A method for detecting the surroundings of a vehicle using a sensor system based on the chaining of subarrays of the sensor system, the sensor system and the 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 surroundings 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 method for signal processing of 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, in which the measurement data generated by the detection of the field of view area is registered with the radar unit, can be generated. Furthermore, the vector velocity for at least one pixel of the discrete global coordinate system can be determined. Subsequently, at least one spatial sub-area of the field of view area can be reconstructed based on the determined vector velocity for the radar system.

[0007] The objective of the present invention is to enable improved ambient detection of a vehicle by allowing the antenna array of a sensor system for ambient detection to be adaptively adapted according to the current situation.

[0008] The aforementioned problems are solved by the methods, sensor systems, and vehicles 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, wherein the sensor system has an antenna array, and the antenna elements of the antenna array are distributed and arranged on the vehicle, and this method is: In particular, the detection of a peripheral region using a first partial array of the antenna array, wherein the first partial array has a first field of view that extends at least partially within the peripheral region. In particular, detecting a peripheral region using at least one second partial array of the antenna array, wherein the second partial array has a second field of view that extends at least partially within the peripheral region. In particular, the overlapping region of the first and second visual fields is identified based on the marginal region that at least partially overlaps the first and second visual fields. • Check the superimposed area to determine whether the object to be detected is present within the superimposed area, and if the object to be detected is present within the superimposed area, Identifying a combined array consisting of antenna elements of a first partial array and a second partial array based on an overlapping region and at least one object to be detected, wherein the combined array has a combined field of view consisting of portions of the first field of view and the second field of view, and at least one object to be detected is detectable using the combined field of view, and • Detecting surrounding areas using a combination array. It has.

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

[0011] An antenna array may have multiple antenna elements, such as transmitting and receiving elements. These antenna elements may be distributed and arranged on the vehicle, and therefore some of each of these antenna elements may be used to form a partial array. For example, one partial array may be placed in the front area, another on the passenger door, another on the driver's side, or one in the rear area. Further possible arrangements of partial arrays can be considered in the outer areas of the vehicle.

[0012] For example, the surrounding area can be detected depending on the driving conditions or the actual situation. In this case, the surrounding area may be an area in the vicinity that is important to the vehicle. In particular, the surrounding area may be an area that is important for performing the vehicle's current and / or future driving operations. If the vehicle is in the area of ​​an intersection, the surrounding area may include this intersection.

[0013] The antenna array may have a first subarray and a second subarray. Similarly, further subarrays are possible.

[0014] In particular, multiple sub-arrays of the antenna array can be used depending on which peripheral region should be detected. Using a first sub-array, the peripheral region can be detected at least regionally. For this purpose, the first sub-array has a first field of view that extends at least partially, and especially completely, into the peripheral region. Thus, the first sub-array can perform detection or target detection in the peripheral region. A second sub-array here again has a second field of view that extends at least partially, and especially completely, into the peripheral region. Thus, using the first and second sub-arrays, the peripheral region can be detected or covered at least partially, and especially completely. Both fields of view each have an outer edge region. In this case, too, the problem mentioned at the beginning can be considered, because in the edge region, the directional accuracy, especially the directional 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 in the edge region, detection may be more difficult to perform compared to other regions of the field of view. In particular, the central region of the field of view surrounded by the edge region is available for accurate detection. These two fields of view may overlap or superimpose at least partially or regionally. This occurs because the same peripheral region should be detected using both partial arrays. In particular, both fields of view may be formed in contact with each other. Especially, the edge regions of these fields of view that are positioned in contact with each other may overlap or overlap at least partially. Therefore, there are overlapping regions that can only be inadequately detected by both partial arrays. Consequently, if an object, such as a potential collision object for the vehicle, exists within this overlapping region, inaccurate detection of this object may occur, and in the worst case, target detection may not be possible at all.

[0015] The superimposed region can be checked to determine whether the first and / or second subarrays can detect or have detected the object to be detected, at least partially.

[0016] For example, in this specification, the first and / or second partial arrays can detect or identify shading or anomalies that allow for the estimation of potential objects, such as objects to be detected, at least partially. Thus, the system can identify superimposed regions where only insufficient target detection or object detection is possible, which can be problematic for ambient detection. To address this, a combined array can be identified or generated. In other words, a reconstruction is performed based on both partial arrays, thereby assembling a combined array from the individual antenna elements of both partial arrays. In this case, the superimposed region and the objects to be detected are considered. In other words, the identification of the combined array is performed such that one or more objects to be detected that are present in the edge regions of the fields of view of the first and second partial arrays are, here, no longer present in the edge regions of the combined field of view of the combined array, but in particular in the central region of the combined field of view. Thus, the fields of view of both partial arrays can be modified to obtain an improved combined field of view. Subregions of the peripheral region that were insufficiently detected by the first and second partial arrays can here be detected using the combined array.

[0017] In particular, the proposed method allows for the chaining of sub-arrays of an antenna array, i.e., temporally sequential connections. Therefore, depending on which area around the vehicle should be detected, the corresponding sub-arrays can be used, and if these sub-arrays are insufficient, these individual sub-arrays can be spliced ​​together to enable substantially accurate detection, thereby enabling detection that is suitable for the detection situation or an improved detection.

[0018] A further application case is that a sub-array of the antenna array may individually have a field of view blocked by an obstruction. This allows for the combination of corresponding sub-arrays to obtain an improved array, thereby enabling the identification of relevant surrounding areas for each driving condition of the vehicle.

[0019] These proposed methods enable the realization of a small, photonically integrated radar chip in a coherently distributed, sparse array or antenna array. This antenna array can be integrated over a large area, either inside or adjacent to a vehicle. Furthermore, it is possible to perform the conversion of the optical transmission of radar signals on an electronically photonically integrated semiconductor circuit to at least two different frequencies. These may be the individual signals of each subarray.

[0020] Individual sub-arrays or sub-arrays can be calculated based on the field of view and the received signals of the sub-arrays. In this case, the field of view is checked in particular. If the edge regions of the sub-arrays interfere with reliable ambient detection, a new design of the entire array or the related sub-arrays as a subset of the first and second sub-arrays, especially a new online design, can be adaptively performed depending on the driving scenario.

