detected is present within the overlapping region and at least one object to be detected can only be partially detected by the first partial array and the second partial array. In this critical region regarding the overlapping region, there is a colliding object, such as a target object like the object to be detected, and if this object can only be detected insufficiently or partially by either the first partial array or the second partial array, it can be determined on the system side that the combined array should be identified. Therefore, it can be determined on the system side that the combined array is formed based on any condition regarding insufficient detection, based on the partial arrays and, in particular, the individual antenna elements of the partial arrays.

[0035] In one embodiment, when at least one object to be detected is present within the overlapping region and at least one object to be detected is detectable by the first partial array and the second partial array, it is assumed that the first partial array and at least the second partial array are adapted and / or at least one additional partial array of the antenna array is used to detect the peripheral region. If an object to be detected or other target object present within the field of view of the first partial array and / or the second partial array is detectable by the first partial array and the second partial array, this can be used for ambient detection. In this case, optionally, the identification of the combined array can be omitted. For the purpose of enabling substantially complete detection of the object to be detected, additionally or alternatively, the partial arrays can be adjusted or adapted.

[0036] If the object to be detected cannot be fully detected or detected sufficiently by the first partial array and the second partial array, such that these two partial arrays can only be used limitedly for forming a combined array, then a further, i.e., a third partial array, can be utilized. Thus, similarly, it is conceivable to determine three fields of view by three partial arrays. In this case, for example, the overlapping region may be the overlapping region of the edge regions of the three fields of view. By using a further partial array, it becomes possible to more efficiently perform the detection probability, particularly target detection.

[0037] If the object or target object to be detected cannot be detected by either the first partial array or the second partial array, first, adjustment or fine-tuning of the first partial array and / or the second partial array can be performed. In this case, the drive control of the individual antenna elements of both partial arrays can be adapted. Similarly, in order to expand the field of view of the first partial array and / or the second partial array, it is conceivable to additionally connect or add further antenna elements of the antenna array to the first partial array and / or the second partial array. This can be done, for example, until the object to be detected becomes at least partially detectable by the first partial array and / or the second partial array, and thus, subsequently, here too, a combined array can be formed. In addition to using a further partial array, similarly, a plurality of such further partial arrays can also be utilized or considered. Thus, any partial array can be appropriately considered and subsequently combined into a combined array.

[0038] In one embodiment, in the case where the object to be detected does not exist in the overlapping region, it is assumed that the surrounding peripheral region is detected using the first partial array and / or the second partial array. Thereby, in particular, computing power and computing time can be saved. This is because the combined array should not be erroneously generated or identified. If it is confirmed on the system side that sufficient detection of the object to be detected is possible by the first partial array and / or the second partial array, the peripheral region is detected by the first partial array and / or the second partial array.

[0039] Insufficient detection can be understood as the object being detectable with a probability or detection probability of less than 40%, particularly less than 30%. Here too, if the object can be detected by the first partial array and / or the second partial array with a detection probability higher than 50%, particularly higher than 70%, there may be sufficient detection.

[0040] For example, it can be confirmed by other systems or external information sources that no object exists in the overlapping region. In another mode, it can be confirmed by the first partial array and the second partial array that no object exists in the overlapping region with a detection accuracy higher than 90%, particularly higher than 95%. Therefore, here, since sufficient detection by the first partial array and / or the second partial array is possible, formation of the combined array can be omitted.

[0041] In one embodiment, when identifying the combination array, it is assumed that peripheral information regarding the vehicle's surroundings, and / or the traffic situation in the vehicle's surroundings, and / or the vehicle's current driving scenario and / or future driving scenario are taken into account. Thereby, the combination array can be identified to be adapted to the situation. In addition to the object to be detected and the overlapping area regarding the fields of view of both partial arrays, further information can be considered to identify a combination array adapted to the vehicle's current situation and / or imminent situation. For this purpose, corresponding information regarding the surroundings and / or traffic situation can be provided by the vehicle system and / or an information source external to the vehicle. Information regarding the current driving scenario and future driving scenario may be provided by the vehicle's driving assistance system or navigation system.

[0042] In one embodiment, based on the vehicle's current driving operation and / or an imminent driving operation directly, it is assumed that as the peripheral area, an area in the vehicle's surroundings related to the current driving operation and / or an imminent driving operation directly is determined. In this case, the vehicle's information and / or the vehicle user's information, such as navigation information or route information, can be taken into account. It is advantageous for an area important or relevant to the vehicle's current driving operation and / or imminent driving operation to be detected in order to reduce the computing power and operate the sensor system more efficiently. Based on the current driving operation or an imminent driving operation directly, on the system side, it can be identified which one or more peripheral areas of the surroundings are related to each driving operation. This also has the further advantage that, thereby, it can be determined which partial array or area of the antenna array is basically required for the detection of each peripheral area. Therefore, the partial array actually relevant for the detection of the peripheral area can be selected as expected.

[0043] If the vehicle is moving towards an intersection, in this situation, the partial array directed towards the intersection becomes important. In this example, the partial array arranged in the rear area of the vehicle can be ignored in this situation. Here too, if the vehicle is in a situation of turning as a driving operation, the partial array capable of detecting the turning area can also become important here. In another example, the vehicle may be in an overtaking operation, in which case the oncoming traffic and the area in front of the vehicle should be detected. In this case too, the correspondingly arranged partial arrays that meet these conditions can be driven and controlled.

[0044] Therefore, depending on which driving operation of the vehicle is being performed currently and / or in the future, and / or depending on each traffic situation, the relevant peripheral area can be determined. Similarly, this can also determine the area of the antenna array that can basically detect this peripheral area or can be covered by sensors.

[0045] Furthermore, this brings advantages when the antenna arrays are sparsely arranged. Since the individual antennas of the antenna arrays are separated from each other, especially dispersed, and arranged on the vehicle, basically, the antenna elements capable of detecting the desired peripheral area can be connected together as expected to form one partial array.