[0021] The proposed method can improve resolution within the relevant field of view. In particular, it can improve accuracy in target detection. Furthermore, it can reduce the computational capacity required. Similarly, it can reduce CO2 emissions. In addition, by sparsely, and especially dispersed, placement of the antenna array can save electrical energy, thereby increasing the range of electrically operated vehicles, for example. Above all, the proposed method results in cost savings.

[0022] Based on physical relationships, the angular resolution of a sensor system, particularly a radar system, is determined by the extent of its antenna aperture. The antenna aperture should be understood as the surface area where individual antennas are dispersed. Current sensor systems, often due to their potential for integration into vehicles, typically have an aperture of approximately 10 × 10 cm. 2 The module is limited to having a certain size. The angular resolution is correspondingly limited to about 2 degrees. In this case, the resolution improves in proportion to the size of the aperture. If two objects are to be resolved angularly, i.e., in terms of azimuth and altitude, then an aperture extending in two directions is required. Herein, the present invention can be advantageously used, and countermeasures can be taken here.

[0023] A second important size in an antenna array is the spacing between individual antenna elements. This determines the measurable angular range. Larger antenna spacing leads to ambiguity in angular measurements, such as secondary peaks. Therefore, in radar systems in the automotive sector, so-called virtual antenna elements are used. Such virtual elements arise from a combination of transmitting antennas and receiving channels, and more specifically, at the center of the connection vector. In this way, using n transmitting antennas and m receiving antennas, a virtual array consisting of up to n × m elements can be generated. This principle is commonly known as "Multiple Input Multiple Output (MIMO)". The proposed method can extend the uniquely measurable angular range of an antenna array.

[0024] The individual antenna elements of the antenna array may be distributed 360 degrees and 3D along the surface of the vehicle. This results in many channels, particularly communication channels, which can be coherently recalculated as an overall point cloud.

[0025] By placing the antenna array in a "sparse array configuration," the required computing capacity can be increased. In this case, the proposed method can also address this issue.

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

[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 carried out 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 taken into account.

[0031] In one embodiment, when checking the superimposed area, it is assumed that an additional check is performed to determine whether at least one object to be detected is detectable by the first and / or second sub-array. This allows the superimposed area to be checked for the presence of an object to be detected, or other objects posing a hazard to the vehicle, within such a superimposed area of ​​the field of view of both sub-arrays. Furthermore, the superimposed area can be additionally checked to determine whether objects within this superimposed area are actually detectable by at least one sub-array. If detection by the first or second sub-array is not possible in this superimposed area, it can be assumed that the relevant object, such as the object to be detected, is located in a surrounding area that is not detectable by the first and second sub-arrays. In this case, a further sub-array can be used to check whether the object can be detected using this further sub-array. Thus, any sub-arrays or sub-arrays of the antenna array can be arbitrarily combined or joined together depending on the current situation.

[0032] When checking the superimposed region for the presence of an object to be detected, for example, a first and / or second partial array can be used to perform at least partial detection of the object. Therefore, the system knows that an object exists within the superimposed region, but that it cannot be fully detected. To correct this, a combination array can also be formed.

[0033] This offers the advantage of being able to switch or connect antenna arrays to perform substantially accurate and especially complete ambient detection of the relevant surrounding areas for various situations, real-world and / or traffic conditions.

[0034] In this embodiment, it is assumed that a combined array is identified when at least one object to be detected is present in the superimposed region and at least one object to be detected can only be partially detected by the first and second partial arrays. In this critical region with respect to the superimposed region, if a target object, such as a collision object, exists and this object can only be detected inadequately or partially by both the first and second partial arrays, the system may determine that a combined array should be identified. Therefore, under any conditions relating to inadequate detection, the system may determine that a combined array is formed based on the partial arrays, and in particular, the individual antenna elements of the partial arrays.

[0035] In one embodiment, if at least one object to be detected is present in the superimposed area and at least one object to be detected is detectable by the first and second partial arrays, then it is assumed that the first and at least the second partial arrays are fitted together, and / or at least one further partial array of the antenna array is used to detect the surrounding area. If the object to be detected or other target object present in the field of view of the first and / or second partial arrays is detectable by the first and second partial arrays, this can be used for surrounding detection. In this case, the identification of the combined array can be optionally omitted. The partial arrays can be adjusted or fitted together additionally, or instead, for the purpose of enabling substantially complete detection of the object to be detected.

[0036] If the object to be detected cannot be fully or sufficiently detected by the first and second partial arrays, and as a result these two partial arrays can only be used to a limited extent for forming a combined array, then a further, i.e., a third partial array can be used. Thus, similarly, it is conceivable to determine three fields of view using 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 further partial arrays, detection probability, especially target detection, can be performed more efficiently.

[0037] If the object to be detected or the target object is undetectable by either the first or second partial array, then the first and / or second partial arrays can first be adjusted or fine-tuned. In this case, the drive controls of the individual antenna elements of both partial arrays can be adapted. Similarly, to extend the field of view of the first and / or second partial arrays, additional antenna elements of an antenna array can be added to or connected to them. This can be done, for example, until the object to be detected becomes at least partially detectable by the first and / or second partial arrays, and thus, a combined array can be formed. In addition to using further partial arrays, multiple such further partial arrays can also be utilized or considered. Thus, any partial arrays can be appropriately considered and then combined into a combined array.

[0038] In one embodiment, when the object to be detected is not located within the superimposed region, the surrounding region is assumed to be detected using a first and / or second subarray. This saves computational power and time, in particular, because the combinational array cannot be incorrectly generated or identified. If the system confirms that sufficient detection of the object to be detected is possible by the first and / or second subarray, the surrounding region is detected by the first and / or second subarray.

[0039] Insufficient detection can be understood as the ability to detect an object with a probability or detection probability of less than 40%, particularly less than 30%. Here again, sufficient detection may exist if the first and / or second subarrays can detect the object with a detection probability higher than 50%, particularly higher than 70%.

[0040] For example, it may be confirmed by other systems or external information sources that no object is present in the superimposed area. In another manner, the first and second partial arrays may confirm that no object is present in the superimposed area with a detection accuracy of more than 90%, and especially more than 95%. Therefore, since sufficient detection is possible with the first and / or second partial arrays, the formation of a combined array can be omitted.

[0041] In one embodiment, when identifying a combined array, it is assumed that surrounding information about the vehicle's vicinity, as well as / or traffic conditions around the vehicle, and / or the vehicle's current and / or future driving scenarios, are taken into consideration. This allows for the identification of a combined array that is adapted to the situation. In addition to the object to be detected and the overlapping area of ​​the fields of view of both partial arrays, further information may be considered to identify a combined array that is adapted to the vehicle's current and / or imminent situation. For this purpose, the vehicle system and / or external information sources can provide the corresponding information about the surrounding and / or traffic conditions. Information regarding the current and future driving scenarios may be provided by the vehicle's driver assistance system or navigation system.

[0042] In one embodiment, it is envisioned that, based on the vehicle's current and / or immediately imminent driving operations, a peripheral region is determined as an area around the vehicle that is related to the current and / or immediately imminent driving operations. In this case, vehicle information and / or information of the vehicle's user, such as navigation information or route information, can be considered. To reduce computational power and to operate the sensor system more efficiently, it is advantageous to detect areas that are important or related to the vehicle's current and / or immediately imminent driving operations. Based on the current or immediately imminent driving operations, the system can identify which one or more peripheral regions are related to each driving operation. This has the further advantage that, similarly, it is possible to determine which subarrays or regions of the antenna array are essentially necessary for detecting each peripheral region. Thus, the subarrays that are actually relevant for detecting the peripheral regions can be selected as intended.

[0043] If a vehicle is moving towards an intersection, then a partial array directed towards the intersection becomes important in this situation. In this example, a partial array located in the rear area of ​​the vehicle can be ignored in this situation. Again, if the vehicle is turning as part of a driving operation, then a partial array capable of detecting the area being turned becomes important. In another example, the vehicle may be in the process of overtaking, in which case the area of ​​traffic in the opposite direction and the area in front of the vehicle should be detected. In this case, too, appropriately positioned partial arrays that satisfy these conditions can be driven and controlled.

[0044] Therefore, the relevant surrounding area can be determined depending on which driving operations of the vehicle are performed now and / or in the future, and / or depending on each traffic condition. Similarly, this can determine the area of ​​the antenna array that can detect or be covered by the sensor, which is also essentially this surrounding area.

[0045] Furthermore, this offers advantages when antenna arrays are sparsely arranged. Since the individual antennas of an antenna array are spaced apart from each other, especially dispersed, and arranged on the vehicle, it is essentially possible to connect the antenna elements as intended to form a single sub-array that can detect the desired surrounding area.

[0046] In one embodiment, it is assumed that, based on the current driving operation and / or the immediately imminent driving operation and / or the surrounding area, it is determined which subarrays of the antenna array, and / or how many subarrays of the antenna array, will be used to detect the surrounding area. This allows the system to determine or define which antenna elements of the antenna array, in particular which regions, are essentially capable of detecting the corresponding surrounding area. Therefore, in this case, antenna elements, particularly subarrays of the antenna array, that are basically unable to detect the desired surrounding area, especially based on their position in the vehicle, may remain excluded or not considered. In an example of this, the surrounding area extends from the left side of the vehicle, and therefore, in this case, antenna elements located on the right side of the vehicle would not be able to perform the corresponding detection of this surrounding area.

[0047] In particular, antenna arrays are flexibly configurable arrays, and therefore, depending on the desired application case or the current situation, partial arrays and / or combined arrays can be arbitrarily formed from a variety of different antenna elements.

[0048] In particular, a partial array having a detection area directed towards the surrounding region can be selected or confirmed.

[0049] Furthermore, each subarray can have any number of antenna elements. In particular, adjacent antenna elements can be grouped into separate subarrays.

[0050] In one embodiment, it is assumed that a combination array is used to detect a surrounding area with respect to at least one object to be detected and / or a potential collision object. A newly formed or contextually determined combination array can be used to detect a surrounding area with respect to a target object or a collision object. In particular, a combination array can be used to perform sufficient detection of the surrounding area.

[0051] In one embodiment, it is envisioned that further subarrays of the antenna array are fitted based on the combined array and the combined field of view, and that further subarrays are sequentially fitted starting from the combined array.

[0052] This makes it possible to use the generated information about the combined array to configure or adapt further subarrays of the antenna array based on it. The desired advantageous combined field of view can, for example, be repurposed or applied to further subarrays. Thus, starting from the combined array, further areas of the antenna array around the vehicle can be adapted, configured, or adapted. In other words, the combined array, in particular the combined field of view, can be repurposed to subsequent subarrays of the antenna array, thereby adapting further areas of the antenna array based on the combined field of view, and further areas around the vehicle can be detected based on the configuration of the combined field of view. Thus, for example, by calculating or identifying the combined array only once, it can be repurposed to further areas of the antenna array, thereby easily enabling 360-degree ambient detection around the vehicle.

[0053] For example, the performed combination of the first and second partial arrays can similarly be applied to further adjacent partial arrays in other areas of the vehicle, thereby enabling 360-degree ambient detection based on the once identified combination array. For instance, in this case, ambient detection can be performed once, and then, depending on the reality, a new identification of the relevant partial arrays and the associated ambient areas can be performed again.

[0054] In one embodiment, it is assumed that information regarding the detected surrounding area is generated by the sensor system's computing equipment and provided to at least one vehicle system and / or surrounding model. Thus, the detected surrounding area can be provided as information, particularly as a signal, to be provided as input to the vehicle system, for example, a driver assistance system and / or surrounding model. This allows the vehicle to operate more safely. In particular, the information regarding the surrounding area can be advantageously used for at least partially autonomous driving functions or fully autonomous driving functions.

[0055] Further aspects of the present invention relate to a sensor system comprising at least one antenna array and an electronic evaluation unit, wherein the sensor system is configured to carry out the method according to the above-described aspects or advantageous developments thereof. In particular, the method of the initial aspects can be carried out or performed using the above-described sensor system.

[0056] In particular, transmitting and receiving equipment can be integrated into a photonics electronics co-integrated chip on a single semiconductor chip, for example, using CMOS, SiM-CMOS, Bi-CMOS, hybrid-Bi-CMOS, or multiple processes. Therefore, for example, using the present invention, it becomes possible to manufacture radar sensor devices or sensor systems by mass production using standardized semiconductor processes.

[0057] In particular, the sensor system can be used to perform frequency conversion of a terahertz carrier signal to the gigahertz frequency range after optical signal transmission, and the reverse, reception of a gigahertz signal accompanied by modulation of the terahertz carrier signal.