[0046] In one embodiment, it is assumed that based on the current driving operation and / or the immediately upcoming driving operation and / or the surrounding area, it is determined which sub-array of the antenna array and / or how many sub-arrays of the antenna array are used to detect the surrounding area. Thereby, the system side can determine or define which antenna elements of the antenna array, in particular which areas, can basically detect the corresponding surrounding area. Therefore, here, basically, in particular based on its own arrangement in the vehicle, antenna elements that cannot detect the desired surrounding area, in particular sub-arrays of the antenna array, may remain excluded or may remain unconsidered. An example for this is that the surrounding area extends from the left side of the vehicle, and therefore, in this case, the antenna elements present on the right vehicle side will not be able to perform the corresponding detection of this surrounding area.

[0047] In particular, the antenna array is a flexibly configurable array, and thus, depending on the desired application case or the current situation, the sub-array and / or the combined array can optionally be formed from various different antenna elements.

[0048] In particular, a sub-array having a detection area directed towards the surrounding area can be selected or determined.

[0049] Furthermore, each of the sub-arrays can have any number of antenna elements. In particular, adjacent antenna elements can be grouped into one sub-array each.

[0050] In one embodiment, it is assumed that a combined array is used to detect the surrounding area with respect to at least one object to be detected and / or with respect to potential collision objects. The surrounding area can be detected with respect to the target object or the collision object using the newly formed or situation-specific combined array. In particular, a sufficient detection of the surrounding area can be performed using the combined array.

[0051] In one embodiment, a further sub-array of the antenna array is adapted based on a combined array and a combined view, and it is assumed that starting from the combined array, further sub-arrays are successively adapted.

[0052] This enables information regarding the generated combined array to be used to configure or adapt a further sub-array of the antenna array based thereon. The required advantageous combined view can be transferred or applied, for example, to a further sub-array. Thus, starting from the combined array as the starting point, a further area of the antenna array around the vehicle can be adapted, configured, or adapted. In other words, the combined array, in particular the combined view, can be transferred to subsequent sub-arrays of the antenna array, whereby, based on the combined view, a further area of the antenna array can be adapted such that a further area around the vehicle is detectable based on the configuration of the combined view. Thus, for example, by calculating or specifying the combined array only once, this can be transferred to a further area of the antenna array, thereby enabling easy 360-degree surround detection around the vehicle.

[0053] For example, the executed combination of the first sub-array and the second sub-array is similarly applicable to further adjacent sub-arrays in other areas of the vehicle, whereby 360-degree surround detection can be performed based on the combined array specified once. For example, in this case, surround detection can be performed once, and subsequently, new specification of the relevant sub-array and the relevant surrounding area can be performed again according to the reality.

[0054] In one embodiment, it is assumed that information regarding the detected surrounding area is generated by a computing device of the sensor system and provided to at least one vehicle system and / or a surrounding model. Thus, the detected surrounding area can be provided as information, in particular as a signal, in order to serve as an input quantity for vehicle systems, such as a driving assistance system and / or a surrounding model. Thereby, the vehicle can be operated more safely. In particular, the information regarding the surrounding area can advantageously be used for at least partially autonomous driving functions or fully autonomous driving functions.

[0055] A further aspect of the invention relates to a sensor system comprising at least one antenna array and an electronic evaluation unit, the sensor system being configured to carry out the method according to the above-described aspect or an advantageous development thereof. In particular, the method of the aspect described at the beginning can be carried out or performed using the above-described sensor system.

[0056] In particular, the transmitter device and the receiver device can be integrated into a single semiconductor chip, for example CMOS, SiM-CMOS, Bi-CMOS, hybrid-Bi-CMOS, or using multiple processes, into a photonic-electronic co-integration chip. Thus, for example, using the present invention, it becomes possible to manufacture a radar sensor device or a sensor system by mass production using a standardized semiconductor process.

[0057] In particular, using the sensor system, frequency conversion of a terahertz carrier signal into the gigahertz frequency range after optical signal transmission and, conversely, reception of a gigahertz signal with modulation into a terahertz carrier signal can be performed.

[0058] In particular, the proposed sensor system can be used in motor vehicles. In particular, the sensor system can be used in motor vehicles that operate at least partially autonomously, and in particular in motor vehicles that operate completely autonomously. In the case of such automated driving, reliable environmental perception that can be achieved by the sensor system is required. In this case, the surroundings or the environment can be detected using sensors such as radar, lidar, and cameras. This can be an example of the area of use of a radar sensor device. The sensor system can perform a comprehensive 3D detection of the 360-degree surroundings so that all static and dynamic objects can be detected.

[0059] In particular, since lidar plays an important role in redundant and robust environmental detection, the sensor system may alternatively be applied to lidar. This is because this sensor type can measure distances and angles more accurately in environmental detection and can also be used for classification.

[0060] In particular, the sensor system can be used, for example, in motor vehicles that operate at least partially autonomously, and especially in motor vehicles that operate fully autonomously. However, reliable environmental perception is essential in order to enable such autonomous driving. Here, the surroundings or the environment are detected using sensors such as radar, lidar or cameras. Of particular importance is a comprehensive 3D detection of the surroundings in 360 degrees, by means of which all static and dynamic objects can be detected. For this purpose, the sensor system can be used. In particular, lidar plays an important role in redundant and robust environmental detection. This is because this type of sensor can measure distances more accurately in environmental detection and can also be used for classification. However, these lidar sensors are expensive and their structure is laborious. In particular, 360-degree 3D environmental detection is a problem. This is because, in order to ensure this, usually a large number of relatively small individual sensors that operate with a large number of individual light sources and detector elements are required, or large lidar sensors are installed. Furthermore, lidar sensors are vulnerable to the effects of weather such as rain, fog or direct sunlight. The sensor system can take countermeasures against this.