[0058] In particular, the proposed sensor system is usable in automobiles. Specifically, the sensor system is usable in automobiles that operate at least partially autonomously, and especially in automobiles that operate fully autonomously. In such autonomous driving cases, reliable surrounding perception that can be achieved by the sensor system is necessary. In this case, the surroundings or environment can be detected using sensors such as radar, lidar, and cameras. This could be an example of the application area of ​​a radar sensor device. The sensor system can perform comprehensive 360-degree three-dimensional detection of the surroundings so that all static and dynamic objects can be detected.

[0059] In particular, since LiDAR plays a crucial role in redundant and robust ambient detection, sensor systems may be applied alternatively to LiDAR. This is because this sensor type can measure distance and angle more accurately in ambient detection and can also be used for classification.

[0060] In particular, sensor systems can be used in vehicles that operate at least partially autonomously, and especially in vehicles that operate fully autonomously. However, reliable surrounding awareness is essential to enable such autonomous driving. Here, the surroundings or periphery are detected using sensors such as radar, lidar, or cameras. Of particular importance is comprehensive 360-degree three-dimensional detection of the surroundings, which allows for the detection of all static and dynamic objects. Sensor systems can be used for this purpose. Lidar, in particular, plays a crucial role in redundant and robust surrounding detection because this sensor type can measure distance more accurately in surrounding detection and can also be used for classification. However, these lidar sensors are expensive and their construction is complex. 360-degree three-dimensional surrounding detection is particularly problematic because, to ensure this, many relatively small individual sensors, usually operating with numerous individual light sources and detector elements, are required, or a large lidar sensor is installed. Furthermore, lidar sensors are vulnerable to weather effects such as rain, fog, or direct sunlight. Sensor systems can be designed to mitigate these effects.

[0061] Radar sensors or radar sensor devices are also well-established in automobile manufacturing and provide reliable and safe data under all weather conditions. Their perceptual reliability is largely unaffected even in poor visibility conditions, such as rain, fog, snow, dust, or darkness. However, conventional technology has historically limited resolution, with serial radars, in particular, being configured to have a resolution of only about 2 degrees. To meet the demands for increased automation levels in automobile manufacturing with reliable driving capabilities, it is envisioned that radar sensor devices be configured to provide three-dimensional images with a high angular resolution in the range of 0.1 degrees, while also being highly insensitive to interference from its surroundings. This has not been achieved with conventional radar technology because the resolution of such systems is too low. Specifically, the sensor system according to the present invention has an advantage.

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

[0063] However, such configurations are extremely cumbersome in implementing gigahertz electronics at the chip level. In particular, the post-detection frequency multiplication by photodiodes performed on the chip is technically difficult and presents a significant challenge in generating gigahertz signals with a high signal-to-noise ratio and as low jitter as possible. Therefore, gigahertz signals must be stabilized in further steps, which is a laborious process. Furthermore, gigahertz electronics are expensive. Moreover, high performance requirements are set for optical carriers, especially lasers, because a large amount of optical output is needed to generate high-precision gigahertz signals, which makes it difficult to realize a ring line with only one phase in the case of radar arrays with many distributed radar semiconductor chips. In particular, two additional photonic electronic semiconductor chips are required for each transmit and receive channel, which adds further cost. The aforementioned problems are at least partially, and especially 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, the radiation of a laser device, which may also be configured as a CW laser, is coupled using an optical interface. This may be an optical transmission signal or a carrier signal for a CW laser.

[0065] The generation of FMCW signals, overall signal processing, and signal evaluation are performed here by a central station, such as a computing device. Each transmitting and receiving module consists of an electronic photonics co-integration chip (a so-called "EPIC chip"), and silicon photonics technology is used for the co-integration. This makes it possible to monolithically integrate photonic components, high-frequency electronics, and digital electronics on a single chip ("electronic photonics co-integration"). The technological innovation of such a system is, in this case, the transmission of GHz signals using an optical carrier signal in the THz frequency range. The central station generates the 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 optical fiber. Here, the frequency is multiplied eightfold, and thus radar radiation can be emitted from the antenna chip. Signal detection is performed through the reverse path. All data is processed at the central station.

[0066] The principle of co-integrating electronic photonics into a single chip, comprising a silicon-on-insulator region for photonic components and a bulk silicon region for electronic circuits, is a globally unique technology. Therefore, it is possible to achieve high signal quality with minimal parasitic interference, especially at high data rates. RF circuits for radar antennas, including frequency multipliers, can be connected to optical communicators without additional wire bonding or flip-chip bonding. Furthermore, the chip can be optically and electrically tested at the wafer level, enabling high yields in further modular structures. This technology allows for extremely compact form factors, which in turn makes it highly relevant to the use of silicon photonics-based optical technologies in the automotive sector.

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

[0068] In one embodiment of a further aspect, the antenna array is configurable, so that individual antenna elements among the multiple antenna elements can be assembled into various sub-arrays. In particular, the antenna array is configured so that the individual antenna elements of the antenna array can be arbitrarily grouped into sub-arrays or joined together. This provides a freely configurable antenna array, and therefore, for each vehicle situation, such antenna elements can be combined into a single sub-array or joined together, thereby enabling optimal detection of the surrounding area relevant to the situation.

[0069] Further aspects of the present invention relate to a vehicle equipped with a sensor system according to the above-described aspects or advantageous developments.

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

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

[0072] In one embodiment of a further aspect, the antenna array is assumed to have multiple antenna elements that are spaced apart and distributed on the vehicle. Therefore, detection around the vehicle can be performed as efficiently as possible. The distribution of the individual antenna elements on the vehicle makes it possible to perform 360-degree ambient detection in particular.

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

[0074] Each embodiment of an individual aspect of the present invention can be considered an advantageous embodiment of another aspect. In particular, each embodiment of an individual aspect can be considered an advantageous embodiment of all other aspects. This is equally true in reverse.

[0075] This method or an advantageous embodiment thereof can be considered an advantageous embodiment of a sensor system and a vehicle. For this purpose, the sensor system and the vehicle have specific features that enable the implementation of this method or an advantageous embodiment thereof.

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

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

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

[0079] The following describes embodiments of the present invention. [Brief explanation of the drawing]

[0080] [Figure 1] This is a schematic diagram of a vehicle equipped with a sensor system having antenna elements of an antenna array, distributed and positioned throughout the vehicle. [Figure 2] Figure 1 is a schematic diagram of the block circuit of the sensor system. [Figure 3] Figure 1 is a schematic diagram showing a further configuration of the radar system. [Figure 4] This is a schematic diagram of a curved driving operation in a cross-section situation where the fields of view of a partial array of the antenna array in Figure 1 overlap geographically. [Figure 5] This diagram shows a combined field of view formed from the combinations of fields of view in Figure 4, starting from Figure 4, in order to better detect objects within the superimposed region of the field of view in Figure 4. [Figure 6] This figure shows an illustrative flowchart of the detection of the surrounding area, which is important for vehicle driving operations, currently being performed. [Figure 7] Starting from Figure 5, this figure shows how the combination array in Figure 5 can be advantageously used for further arrays of antenna arrays. [Figure 8] This figure shows how the combination array in Figure 7 can be rotated and further adapted to a further array of antenna arrays.

[0081] The embodiments described below are preferred embodiments of the present invention. In these embodiments, the components described are individual features of the present invention that should be considered independent of each other, and each feature, independently, contributes to the development of the present invention. Therefore, they can be considered as components of the present invention individually or in combinations other than those shown. Furthermore, the embodiments described may be supplemented by further features of the present invention that have already been described.

[0082] In drawings, elements with the same function are given the same reference numeral.

[0083] Figure 1 shows various schematic diagrams (front view, rear view, side view) of a vehicle 1, which may be an automobile. Vehicle 1 includes, for example, a sensor system 2.

[0084] This sensor system 2 may be, for example, a radar system or a surrounding sensor system of vehicle 1. For this purpose, sensor system 2 may be communicatively connected to, for example, one or more driver assistance systems or other types of vehicle systems. For example, sensor system 2 may be a radar sensor or a LiDAR sensor or other type of sensor, specifically for a vehicle. In addition to the use of sensor system 2 within 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 more antenna arrays. Here again, the antenna array 3 may be formed from a number of antenna elements 4. The antenna elements 4 may be spaced apart and dispersed from one another, particularly for 360-degree ambient detection, and arranged in the vehicle 1.

[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 computer 6. For example, the radar sensor device 5 and the central electronic computer 6 may be separate, physically distinct units. The radar sensor device 5 may have, for example, at least one antenna array 3. Otherwise, the antenna array 3 can function as the radar sensor device 5.

[0087] The central electronic computer 6 may be a central unit. For example, the central electronic computer 6 can drive or control the laser device 7, or generate electrical control signals that can control it. The laser device 7 may 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 may be specifically referred to as an optical carrier signal in the terahertz frequency range. The central electronic computer 6 can, for example, generate an optical carrier frequency. The signal to be transmitted over such an optical carrier frequency is modulated at one-eighth of the radar frequency and transmitted, for example, to the radar sensor device 5. In this way, the frequency can be multiplied by eight. Here again, the radar sensor device 5 can be used to receive signals in the gigahertz frequency range and transmit them to the central electronic computer 6.

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

[0089] For example, the central electronic computing device 6 could be called an electronic evaluation unit.

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

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

[0092] For example, the radar sensor device 5 may have, in addition to the optical inlet 10 and optical outlet 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 a transmitting module. In particular, the transmitting device 15 and the receiving device 16 may be integrated on the same chip. Similarly, they may reside on different semiconductor chips.

[0093] By using the transmitting device 15, an electrical radar transmission signal 17 based on an optical transmission signal 8 can be transmitted to the surrounding area 18 of the vehicle 1. Therefore, a corresponding radar signal 17 can be transmitted depending on the optical transmission signal 8. Here, if this signal 17 is reflected in the surrounding area 18 by an object such as 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 surrounding area 18 can be received.

[0094] For example, the transmitting device 15 may have at least one antenna, one antenna unit, or multiple antennas for transmission.

[0095] For example, the transmitted radar transmission signal 17 or electrical transmission signal and the received received signal 19 may be in the terahertz frequency range or the gigahertz frequency range. Therefore, the sensor system 2 can be used to perform frequency conversion of the terahertz carrier signal, in particular the transmission signal 8, to the gigahertz frequency range for transmission. Conversely, reception of gigahertz signals with modulation to the terahertz carrier signal can be performed. For example, the transmitting device 15 may have at least one jitter coupler and a photodiode for transmission. The receiving device 16 may have, for example, two jitter couplers, one photodiode, and one modulator for reception.

[0096] The signal may be modulated by sensor system 2 at 1 / 8 of the radar frequency and transmitted via optical fiber to an antenna chip or antenna element 4. In particular, the frequency is multiplied eightfold, so that the radar radiation can be emitted from the antenna chip. Signal detection is optionally performed via the reverse path. All data can be processed at a central station.

[0097] Figure 3 shows a further possible embodiment of the sensor system 2. Here, the sensor system similarly includes a computing device 6, which in this embodiment may have a different configuration or equipment.

[0098] The sensor system 2 has, in particular, multiple transmitting and receiving units, such as antenna elements 4, which may be arranged in the vehicle 1, for example, in a distributed manner, especially for environmental detection.

[0099] The transmitting / receiving unit or antenna element 4 can be used for both transmitting and receiving signals. Therefore, the transmitting / receiving unit is a combined unit for both transmitting and receiving signals.

[0100] In particular, such a transceiver unit may be called a transceiver module. This may be called, or formed from, an electronic photonics co-integrated chip (a so-called "EPIC chip"). A computing device 6, which may be called a central unit, may similarly be formed from an electronic photonics co-integrated chip. In particular, the computing device 6 is a unit that is physically and / or spatially separate from the transceiver 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 carrier signal can be generated and therefore provided. The optical transmission signal 8 may be configured in particular as an optical carrier signal in the terahertz frequency range. The computing device 6 can, for example, generate an optical carrier frequency. The signal to be transmitted can be modulated to such an optical carrier frequency at one-eighth of the radar frequency and transmitted, for example, to a transmitting / receiving unit. In this way, frequency multiplication can be performed. Here again, 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 a glass fiber 9, which serves as an optical transmission section. Signals, particularly optical signals, can be transmitted from the computing device 6 to the individual transmitting / receiving units via the glass fiber 9. Here again, each transmitting / receiving unit may be optically coupled to the computing device 6 via an optical return passage 20 so that the signals received by the transmitting / receiving units can be sent back to the computing device 6 for evaluation or signal processing.