[0061] Similarly, radar sensors or radar sensor devices are well established in automotive manufacturing and provide reliable and highly safe data under all weather conditions. Even in poor visibility, such as rain, fog, snow, dust or darkness, its perception certainty is hardly affected. However, according to the prior art, the resolution has been limited so far, and in particular, the serial radars used are configured to have a resolution at an angle of only about 2 degrees. In order to meet the requirements for improving the automation level in automotive manufacturing with reliable driving functions, it is assumed that the radar sensor device is configured to supply a three-dimensional image with a high angular resolution in the range of 0.1 degrees and with a high insensitivity to interference from its surroundings thereunder. This has not been achieved with conventional radar technology according to the prior art because the resolution of such a system is too low. Strictly speaking, the sensor system according to the present invention advantageously intervenes.

[0062] The sensor system may be configured as a photonics radar sensor device that realizes an improvement in resolution by co-integrating an electronic component and a photonics component on a single semiconductor chip. In this case, the tracking of the FMCW signal as well as the overall signal processing and signal evaluation are performed by a central station in a state. Each transmission module and reception module has an electro-photonics co-integrated chip, a so-called Epic chip. For this co-integration, silicon photonics technology is used. This makes it possible to monolithically integrate photonics components, high-frequency electronics, and digital electronics together on one chip. Here, the technological innovation of such a system lies in the signal transmission of gigahertz signals using optical carrier signals in the terahertz frequency range. The central station, which may also be referred to as a central electronic computing device, generates an optical carrier frequency in the terahertz range. In this way, the transmitted signal is modulated at one-eighth of the radar frequency and transmitted to the antenna chip by an optical fiber. In this process, frequency doubling occurs, by which radar radiation can be emitted from the antenna chip. Signal detection is performed in the reverse path. All data are processed at the central station.

[0063] However, such a configuration is very laborious in the implementation of gigahertz electronics at the chip level. In particular, frequency doubling after detection by a photodiode, which is performed on the chip, is technically difficult and a major challenge for gigahertz signal generation with a high signal-to-noise ratio and as low a jitter as possible. Therefore, the gigahertz signal has to be laboriously stabilized in a further step. Furthermore, gigahertz electronics are expensive. In addition, high performance requirements are set for optical carriers, especially lasers. This is because a large amount of optical output is required to generate a high-precision gigahertz signal, which makes it difficult to realize a ring circuit with a single phase in the case of a radar array equipped with a large number of distributed radar semiconductor chips. In particular, two further photonic-electronic semiconductor chips are required for each transmission channel and each reception channel, which incurs additional costs. The above problems are at least partially, and in particular completely, solved by the sensor system according to the present invention.

[0064] In particular, the present invention utilizes the fact that in a photonic semiconductor, radiation of a laser device, which may also be configured as a CW laser in particular, is coupled using an optical interface. This may be an optical transmission signal or a carrier signal of a CW laser.

[0065] The generation of the FMCW signal, overall signal processing, and signal evaluation are here performed by a central station, for example, a computing device. Each transmitting module and receiving module consists of an electro-photonic co-integration chip (so-called "EPIC chip"), and silicon photonics technology is used for the co-integration. This enables the monolithic integration of photonic components, high-frequency electronics, and digital electronics on one chip ("electro-photonic co-integration"). The technological innovation of such a system is, in this case, the signal transmission of GHz signals using an optical carrier signal in the THz frequency range. The central station generates an optical carrier frequency (THz). In this way, the signal to be transmitted is modulated at one-eighth of the radar frequency and transmitted to the antenna chip via an optical fiber. Here, frequency multiplication by eight is performed, and thus, radar radiation can be emitted from the antenna chip. Signal detection is performed in the reverse path. All data are processed at the central station.

[0066] The principle of electro-photonic co-integration into one chip with a Silicon-on-Insulator region for photonic components and a bulk silicon region for electronic circuits is a globally unique technology. Therefore, especially at high data rates, a high signal quality with little parasitic interference effects can be achieved. Connecting an RF circuit for a radar antenna including a frequency multiplier to an optical communication device can be performed without additional wire bonding or flip-chip bonding. Furthermore, the chip can be tested optically and electrically already at the wafer level, thereby achieving a high yield with a further module structure. By using this technology, a very compact form factor can be realized, and in this context, a high relevance is obtained for the use of silicon photonics-based optical technology in the automotive field.

[0067] The hurdle for the productive use of optical fibers lies in the lack of scalability of the technologies obtained so far. This scalability to large volumes is made possible by the technologies for highly integrated manufacturing of integrated optoelectronic circuits. As a result, significant cost reduction in construction technologies and a more efficient cost structure are achieved. From the development of data center solutions, there is a comprehensive library for electronic and photonic components for high-bandwidth data transmission, and this is being used in projects.

[0068] In one embodiment of a further aspect, it is assumed that the antenna array is configurable, such that individual antenna elements among the plurality of antenna elements can be assembled into various different sub-arrays. In particular, the antenna array is configured such that individual antenna elements of the antenna array can be arbitrarily grouped or connected together into sub-arrays. This results in a freely configurable antenna array, and thus, for each situation of the vehicle, such antenna elements can be grouped or connected together into one sub-array, thereby enabling optimal detection of the surrounding area related to the situation.

[0069] A further aspect of the invention relates to a vehicle comprising a sensor system according to the above-described aspects or advantageous developments.

[0070] For example, the vehicle can be a manually operated vehicle, a partially autonomous vehicle, or a fully autonomous vehicle. In other words, the vehicle can be a highly automated vehicle.

[0071] In particular, the vehicle can be a motor vehicle such as a passenger car or a truck.

[0072] In an example of a further aspect, it is assumed that the antenna array has a plurality of antenna elements that are spaced apart from each other, distributed, and arranged on the vehicle. Thus, it is possible to perform as efficient detection as possible around the vehicle. By the individual antenna elements being distributed and arranged on the vehicle, it becomes possible to perform particularly 360-degree surrounding detection.

[0073] For example, the antenna elements of the antenna array may be configured in a "sparse array" configuration. In particular, the antenna elements of the antenna array can be arranged on the vehicle in a sparse or not very occupied configuration.