[0103] An electrical transmission signal 17 can be transmitted, in particular to the surrounding area 18, using at least one of the multiple transmission / reception units. Similarly, an electrical reception signal 19 corresponding to the electrical transmission signal 17 can be received by the transmission / reception unit. For example, the transmission signal 17 may be reflected by an object in the surrounding area 18 of the vehicle 1 and thus received as an electrical reception signal 19. The reception signal 19, which may be called a radar signal, for example, can be transmitted to a computing device 6 for evaluation or signal processing. For this purpose, the electrical reception signal can be converted into an optical reception signal 21 using the transmission / reception unit. For example, this can be transmitted via the return passage 9 of the computing device 6. The optical reception signal 21 can also be converted into an electrical signal 23 using the optical-to-electrical converter unit 22 or detector unit of the computing device 6. Unit 22 may be used, for example, for optical detection. For this purpose, this conversion can be performed, for example, by homodyne detection or heterodyne detection. Furthermore, unit 22 can perform phase measurement and / or phase length measurement.

[0104] Next, digitization can be performed here as well using the digital interface 24. In this case, in particular, analog-to-digital conversion can be performed. For this purpose, the digital interface 24 may have an analog-to-digital converter. Subsequently, a processing unit 14 may be provided. Using this processing unit 14, signal processing can be applied, for example, especially in the case of "low-level signals". For example, a Fast Fourier Transform ("FFT") can be used for this purpose. 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, 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, which provides feedback from at least one of the multiple transmitting and receiving units to the computing device 6, in particular to the digital interface 24.

[0105] To enable the sensor system 2 to perform environmental detection or sensing with the greatest possible stability and low noise, the optical transmission signal 8 can be adapted using frequency synthesis or gigahertz frequency synthesis. For this purpose, the computing device 6 may have a synthesis unit 27. For this purpose, the optical transmission signal 8 can be supplied to or transmitted to the synthesis unit 27. For example, modulation may be performed before the optical transmission signal 8 is provided to the synthesis unit 27. For this purpose, a modulator or modulation unit 28 may be provided, for example. This may be configured as an arbitrary waveform generator or an arbitrary waveform function generator (AWG). After the synthesis unit 27, an optical control unit 29 and an optical switch or distributor 30 may be provided in the computing device 6, which can provide the signal from the synthesis unit 27, processed accordingly, to the transmitting and receiving unit via the glass fiber 9. Furthermore, in particular, the control unit 31 can be controlled by the evaluation unit 25 to monitor or control the generation of the optical transmission signal. Furthermore, a control unit or a return loop 32 (feedback loop) may be provided.

[0106] Furthermore, the computing device 6 is electrically connected to the transmitting / receiving unit using an electrical transmission section 33. Electrical control signals 34 for controlling or driving the transmitting / receiving unit or the antenna element 4 can be transmitted through 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 to supply this signal to a gigahertz frequency synthesis unit, for example, a synthesis unit 27. The synthesized gigahertz signal can be transmitted in the optical spectral domain by a fiber, i.e., by a glass fiber 9, thereby allowing a signal of, for example, 77 gigahertz to be emitted or transmitted from the transmission unit. Here again, signal detection may be performed in the reverse path. All data can be processed or manipulated in the computing device 6.

[0108] The configurations of the computing device 6 shown in Figures 2 and 3 can be combined in any way.

[0109] Figure 4 and subsequent figures illustrate an embodiment of detecting the surrounding area 18 of the vehicle 1 using the sensor system 2.

[0110] Figure 4 shows possible scenarios or situations of the process of vehicle 1 turning at an intersection or road crossing. Here, vehicle 1, which has a sensor system 2, is moving along a road lane, and in this case, vehicle 1 is in the left-turn lane. The turning process described herein can be initiated by the driver assistance system of vehicle 1 and / or by the user of vehicle 1, as an exemplary driving scenario for an intersection situation.

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

[0112] For this purpose, a first partial array 37 and a second partial array 38 are used in this situation. The first partial array 37 may be located, for example, in the front area of ​​vehicle 1. The second partial array 38 is located, for example, in the driver's side area of ​​vehicle 1. Thus, as partial arrays 37, 38, a portion or area of ​​antenna array 3 is active or used, which is located or oriented to at least partially detect the peripheral area 35. In this case, the peripheral area 35 can be at least partially detected using the first partial array 37. For this purpose, the first partial array 37 has a first field of view 39 that extends at least partially into the peripheral area 35. Here, the field of view 39 may have a triangular or conical shape. Similarly, the peripheral area 35 can be at least partially detected using the second partial array 38. For this purpose, the second partial array 38 may have a second field of view 40 that extends at least partially into the peripheral area. Both partial arrays 37 and 38 are selected so that they at least partially overlap or overlap in their fields of view 39 and 40. Therefore, both of these partial arrays 37 and 38 can detect the widest possible or largest area.

[0113] As illustrated in Figure 4, both fields of view 39 and 40 overlap at least partially. Thus, an overlapping region 41 is created. As already mentioned at the beginning, the resolution is reduced, particularly in the fields of view 39 and 40 of the partial arrays 37 and 38, at the edges or edge regions of the partial arrays 37 and 38. The overlapping region 41 is formed in particular by the edge regions 42 and 43. The edge regions 42 and 43 are regions of the fields of view 39 and 40 that form the outer contour or outer edge of the fields of view 39 and 40, compared to the center or middle of the fields of view 39 and 40. When viewed in the direction of travel or longitudinal direction of the vehicle 1, the edge region 42 of field of view 39 is located in the left region outside of field of view 39, and the edge region 43 of the second field of view 40 is located in the right edge outside of the second field of view 40. Thus, these edge regions 42 and 43 overlap or overlap, forming an overlapping region 41. Here too, the field of view 39 may have an additional edge region 44, which is opposed to the edge region 42 and, in particular, separated from the peripheral region 35 and especially from the driving operation 36. Similarly, here too, the field of view 40 may have at least one additional edge region 45 that is opposed to the edge region 43 and, in particular, separated from it.

[0114] As illustrated in Figure 4, two subarrays are used here. However, more subarrays, i.e., more than two, can also be used accordingly.