[0074] Examples of individual aspects of the present invention can be regarded as advantageous examples of other aspects. In particular, each example of an individual aspect can be regarded as an advantageous example of all other aspects. This also applies in the same way in the reverse manner.

[0075] This method or advantageous embodiments of these methods can be regarded as advantageous embodiments of the sensor system and the vehicle. For this purpose, the sensor system and the vehicle have specific features that enable the implementation of this method or advantageous embodiments of this method.

[0076] For application cases or application situations that may occur in this method and are not explicitly stated herein, according to this method, it may be assumed that a request for the input of an error message and / or user feedback is output and / or a standard setting and / or a predetermined initial state is set.

[0077] The present invention also includes development forms of the sensor system according to the present invention and the vehicle according to the present invention, which have the features already described in relation to the development forms of the method according to the present invention. Therefore, the corresponding development forms of the sensor system according to the present invention and the vehicle according to the present invention will not be described again here.

[0078] The present invention also includes combinations of the features of the described embodiments.

[0079] Hereinafter, embodiments of the present invention will be described.

Brief Description of the Drawings

[0080]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

[0081] The embodiments described hereinafter are preferred embodiments of the present invention. In these embodiments, the components described are each individual features of the present invention that should be considered independent of each other, and each feature can be regarded as a component of the present invention even when each is independent of the others or in a combination different from the illustration, because each feature can develop the present invention even individually. Furthermore, it is also possible to supplement the described embodiments with additional features among the features already described of the present invention.

[0082] In the drawings, the same reference numerals are given to elements having the same function.

[0083] FIG. 1 shows various different schematic views (front view, rear view, side view) of a vehicle 1 which can be an automobile. The vehicle 1 includes, for example, a sensor system 2.

[0084] This sensor system 2 can be, for example, a radar system or a surrounding sensor system of the vehicle 1. For this purpose, the sensor system 2 can be communicably connected to, for example, one or more driver assistance systems or other types of vehicle systems. For example, the sensor system 2 can be, in particular, a radar sensor or a lidar sensor or other types of sensors for the vehicle. In addition to the use of the sensor system 2 within the vehicle 1, this sensor system 2 can also be used in systems outside the vehicle.

[0085] For example, the sensor system 2 has at least one antenna array 3 or a plurality of antenna arrays. Here too, the antenna array 3 can be formed from a number of antenna elements 4. The antenna elements 4 can be arranged spaced apart and dispersed on the vehicle 1, in particular for 360-degree surrounding detection.

[0086] Figure 2 shows a possible embodiment of the sensor system 2. The sensor system 2 may have at least one radar sensor device 5 and a central electronic computing device 6. For example, the radar sensor device 5 and the central electronic computing device 6 may be separate, physically distinct units. The radar sensor device 5 can, for example, have at least one antenna array 3. Otherwise, the antenna array 3 can function as the radar sensor device 5.

[0087] The central electronic computing device 6 may be a central unit. For example, the central electronic computing device 6 can generate an electrical control signal that can drive or control the laser device 7. The laser device 7 can be, for example, a CW laser. By using the laser device 7, an optical transmission signal or 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 an optical carrier frequency. For such an optical carrier frequency, the signal to be transmitted is modulated by one-eighth of the radar frequency and is transmitted, for example, to the radar sensor device 5. In this way, an eight-fold frequency multiplication can be performed. Here too, the radar sensor device 5 can be used to receive a signal in the gigahertz frequency range and transmit it to the central electronic computing device 6.

[0088] For example, the central electronic computing device 6 may be coupled to the optical inlet 10 and the optical outlet 11 of the radar sensor device 5 via at least one optical fiber 9 respectively. Therefore, bidirectional signal transmission between the central electronic computing device 6 and the radar sensor device 5 can be performed. [[ID=Z10]]

[0089] For example, the central electronic computing device 6 can be referred to as an electronic evaluation unit.

[0090] The central electronic computing device 6 can further have an optical receiving unit 12 configured to receive the optical output signal 13 provided by the optical outlet 11 of the radar sensor device 5. Thus, the central electronic computing device 6 can be coupled to the radar sensor device 5 by an optical fiber or an electronic interface such as, for example, Ethernet. In particular, a plurality of radar sensor devices or antenna arrays can be coupled to the central electronic computing device 6. For example, the central electronic computing device 6 can have a processing unit 14 or a computing unit capable of processing the received optical output signal. Thus, signal detection and subsequent data processing of the received output signal 11 can be performed.

[0091] In particular, the central electronic computing device 6 can have or provide all the necessary control signals, data processing signals, modules and interfaces.

[0092] For example, in addition to the optical inlet 10 and the optical outlet 11, the radar sensor device 5 can have at least one transmitter device 15 or transmitting antenna and at least one receiver device 16 or receiving antenna. Thus, the radar sensor device 5 has a receiving module and / or a transmitting module. In particular, the transmitter device 15 and the receiver device 16 can be integrated on one and the same chip. Similarly, it is conceivable that they are present on different semiconductor chips.

[0093] By using the transmitter device 15, an electrical radar transmission signal 17 based on the optical transmission signal 8 can be transmitted to the surroundings 18 of the vehicle 1. Thus, depending on the optical transmission signal 8, a corresponding radar signal 17 can be transmitted. Here, when this signal 17 is reflected in the surroundings 18 by an object such as, for example, a road user, a road, a tree, or another type of object, an electrical received signal 19 corresponding to the electrical radar transmission signal 17 and reflected in the surroundings 18 can be received.

[0094] For example, the transmitting device 15 can have at least one antenna or one antenna unit or a plurality of antennas for transmission.

[0095] For example, the transmitted radar transmission signal 17 or electrical transmission signal as well as the received reception signal 19 can be within the terahertz frequency range or the gigahertz frequency range. Accordingly, using the sensor system 2, frequency conversion of the terahertz carrier signal, in particular of the transmission signal 8, into the gigahertz frequency range for transmission can be carried out. In the reverse manner, reception of a gigahertz signal with modulation into the terahertz carrier signal can be carried out. For example, the transmitting device 15 can have at least one jitter coupler and a photodiode for transmission. The receiving device 16 can have, for example, two jitter couplers, one photodiode and one modulator for reception.

[0096] By the sensor system 2, it can be modulated at 1 / 8 of the radar frequency and transmitted to the antenna chip or antenna element 4 by an optical fiber. Here, in particular, octupling of the frequency is carried out, and thus radar radiation can be emitted from the antenna chip. Signal detection is optionally carried out in the reverse path. All data can be processed at the central station.

[0097] FIG. 3 shows a further possible embodiment of the sensor system 2. Here, the sensor system likewise has a computing device 6, which can have a different configuration or equipment in this embodiment.

[0098] The sensor system 2 has in particular a plurality of transceiver units, for example antenna elements 4, which can be arranged, for example, distributed on the vehicle 1, in particular for environmental detection.

[0099] The transmitting / receiving unit or antenna element 4 is applicable to both signal transmission and signal sending or receiving. Therefore, the transmitting / receiving unit is a combined unit for sending and receiving signals.

[0100] In particular, such a transmitting / receiving unit may be referred to as a transceiver module. This may be referred to as, or may be formed from, an integrated electro - photonic chip (so - called "EPIC chip"). A computing device 6, which may be referred to as a central unit, may similarly be formed from an integrated electro - photonic chip. In particular, the computing device 6 is a unit physically and / or spatially separate from the transmitting / receiving unit.

[0101] For example, the computing device 6 may have an optical unit or a laser device 7 or a laser. In particular, the optical unit may be configured as a light source or a CW laser. Using the optical unit, an optical transmission signal 8 or a carrier signal can be generated and thus provided. The optical transmission signal 8 may in particular be configured as an optical carrier signal in the terahertz frequency range. The computing device 6 can, for example, generate an optical carrier frequency. A signal to be transmitted can be modulated at one - eighth of the radar frequency onto such an optical carrier frequency and transmitted, for example, to the transmitting / receiving unit. In this way, frequency doubling can be performed. Here too, the transmitting / receiving unit can be used to receive signals in the gigahertz frequency range.

[0102] For example, the computing device 6 may be connected to each transmitting / receiving unit via an optical fiber 9 as an optical transmission section. Signals, in particular optical signals, can be transmitted from the computing device 6 to the individual transmitting / receiving units via the optical fiber 9. Here too, each transmitting / receiving unit may be optically coupled to the computing device 6 via an optical return path 20 so that the received signals of the transmitting / receiving unit can be returned to the computing device 6 for evaluation or signal processing.

[0103] Using at least one of the plurality of transceiver units, an electrical transmission signal 17 can be sent, in particular, to the surroundings 18. Similarly, here too, an electrical reception signal 19 corresponding to the electrical transmission signal 17 can be received by the transceiver unit. For example, the transmission signal 17 can be reflected by an object in the surroundings 18 of the vehicle 1 and thereby received as an electrical reception signal 19. For example, the reception signal 19, which can be referred to as a radar signal, can be transmitted to the computing device 6 for evaluation or signal processing. For this purpose, the transceiver unit can be used to convert the electrical reception signal into an optical reception signal 21. For example, this can be transmitted via the return path 9 of the computing device 6. Using the optoelectronic converter unit 22 or the detector unit of the computing device 6, the optical reception signal 21 can also be converted here into an electrical signal 23. The unit 22 can be used, for example, for optical detection. For this purpose, for example, this conversion can be performed by homodyne detection or heterodyne detection. Furthermore, the unit 22 can perform phase measurement and / or phase length measurement.

[0104] Subsequently, digitization can also be performed here using the digital interface 24. In this case, in particular, analog-to-digital conversion can be performed. For this purpose, the digital interface 24 can have an analog-to-digital converter. Subsequently, a processing unit 14 may be arranged. Using this processing unit 14, signal processing can be applied, for example, especially in the case of a "low-level signal". For example, for this purpose, a fast Fourier transform ("FFT") can be used. Subsequently, the digitized and processed electrical signal 23 can be provided to the CPU 25 of the computing device 6. In this case, in particular, the radar information or environmental information contained in the electrical signal 23 may be evaluated or processed. Furthermore, an electrical return path 26 may be provided, and this electrical return path 26 provides feedback from at least one of the plurality of transceiver units to the computing device 6, in particular to the digital interface 24.

[0105] In order to enable the environmental detection or sensing of the sensor system 2 to be as stable as possible and have low noise, the optical transmission signal 8 can be adapted using frequency synthesis or gigacycle frequency synthesis. For this purpose, the computing device 6 may have a synthesizing unit 27. For this purpose, the optical transmission signal 8 can be supplied or transmitted to the synthesizing unit 27. For example, modulation may be performed before the optical transmission signal 8 is provided to the synthesizing unit 27. For this purpose, for example, a modulator or modulation unit 28 may be provided. This may be configured, for example, as an arbitrary waveform generator or an arbitrary waveform function generator (AWG). After the synthesizing unit 27, for example, an optical control unit 29 and an optical switch or distributor 30 may be provided in the computing device 6, whereby the signal of the synthesizing unit 27 that has been correspondingly processed via the fiber optic 9 can be provided to the transceiver unit. Furthermore, in particular, in order to enable the generation of the optical transmission signal to be monitored or controlled, the control unit 31 can be controlled by the evaluation unit 25. Furthermore, a control unit or feedback loop 32 (feedback loop) may be provided.

[0106] Furthermore, the computing device 6 is electrically connected to the transceiver unit using an electrical transmission section 33. An electrical control signal 34 for controlling or driving the transceiver unit or the antenna element 4 can be transmitted via this electrical transmission section 33.