[0115] This superimposed region 41 may contain an object 46 to be detected, a target object, or a potential collision object. Based on the reduced or lesser resolution in this superimposed region 41, and based on the overlapping edge regions 42, 43, reliable detection or detection of these objects 46 may not be adequately or accurately performed, which can lead to a critical or dangerous situation. This is because vehicle 1 may not be able to detect the objects 46 adequately, or in the worst case, not even consider them. In this regard, a combined array 47 (see Figure 5) or a newly formed sub-array may be identified or sought for the purpose of taking countermeasures. In other words, both fields of view 39, 40, and by extension the sub-arrays 37, 38, are combined or reconfigured to enable "improved" detection of the superimposed region 41. In other words, a combined unit, or extended sub-array, is formed from two sub-arrays 37, 38, or from multiple such sub-arrays. In this case, the formation of the combination array 47 is carried out such, among other things, that the superimposed region 41 can be detected so that the object 46 can be detected substantially completely or be detected.

[0116] In other words, a new subarray, or combined array 47, is formed as a subset of the antenna elements of the partial arrays 37 and 38. Therefore, the combined array 47 is formed at least partially from the antenna elements that previously formed both partial arrays 37 and 38. Thus, the fusion or joining of the individual elements of the partial arrays 37 and 38 is performed in advance such that a critical region relating to the overlapping edge regions 42 and 43 is detectable with respect to the object 46. As illustrated in Figure 5, the combined array 47 here has a field of view, in particular a combined field of view 48, in which an object 46 that cannot be uniquely detected in advance can be detected. In particular, the combined field of view 48 is configured such that the object 46 is no longer located 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 around the vehicle 18 are critical in relation to the current situation concerning the vehicle 1. Based on critical areas such as the superimposed area 41, a new orientation of the antenna array 3 can be performed by forming a combined array 47. This combined array 47 can detect targets such as objects 46. Corresponding information can be passed to, for example, a surrounding model.

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

[0119] In the peripheral region 35, in addition to the objects 46 in the superimposed region 41, there may be further objects 55 that are not present in the edge regions of the fields of view 39 and 40. These objects 55 can also be detected using the first and / or second partial arrays 37 and 38 and provided to the corresponding evaluation unit. In addition, a combined array 47 can be formed here as well, which can detect or identify further objects 46.

[0120] In Figure 6, the present application is explained again using an illustrative flowchart.

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

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

[0123] For example, based on the driving operation 36, particularly the current or future driving operation, the peripheral region 35 to be detected can be determined. Furthermore, based on the driving operation 36 and / or the peripheral region 35, it can be determined which subarrays of the antenna array 3 and / or how many subarrays of the antenna array 3 are necessary for detecting the peripheral region 35. In addition, it can be determined which individual elements should be used for the subarrays 37, 38 and how many individual antenna elements should be used.

[0124] In any step S3, the peripheral region 35 can be detected by both partial arrays 37 and 38. In this case, in particular, both fields of view 39 and 40 may overlap at their edge regions 42 and 43, and this overlapping region 41 may have low resolution. As a result, objects such as object 46 present within it may not be detected or detected very accurately or very reliably. Therefore, it is possible to check whether a potential object is present in this overlapping region 41 and whether the potential object 46 is at least partially detectable by the partial arrays 37 and 38.

[0125] If no new objects exist within this superimposed region 41, then in any subsequent step S4, target detection, surrounding detection, or detection of the surrounding region 35 can be performed based on the partial arrays 37 and 38.

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

[0127] In any subsequent step S6, it can be checked whether or not the object 46 can be detected. However, if it is confirmed that the object 46 is present in the superimposed region 41 but that neither the first partial array 37 nor the second partial array 38 can detect these objects 46, then any step S7 can proceed.

[0128] In this case, in step S7, the individual subarrays 37,38 can be expanded, in particular in terms of their number and / or their individual antenna elements. Thus, the subarrays 37,38 can be adapted or modified so that each field of view of both subarrays 37,38 is expandable or can be expanded. Additionally, or instead, further subarrays positioned adjacent to the subarrays 37,38 can be additionally used for the detection of the peripheral region 35. In this case, with respect to the three subarrays illustrated here, a detection check that is possible based only on the three fields of view can be performed, and here again, a corresponding check can be performed with respect to the overlapping region of these fields of view.

[0129] Here again, if in step S6 it is confirmed that at least one of these objects 46 is partially detectable, or that suitable shading or anomalies can be detected, using at least one of the partial arrays 37, 38, then in any step S8 the combined array 47 can be formed or identified. Thus, the reconstruction of the partial arrays of the antenna array 3 can be performed here to result in the formation of such a new array having an expanded or improved field of view compared to the partial arrays 37, 38, in order to detect the relevant object 46 in particular. In addition, when identifying or generating the combined array, information about the surrounding area, traffic conditions and / or driving operations to be performed 36 can be considered. Thus, a new grouping of the antenna elements of the partial arrays 37, 38 can be performed based on at least partially overlapping fields of view 39, 40, thereby providing the combined field of view 48 of the combined array 47 to enable improved detection of the surrounding area 35, in particular the overlapping area 41 which is difficult to detect in advance.

[0130] Here too, by using the combination array 47, target detection or detection in the surrounding area 35 can be performed. For this reason, we can now jump to step S4. Information about the target object and in particular object 46 may be digitized and provided to the vehicle system and / or accident model of vehicle 1 as electronic information, in particular using electronic signals. This can be done in any step S9. Subsequent figures (Figures 7 and 8) show further embodiments of how full perimeter detection or 360-degree detection can be performed around vehicle 1 based on the generated combination array 47. In particular, this is done with minimal computational complexity and cost.

[0131] Figure 7 shows the combined array 47 and combined field of view 48 again, starting from Figure 5. This combination of both subarrays 37,38, in particular the combined field of view 48, can be applied or adapted to further subarrays 49,50. In other words, the further subarrays 49,50 can be similarly combined or joined based on the combined array 47, and thus all subarrays of the antenna array 3 can be sequentially or continuously joined together with their respective adjacent subarrays, thereby easily performing 360-degree detection, especially with minimal computational cost. As illustrated in the drawings, the orientation or position of the combined array 47, in particular the combined field of view 48, along the vehicle 1, in particular along the antenna array 3, can be rotated in the opposite direction, and further parts can be similarly joined together, as with the joined combined array. This makes it easy to further replicate the current perimeter detection. This makes perimeter detection easier to perform. Therefore, by using the combined array 47, particularly the combined field of view 48, and fitting the active subarrays of the entire array online, rotating ambient detection can be performed. This makes it possible to scan the ambient or peripheral area 18 in a scanning manner.