[0107] In particular, the computing device 6 is used to generate an optical carrier signal, an optical transmission signal 8, and supply this signal to a gigahertz frequency synthesizing unit, for example, synthesizing unit 27. The synthesized gigahertz signal can be transmitted to the transceiver unit in the optical spectral region by a fiber, that is, by the glass fiber 9, whereby, for example, a 77 gigahertz signal can be emitted or sent out from the transceiver unit. Here too, signal detection may be performed in the reverse path. All data can be processed or processed in the computing device 6.

[0108] The configurations of the computing device 6 in FIGS. 2 and 3 can be arbitrarily combined.

[0109] In FIGS. 4 and subsequent figures, embodiments regarding the detection of the surroundings 18 of the vehicle 1 using the sensor system 2 are described.

[0110] FIG. 4 shows a possible scenario or situation in the process of the vehicle 1 turning at an intersection or a road intersection. Here, the vehicle 1 having the sensor system 2 moves along the lane of the road, and in this case, the vehicle 1 is present on the left-turn lane. The exemplary turning process herein can be initiated by the driving assistance system of the vehicle 1 and / or by the user of the vehicle 1 as an exemplary driving scenario of the intersection situation.

[0111] In this case, the surrounding area 35 related to this turning process exists in the front of the vehicle 1 in the area of the left-turn process that should potentially or will be executed in the future. This surrounding area 35 is particularly important for the driving operation 36 to be executed, here at the intersection, for the turning process. For this purpose, first, in order to be able to detect the surrounding area 35, it can be confirmed or determined, in particular by the sensor system 2, which area of the antenna array 3 should be used or driven and controlled.

[0112] For this purpose, in this situation, the first partial array 37 and the second partial array 38 are used. The first partial array 37 may be arranged, for example, in the front region of the vehicle 1. The second partial array 38 is arranged here, for example, in the driver-side region of the vehicle 1. Thus, here, as the partial arrays 37, 38, the part or region of the antenna array 3 that is arranged or oriented to at least partially detect the peripheral region 35 is active or used. In this case, the first partial array 37 can be used to at least partially detect the peripheral region 35. For this purpose, the first partial array 37 has a first field of view 39 that at least partially extends into the peripheral region 35. Here, the field of view 39 may have a triangular shape or a conical shape. Similarly, the second partial array 38 can be used to at least partially detect the peripheral region 35. For this purpose, the second partial array 38 can have a second field of view 40 that at least partially extends into the peripheral region. Both partial arrays 37, 38 are selected such that they at least partially overlap or coincide in their fields of view 39, 40. Thus, both of these partial arrays 37, 38 can detect as wide or large an area as possible.

[0113] As exemplarily shown in FIG. 4, both fields of view 39, 40 are at least partially overlapping. Thus, an overlapping region 41 occurs here. As already mentioned at the beginning, in particular in the fields of view 39, 40 of the partial arrays 37, 38, the resolution decreases at the edges or edge regions of the partial arrays 37, 38. The overlapping region 41 is formed in particular by the edge regions 42, 43. The edge regions 42, 43 are regions that form the outer contour or outer edge of the fields of view 39, 40, in particular compared to the center or middle of the fields of view 39, 40. Seen in the driving direction or longitudinal direction of the vehicle 1, the edge region 42 of the field of view 39 is present in the left region outside the field of view 39, and the edge region 43 of the second field of view 40 is present in the right edge outside the second field of view 40. Thus, these edge regions 42, 43 are overlapping or overlapping and form the overlapping region 41. Here too, the field of view 39 can have a further edge region 44, which is opposite compared to the edge region 42 and is in particular remote from the peripheral region 35 and in particular the driving operation 36. Similarly, here too the field of view 40 can have at least one further edge region 45 that is opposite and in particular remote compared to the edge region 43.

[0114] As exemplarily shown in FIG. 4, two partial arrays are used here. However, more, i.e., more than two, partial arrays can also be used accordingly.

[0115] In this overlapping region 41, there may be an object 46 to be detected, a target object, or a potential collision object. Based on the decreasing or more limited resolution in this overlapping region 41, and based on the overlapping edge regions 42, 43, reliable detection or sensing of these objects 46 may not be fully or accurately performed, and thus a critical or dangerous situation may occur here. Because the vehicle 1 may only inadequately detect the object 46 or, in the worst case, may not be able to consider it. In this regard, for the purpose of taking countermeasures here, a combined array 47 (see FIG. 5) or a newly formed partial array may be identified or required. In other words, both fields of view 39, 40, and thus the partial arrays 37, 38, are combined or reconfigured with each other so that an "improved" detection of the overlapping region 41 is possible. In other words, a combined unit, i.e., an extended partial array, is formed from two partial arrays 37, 38 or from a plurality of such partial arrays. In this case, the formation of this combined array 47 is performed such that, among other things, the overlapping region 41 can be detected so that the object 46 can be substantially completely detected or sensed.

[0116] In other words, as a subset of the antenna elements of the partial arrays 37, 38, a subarray, i.e., a new formation of the combined array 47, is performed. Thus, the combined array 47 is formed at least in part from the antenna elements that previously formed both partial arrays 37, 38. Thus, the fusion or connection of the individual elements of the partial arrays 37, 38 is performed in advance such that a critical region regarding the overlapping edge regions 42, 43 is detectable here with respect to the object 46. As illustrated in FIG. 5, here the combined array 47 has a field of view, in particular a combined field of view 48, that can detect an object 46 that could not be uniquely detected beforehand. In particular, the combined field of view 48 is configured such that the object 46 no longer exists in the edge region but in the central region or near the center of the combined field of view 48.

[0117] In particular, using the sensor system 2 or other forms of information sources, it is possible to determine which areas in the vicinity 18 of the vehicle are critical with respect to the current situation of the vehicle 1. Based on critical areas such as the overlapping area 41, here too, a new orientation of the antenna array 3 can be carried out by forming a combined array 47. With this combined array 47, a target such as an object 46 can be detected. The corresponding information can be passed, for example, to the surrounding model.

[0118] In particular, the sensor system 2 is a coherent sensor system with a continuously expandable field of view. In this case, in order to generate a corresponding partial array such as the combined array 47, the individual partial arrays can be coherently combined and connected.

[0119] In the peripheral area 35, in addition to the object 46 in the overlapping area 41, there may be additional objects 55 that do not exist in the edge areas of the fields of view 39, 40. These objects 55 can also be detected here using the first partial array and / or the second partial arrays 37, 38 and provided to the corresponding evaluation unit. Additionally, here too, a combined array 47 can be formed, by which further objects 46 can be detected or detected.

[0120] In FIG. 6, in an exemplary flowchart, in other words, the present application is described again.

[0121] In step S1, it can be checked whether the antenna array 3 of the sensor system 2 is at least partially, in particular completely, distributed around the vehicle 1. For example, the sensor system 2 can be a coherent photonics radar system. In this case, the sensors or antenna elements 4 can be distributed around the vehicle 1 in 3D and 360 degrees. In this way, the detection of the surroundings or the vicinity 18 can be carried out by the photonics radar.

[0122] In any step S2, based on the driving operation 36 to be executed, the necessary or related partial arrays 37, 38 or further partial arrays can be identified.

[0123] For example, based on the driving operation 36, especially the current driving operation or future driving operation, the peripheral area 35 to be detected can be determined. Further, based on the driving operation 36 and / or the peripheral area 35, it can be determined which partial arrays of the antenna array 3 and / or how many partial arrays of the antenna array 3 are necessary for the detection of the peripheral area 35. Further here, it can be determined which individual elements should be used for the partial arrays 37, 38 and how many individual antenna elements should be used.

[0124] In any step S3, the peripheral area 35 can be detected by both partial arrays 37, 38. In this case, in particular, both fields of view 39, 40 may overlap in their edge regions 42, 43, and it may happen that only low resolution exists in this overlapping region 41. As a result, an object such as the object 46 existing inside may not be detected or detected as accurately or reliably. Therefore, basically, it can be checked whether a potential object exists within this overlapping region 41 and whether the potential object 46 can be at least partially detected by the partial arrays 37, 38.

[0125] If no new object exists within this overlapping region 41, in any subsequent step S4, based on the partial arrays 37, 38, target detection, ambient detection or detection of the peripheral area 35 can be performed.

[0126] However, if an object such as a potential collision object or a road user such as a pedestrian is present within the overlapping region 41 where detection is poor, any step S5 can be continued after step S3. In particular, here, in the fields of view 39, 40, especially with respect to the partial arrays 37, 38, it is possible to perform target detection of an object 46 or a potential object. In particular, here, a check regarding a potential collision object is performed.

[0127] In any subsequent step S6, it is possible to check whether the object 46 can be detected. However, if it is confirmed that the object 46 is present within the overlapping region 41 but it is not possible to perform detection of these objects 46 either with the first partial array 37 or the second partial array 38, any step S7 can be continued.

[0128] In this case, in step S7, the individual partial arrays 37, 38 can be expanded, especially in terms of their number and / or the pattern of their individual antenna elements. Thus, here, the adaptation or adjustment of the partial arrays 37, 38 can be performed such that the fields of view of both partial arrays 37, 38 are expandable or can be made expandable. Additionally, or alternatively, it is also conceivable to additionally use further partial arrays arranged adjacent to the partial arrays 37, 38 for the detection of the peripheral region 35. In this case, with respect to the three exemplary partial arrays here, it is possible to perform a check of the detection possible based only on the three fields of view, and here too, a corresponding check can be performed regarding the overlapping region of these fields of view.

[0129] Here too, if in step S6 it is confirmed that at least one of these objects 46 can be partially detected using at least one of the partial arrays 37, 38, or that shading or anomalies suitable therefor can be detected, then in any step S8, the combined array 47 can be formed or identified. Thus, here, the reconfiguration of the partial arrays of the antenna array 3 can be carried out so as to result in such a new formation of an array having an extended or improved field of view compared to the partial arrays 37, 38, in order to be able to detect particularly relevant objects 46. When identifying or generating the combined array, additionally, information regarding peripheral information, traffic conditions, and / or driving operations 36 to be performed can be taken into account. Thus, based on at least partially overlapping fields of view 39, 40, a new grouping of the antenna elements of the partial arrays 37, 38 is carried out, thereby providing a combined field of view 48 of the combined array 47 in order to enable improved detection of the peripheral region 35, particularly the overlapping region 41 that is difficult to detect in advance.

[0130] Here too, by using the combined array 47, target detection or detection of the peripheral region 35 can be carried out. For this purpose, here too, a jump to step S4 can be made. Information regarding the target object and particularly the object 46 can be digitized and provided as electronic information, particularly using electronic signals, to the vehicle system of the vehicle 1 and / or the accident model. This can be done in any step S9. The following figures (Figures 7 and 8) show further examples of how complete perimeter detection or 360-degree detection can be carried out around the vehicle 1 based on the generated combined array 47. In particular, this is done with minimized computational effort and minimized cost.

[0131] FIG. 7 again shows the combination array 47 and the combination field of view 48, starting from FIG. 5. This joining together of both partial arrays 37, 38, in particular the combination field of view 48, can be applied or adapted to further partial arrays 49, 50. In other words, the further partial arrays 49, 50 can be combined or joined together in the same way based on the combination array 47, and thus all partial arrays of the antenna array 3 can be joined together in succession or continuously to their respective adjacent partial arrays accordingly, by which 360-degree detection can be easily carried out, in particular with the computational amount minimized. As described in the drawings, the orientation or position of the combination array 47 along the vehicle 1, in particular along the antenna array 3, in particular starting from the combination field of view 48, can be rotated in the opposite direction, and the further parts can be joined together in the same way as the joined combination array. By this, this can be easily replicated further for the current peripheral detection. By this, the surrounding detection can be carried out more easily. Therefore, by using the combination array 47, in particular the combination field of view 48, to adapt the active sub-arrays of the whole array online, rotational surrounding detection can be carried out. By this, it is possible to scan the surroundings or the periphery 18 in the form of a scan.