[0132] In Figure 8, starting from Figure 7, the combined field of view 48 is further mirrored or advanced in accordance with the rotation direction 53. In this case, starting from Figure 7, a further combined array 51 is formed from the partial arrays 49 and 50 based on the combined array 47, and this further combined array 51 also has a further combined field of view 52, ​​which is also based on the combined field of view 48. In accordance with the rotation direction 53, a further partial array 54 can then be adapted or fitted accordingly based on the combined array 47 until 360-degree ambient detection can be performed. [Explanation of Symbols]

[0133] 1 vehicle 2 Sensor System 3 Antenna Array 4 Antenna elements 5. Radar sensor device 6. Central electronic computing device 7 Laser equipment 8 Optical transmission signals 9 Fiberglass 10 Optical entrance 11 Optical exit 12 Receiving Unit 13 Output signal 14 Processing Units 15 Transmitting equipment 16 Receiving equipment 17 Electrical transmission signals 18 surrounding area 19 Electrical received signals 20 Return passage 21 Optically received signals 22 Optical-to-Electric Converter Unit 23 Electrical signals 24 Digital Interfaces 25 CPU 26 Electrical return passage 27 Synthesis Units 28 Modulators 29 Optical control unit 30 Optical Distributors 31 Control Unit 32. Return Loop 33 Electrical transmission section 34 Electrical control signals 35 Peripheral area 36. Driving Operations 37. First subarray 38. Second subarray 39. First Perspective 40. Second Perspective 41. Superimposed region 42,44 The marginal region of the first visual field 43,45 Second visual field marginal region 46. ​​Objects to be detected in the superimposed region. 47 Combinatorial Arrays 48 Combination field of view 49,50 Further subarrays 51 Further combination arrays 52 Further combination possibilities 53 Direction of rotation 54 Further subarrays 55 Further target objects S1-S9 Steps

Claims

1. A method for detecting the surrounding area (18) of a vehicle (1) using a sensor system (2), The sensor system (2) has an antenna array (3), and the antenna elements (4) of the antenna array (3) are distributed and arranged on the vehicle (1). The method involves detecting the peripheral region (35) of the peripheral region (18) using a first partial array (37) of the antenna array (3), wherein the first partial array (37) has a first field of view (39) that extends at least partially within the peripheral region (35). The method involves detecting the peripheral region (35) of the peripheral (18) using at least one second partial array (38) of the antenna array (3), wherein the second partial array (38) has a second field of view (40) that extends at least partially within the peripheral region (35). Identifying the overlapping region (41) of the first field of view (39) and the second field of view (40) based on the edge regions (42, 43) of the first field of view (39) and the second field of view (40) that at least partially overlap, The superimposed region (41) is checked to determine whether the object to be detected (46) is present within the superimposed region (41), and if the object to be detected (46) is present within the superimposed region (41), Identifying a combined array (47) composed of the antenna elements (4) of the first partial array (37) and the second partial array (38) based on the superimposed region (41) and at least one object to be detected (46), wherein the combined array (47) has a combined field of view (48) composed of portions of the first field of view (39) and the second field of view (40), and at least one object to be detected (46) is detectable using the combined field of view (48), and Using the combination array (47), the peripheral region (35) of the peripheral (18) is detected. When checking the superimposed region (41), an additional check is performed to determine whether at least one object to be detected (46) is detectable by the first partial array (37) and / or the second partial array (38). If at least one of the objects to be detected (46) is located within the superimposed region (41) and at least one of the objects to be detected (46) is undetectable by the first partial array (37) and the second partial array (38), then the first partial array (37) and the second partial array (38) are fitted together, and at least one further partial array (49, 50, 54) of the antenna array (3) is used to detect the peripheral region (35). A method characterized by the following.

2. The method according to claim 1, which identifies the combined array (47) when at least one of the objects to be detected (46) is located within the superimposed region (41) and at least one of the objects to be detected (46) can be detected only partially by the first partial array (37) and the second partial array (38).

3. The method according to claim 1, wherein, in the case where the object to be detected (46) is not located within the superimposed region (41), the peripheral region (35) of the peripheral region (18) is detected using the first partial array (37) and / or the second partial array (38).

4. The method according to claim 1, wherein when identifying the combination array (47), surrounding information relating to the area (18) surrounding the vehicle (1), and / or traffic conditions in the area (18) surrounding the vehicle (1), and / or the current driving scenario and / or future driving scenario of the vehicle (1).

5. The method according to claim 1, wherein, based on the current driving operation and / or an imminent driving operation of the vehicle (1), a region in the vicinity (18) of the vehicle (1) is determined as the peripheral region (35) to be related to the current driving operation and / or the imminent driving operation.

6. The method according to claim 5, which determines, based on the current operation and / or the imminent operation and / or the peripheral area (35), which subarrays (37, 38, 49, 50, 54) of the antenna array (3) and / or how many subarrays (37, 38, 49, 50, 54) of the antenna array (3) are used to detect the peripheral area (35).

7. The method according to claim 1, wherein the combination array (47) is used to detect the surrounding region (35) with respect to at least one object to be detected (46) and / or a potential collision object.

8. The method according to claim 1, wherein further subarrays (49, 50, 54) of the antenna array (3) are fitted based on the combined array (47) and the combined field of view (48), and the further subarrays (49, 50, 54) are fitted sequentially starting from the combined array (47).

9. The method according to claim 1, wherein information relating to the detected surrounding area (35) is generated by the computing device (6) of the sensor system (2) and provided to at least one vehicle system and / or surrounding model.

10. A sensor system (2) comprising an antenna array (3) having multiple antenna elements (4) and a computing device (6), The sensor system (2) is configured to carry out the method described in any one of claims 1 to 9. Sensor system (2).

11. The sensor system (2) according to claim 10, wherein the antenna array (3) is configurable, and the individual antenna elements of the plurality of antenna elements (4) can be assembled into various different subarrays (37, 38, 49, 50, 54).

12. A vehicle (1) equipped with the sensor system (2) according to claim 10.

13. The vehicle (1) according to claim 12, wherein the plurality of antenna elements (4) of the antenna array (3) are arranged on the vehicle (1) at a distance from each other and dispersed.

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