[0132] In FIG. 8, starting from FIG. 7, the combination field of view 48 is further mirrored or advanced accordingly in the rotational direction 53. In this case, here, starting from FIG. 7, a further combination array 51 is formed from the partial arrays 49, 50 based on the combination array 47, and this further combination array 51 also has a further combination field of view 52 here, and this further combination field of view 52 is also based on the combination field of view 48 here. Accordingly in the rotational direction 53, here too, further partial arrays 54 can be adapted or conformed accordingly until 360-degree surrounding detection can be carried out accordingly based on the combination array 47.

Explanation of Reference Numerals

[0133] 1 Vehicle 2 Sensor system 3 Antenna array 4 Antenna element 5 Radar sensor device 6 Central electronic computing device 7 Laser device 8 Optical transmission signal 9 Fiber optic 10 Optical inlet 11 Optical outlet 12 Receiving unit 13 Output signal 14 Processing unit 15 Transmitting device 16 Receiving device 17 Electrical transmission signal 18 Periphery 19 Electrical reception signal 20 Return path 21 Optical reception signal 22 Optoelectronic converter unit 23 Electrical signal 24 Digital interface 25 CPU 26 Electrical return path 27 Combining unit 28 Modulator 29 Optical control unit 30 Optical distributor 31 Control unit 32 Return loop 33 Electrical transmission section 34 Electrical control signal 35 Peripheral area 36 Driving operation 37 First partial array 38 Second partial array 39 First field of view 40 Second field of view 41 Overlap region 42,44 Edge region of the first field of view 43,45 Edge region of the second field of view Object to be detected in the 46 overlapping region 47 Combination array 48 Combination field of view 49, 50 Further partial arrays 51 Further combination array 52 Further combination field of view 53 Rotation direction 54 Further partial array 55 Further target object Steps S1 - S9

Claims

1. A method for detecting the surroundings (18) of a vehicle (1) using a sensor system (2), wherein the sensor system (2) has an antenna array (3), and antenna elements (4) of the antenna array (3) are distributed and arranged on the vehicle (1), detecting a peripheral area (35) of the surroundings (18) using a first partial array (37) of the antenna array (3), the first partial array (37) having a first field of view (39) that at least partially extends into the peripheral area (35), detecting the peripheral area (35) of the surroundings (18) using at least one second partial array (38) of the antenna array (3), the second partial array (38) having a second field of view (40) that at least partially extends into the peripheral area (35), identifying an overlapping area (41) between the first field of view (39) and the second field of view (40) based on edge areas (42, 43) that at least partially overlap between the first field of view (39) and the second field of view (40), checking the overlapping area (41) to determine whether an object (46) to be detected is present within the overlapping area (41), and if the object (46) to be detected is present within the overlapping area (41), identifying a combined array (47) composed of antenna elements (4) of the first partial array (37) and the second partial array (38) based on the overlapping area (41) and at least one object (46) to be detected, the combined array (47) having a combined field of view (48) composed of parts of the first field of view (39) and the second field of view (40), being able to detect at least one object (46) to be detected using the combined field of view (48), and detecting the peripheral area (35) of the surroundings (18) using the combined array (47) The method is characterized by the above.

2. The method according to claim 1, wherein when checking the overlapping area (41), additionally checking whether at least one object (46) to be detected can be detected by the first partial array (37) and / or the second partial array (38).

3. The method according to claim 2, wherein when at least one object (46) to be detected is present in the overlapping region (41) and at least one object (46) to be detected can only be partially detected by the first partial array (37) and the second partial array (38), the combined array (47) is identified.

4. The method according to claim 2 or 3, wherein when at least one object (46) to be detected is present in the overlapping region (41) and at least one object (46) to be detected cannot be detected by the first partial array (37) and the second partial array (38), the first partial array (37) and the second partial array (38) are adapted and / or at least one further partial array (49, 50, 54) of the antenna array (3) is used to detect the peripheral region (35).

5. The method according to any one of claims 1 to 4, wherein in the case where the object (46) to be detected is not present in the overlapping region (41), the peripheral region (35) of the periphery (18) is detected using the first partial array (37) and / or the second partial array (38).

6. The method according to any one of claims 1 to 5, wherein when identifying the combined array (47), peripheral information regarding the periphery (18) of the vehicle (1) and / or the traffic situation in the periphery (18) of the vehicle (1) and / or the current driving scenario and / or future driving scenario of the vehicle (1) are taken into account.

7. The method according to any one of claims 1 to 6, wherein based on the current driving operation and / or the imminent driving operation of the vehicle (1), the peripheral region (35) is determined as the region in the periphery (18) of the vehicle (1) that is related to the current driving operation and / or the imminent driving operation.

8. The method according to claim 7, wherein based on the current driving operation and / or the imminent driving operation and / or the peripheral region (35), it is determined which partial array (37, 38, 49, 50, 54) of the antenna array (3) and / or how many partial arrays (37, 38, 49, 50, 54) of the antenna array (3) are used to detect the peripheral region (35).

9. The method according to any one of claims 1 to 8, wherein the peripheral region (35) is detected using the combination array (47) with respect to at least one object (46) to be detected and / or with respect to potential collision objects.

10. The method according to any one of claims 1 to 9, wherein further partial arrays (49, 50, 54) of the antenna array (3) are adapted based on the combination array (47) and the combination field of view (48), and the further partial arrays (49, 50, 54) are continuously adapted starting from the combination array (47).

11. The method according to any one of claims 1 to 10, wherein information regarding the detected peripheral region (35) is generated by the computing device (6) of the sensor system (2) and provided to at least one vehicle system and / or a surrounding model.

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

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

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

15. The vehicle (1) according to claim 14, wherein the plurality of antenna elements (4) of the antenna array (3) are spaced apart from each other and distributed and arranged on the vehicle (1).

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